In-pipe moving robot

Abstract

It is an object of the present invention to provide an in-pipe moving robot capable of suppressing the visibility of the inside of a pipe through a captured image of a camera from being obstructed by dirt during movement inside the pipe. 【Solution means】An in-pipe moving robot 1 configured to move inside a pipe by a peristaltic motion of expansion and contraction units in a predetermined pattern, the in-pipe moving robot 1 comprising a robot body 10 having at least three expansion and contraction units that expand in the radial direction and contract in the axial direction when fluid is supplied to each of them, a camera 40 attached to the tip 20 of the robot body 10, a transparent cover body 50 attached to the tip 20 and covering the camera 40, a nozzle 60 having a discharge port 61 opening toward the outer surface of the cover body 50, and a fluid supply source 14 connected to the nozzle 60 via a nozzle pipe 62 and supplying fluid to the nozzle 60.

Description

Technical Field

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

Background Art

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

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

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0006] However, such an in-pipe robot has a problem in that dirt such as dust, foreign objects, and liquids inside the pipe may adhere to the camera while moving inside the pipe, which may impair visibility of the inside of the pipe through images captured by the camera. In this case, it is necessary to pull the in-pipe robot out of the pipe, clean the dirt on the camera, and then move the in-pipe robot back to its original position inside the pipe, which is a cumbersome task.

[0007] The present invention has been made in consideration of these problems, and its purpose is to provide an in-pipe moving robot that can prevent dirt from impairing visibility of the inside of a pipe through images captured by a camera while moving inside the pipe. [Means for solving the problem]

[0008] The in-pipe mobile robot of the present invention comprises a robot body having at least three extendable units that expand in a radial direction and contract in an axial direction when a fluid is supplied to the robot body, and the extendable units move inside a pipe by peristaltic motion in a predetermined pattern. The in-pipe mobile robot comprises a camera attached to a tip of the in-pipe mobile robot, a transparent cover body attached to the tip to cover the camera, and a cover body. and the part covering the tip on the imaging direction side of the camera The nozzle has a discharge port that opens toward an outer surface, and a fluid supply source that is connected to the nozzle via a nozzle pipe and supplies a fluid to the nozzle. and is configured to remove dirt adhering to the outer surface of the cover body by the fluid discharged from the discharge port It is characterized by:

[0009] In the above-mentioned configuration, the intra-pipe mobile robot of the present invention further has an extension pipe connecting the fluid supply source to the extension unit, and an exhaust valve provided on the extension pipe and switchable between a state in which the fluid inside the extension pipe is discharged from an outlet to the outside of the extension pipe and a state in which the outlet is closed, and it is preferable that the nozzle pipe is connected to the outlet, so that the fluid supply source is connected to the nozzle via the extension pipe, the exhaust valve, and the nozzle pipe.

[0010] In the in-pipe moving robot of the present invention, in the above configuration, an elastically deformable elastic connection part is provided between the robot main body and the tip part, and the elastic connection part connects the robot main body and the tip part. And a pair of elastic bodies each having a substantially annular shape centered on the axis of the tip part or an annular shape with a regular polygonal outer periphery, protruding radially outward from the outer peripheral surface of the tip part, and being spaced apart from each other in the axial direction. The cover body and the nozzle are preferably housed within a range of a virtual spherical surface in which the outer peripheral ends of the pair of elastic bodies are inscribed over the entire circumference.

[0011] In the in-pipe moving robot of the present invention, in the above configuration, a flat plane part perpendicular to the axial direction is provided on the outer surface of the cover body, and it is preferable that the viewing angle of the camera is set within the range of the plane part.

[0012] In the in-pipe moving robot of the present invention, in the above configuration, it is preferable that the discharge port is directed in a direction inclined by an angle of 5 to 10 degrees toward the side of the plane part with respect to the direction perpendicular to the axial direction.

Advantages of the Invention

[0013] According to the present invention, it is possible to provide an in-pipe moving robot capable of suppressing the inhibition of the visibility of the inside of the pipe through the captured image of the camera due to dirt during movement inside the pipe.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

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

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

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

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

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

[0020] The telescopic unit 11 is also called an artificial muscle. The telescopic unit 11 includes a cylindrical portion 11a formed in a cylindrical shape centered on the axis O by an elastic body such as various rubbers. Both axial ends of the cylindrical portion 11a are closed. Inside the cylindrical portion 11a, a plurality of fiber bundles (not shown) having high tensile strength are arranged along the axial direction. Thereby, the cylindrical portion 11a can be elastically deformed so as to expand in the radial direction, but the elastic deformation in the direction of extending in the axial direction is restricted. Therefore, when a fluid such as compressed air is supplied inside the cylindrical portion 11a of the telescopic unit 11, it operates so as to expand in the radial direction and contract in the axial direction. Further, when the fluid is discharged from the inside of the cylindrical portion 11a of the telescopic unit 11, it contracts in the radial direction due to the elastic force of the cylindrical portion 11a and extends in the axial direction to return to the original shape. Each telescopic unit 11 can operate individually in a predetermined pattern.

[0021] Note that the telescopic unit 11 may have various configurations, such as a so-called McKibben type in which the outside of a cylindrical elastic body is covered with fibers knitted in a sleeve shape, as long as it is configured to expand in the radial direction and contract in the axial direction when a fluid is supplied.

[0022] The adjacent telescopic units 11 are axially connected to each other by a connecting portion 12. In the present embodiment, the connecting portion 12 is a universal joint (cardan joint). Thereby, the robot body 10 can be bent at the portion of the connecting portion 12. Therefore, when the robot body 10 moves inside the pipe, even if the pipe is bent, the space between the adjacent telescopic units 11 can be bent at the connecting portion 12 and move along the bent pipe.

[0023] In the present embodiment, a universal joint is used as the connecting portion 12, but the present invention is not limited thereto as long as the adjacent telescopic units 11 can be connected so as to be bendable.

[0024] As shown in FIGS. 1 and 2, a fluid supply source 14 is connected to the robot body 10 via a telescopic pipe 13. The fluid supply source 14 includes, for example, an air compressor that supplies compressed air. The fluid supply source 14 can supply fluid in a predetermined pattern to the inside (interior) of the cylindrical portion 11a of the telescopic unit 11 via the telescopic pipe 13. An exhaust valve 15 is provided in the telescopic pipe 13. The exhaust valve 15 is configured to be switchable between a state in which the fluid inside the telescopic pipe 13 is discharged to the outside of the telescopic pipe 13 from the discharge port 15a and a state in which the discharge port 15a is closed. As the exhaust valve 15, for example, an electromagnetic valve can be used. The operations of the fluid supply source 14 and the exhaust valve 15 are each controlled by a control device C.

[0025] In FIGS. 1 and 2, only one telescopic pipe 13 and one exhaust valve 15 provided in the telescopic pipe 13 are shown. However, seven telescopic pipes 13 corresponding to each of the seven telescopic units 11 are connected to the fluid supply source 14, and an exhaust valve 15 is provided in each telescopic pipe 13. The fluid supply source 14 can supply fluid individually to each telescopic unit 11 in a predetermined pattern.

[0026] The robot body 10 has fluid supplied in a predetermined pattern to the inside of the cylindrical portion 11a of each expansion and contraction unit 11 through the expansion and contraction piping 13 from the fluid supply source 14. While the supply of fluid from the fluid supply source 14 is stopped, the discharge port 15a of the exhaust valve 15 is opened, and the fluid in the cylindrical portion 11a of the expansion and contraction unit 11 is exhausted to the outside through the discharge port 15a. As a result, the plurality of expansion and contraction units 11 can perform peristaltic motion in a predetermined pattern and move inside the pipe.

[0027] FIG. 3 shows an example of the peristaltic motion pattern of the plurality of expansion and contraction units 11 when the in-pipe moving robot 1 moves to one side in the axial direction inside the pipe 2, that is, when moving forward toward the left side in FIG. 3.

[0028] First, as shown in FIG. 3(a), the expansion and contraction unit 11 on the leftmost (front) side and the second expansion and contraction unit 11 from the left in FIG. 3 are contracted in the axial direction while expanding in the radial direction. The two expansion and contraction units 11 expanded in the radial direction are each in contact with the inner peripheral surface of the pipe 2 over the entire circumference. Thereby, the robot body 10 is held in the axial direction by the two expansion and contraction units 11 expanded in the radial direction.

[0029] Next, from the state shown in FIG. 3(a), as shown in FIG. 3(b), the exhaust valve 15 corresponding to the leftmost expansion and contraction unit 11 is opened to return the leftmost expansion and contraction unit 11 to its original shape, and the third expansion and contraction unit 11 from the left is contracted in the axial direction while expanding in the radial direction. At this time, since the second expansion and contraction unit 11 from the left is in contact with the inner peripheral surface of the pipe 2 and the axial position is held, when the leftmost expansion and contraction unit 11 contracts in the radial direction and extends in the axial direction to return to its original shape, the left end (front end) of the robot body 10 moves to the left from the position shown in FIG. 3(a). Also, since the third expansion and contraction unit 11 from the left contracts in the axial direction while expanding in the radial direction with the second expansion and contraction unit 11 from the left in contact with the inner peripheral surface of the pipe 2 and the axial position being held, the right end (rear end) of the robot body 10 also moves to the left from the position shown in FIG. 3(a).

[0030] Next, from the state shown in FIG. 3(b), as shown in FIG. 3(c), the exhaust valve 15 corresponding to the second expansion / contraction unit 11 from the left is opened to return the second expansion / contraction unit 11 from the left to its original shape, and while expanding the fourth expansion / contraction unit 11 from the left in the radial direction, it is contracted in the axial direction. At this time, since the third expansion / contraction unit 11 from the left is in contact with the inner peripheral surface of the pipe 2 and its axial position is held, when the second expansion / contraction unit 11 from the left contracts in the radial direction and extends in the axial direction to return to its original shape, the left end (front end) of the robot body 10 moves further to the left from the position shown in FIG. 3(b). Also, since the fourth expansion / contraction unit 11 from the left expands in the radial direction and contracts in the axial direction while the third expansion / contraction unit 11 from the left is in contact with the inner peripheral surface of the pipe 2 and its axial position is held, the right end (rear end) of the robot body 10 also moves further to the left from the position shown in FIG. 3(b).

[0031] Hereinafter, the expansion / contraction unit 11 is operated in the above pattern until reaching the rightmost expansion / contraction unit 11 in the same procedure. And when the pattern reaches the rightmost expansion / contraction unit 11, as shown in FIG. 3(d), first go back and operate the expansion / contraction unit 11 in the above pattern.

[0032] In this way, by causing the plurality of expansion / contraction units 11 to perform peristaltic motion in the above pattern, the robot body 10 can advance inside the pipe 2 toward the left in FIG. 3. Also, by operating the plurality of expansion / contraction units 11 in a pattern that is the left-right reverse of the pattern shown in FIG. 3, the robot body 10 can retreat inside the pipe 2 toward the right in FIG. 3. That is, the in-pipe moving robot 1 can advance and retreat inside the pipe 2 when the robot body 10 performs the above operations.

[0033] Note that the pattern of peristaltic motion of the plurality of expansion / contraction units 11 in the robot body 10 is not limited to the above, and other patterns may be used as long as the robot body 10 or the in-pipe moving robot 1 can be advanced and retreated.

[0034] As shown in Fig. 1, in this embodiment, a plurality of brushes 16 are provided on the robot body 10 at intervals in the axial direction of the robot body 10. More specifically, brushes 16 are provided at both axial ends of each telescopic unit 11. The plurality of brushes 16 each have a substantially annular form centered on the axis O of the robot body 10. That is, the plurality of brushes 16 are configured such that a large number of hairs protruding radially outward from the outer peripheral surface of the robot body 10 around the axis O are arranged over the entire circumference in the circumferential direction around the axis O. The large number of hairs constituting the brush 16 are, for example, flexible and elastically deformable ones made of synthetic resin. The outer diameter of the brush 16 is substantially the same as the inner diameter of the pipe 2 that the in-pipe moving robot 1 moves in. The outer diameter of the brush 16 is preferably the same as or slightly larger than the inner diameter of the pipe 2 that the in-pipe moving robot 1 moves in. The brush 16 contacts the inner peripheral surface of the pipe 2 at its outer peripheral end when the in-pipe moving robot 1 moves inside the pipe 2.

[0035] By providing the plurality of brushes 16 on the robot body 10, when moving inside the pipe 2, the robot body 10 can move along the pipe 2 while being supported substantially at the center of the pipe 2 by the plurality of brushes 16. Also, by providing the plurality of brushes 16 on the robot body 10, when moving inside the pipe 2, the robot body 10 can collect foreign matters (dirt) such as dust adhering to the inner peripheral surface of the pipe 2 with the brushes 16 and clean the inside of the pipe 2.

[0036] In this embodiment, a plurality of brushes 16 are provided on the robot body 10. However, as long as it has a substantially annular form centered on the axis O of the robot body 10, other members such as a flange-shaped or umbrella-shaped synthetic rubber may be provided. Also, the robot body 10 may be configured without providing the plurality of brushes 16 or other members having a substantially annular form centered on the axis O of the robot body 10.

[0037] As shown in FIGS. 1 and 2, the tip portion 20 is provided on the forward direction side (the left side in FIGS. 1 and 2) of the robot body 10, and constitutes the tip (front end) side portion of the in-pipe moving robot 1 in the advancing direction. That is, the in-pipe moving robot 1 advances inside the pipe 2 with the tip portion 20 at the head.

[0038] In this embodiment, the tip portion 20 is cylindrical with the axis O as the center, and a brush 21 is provided on the outer peripheral surface of its front end. The brush 21 has a substantially annular shape with the axis O of the tip portion 20 as the center. That is, the brush 21 is configured such that a number of hairs protruding radially outward from the outer peripheral surface of the tip portion 20 with the axis O as the center are arranged over the entire circumference in the circumferential direction with the axis O as the center. The number of hairs constituting the brush 21 is, for example, made of a flexible and elastically deformable material such as synthetic resin. The outer diameter of the brush 21 is substantially the same as the inner diameter of the pipe 2 that the in-pipe moving robot 1 moves in. The outer diameter of the brush 21 is preferably the same as or slightly larger than the inner diameter of the pipe 2 that the in-pipe moving robot 1 moves in. The brush 21 contacts the inner peripheral surface of the pipe 2 at its outer peripheral end when the in-pipe moving robot 1 moves inside the pipe 2.

[0039] By providing the brush 21 on the tip portion 20, when moving inside the pipe 2, the tip portion 20 can move along the pipe 2 while being supported by the brush 21 at approximately the center of the pipe 2. Further, by providing the brush 21 on the tip portion 20, when moving inside the pipe 2, foreign matters (dirt) such as dust adhering to the inner peripheral surface of the pipe 2 can be collected by the brush 21 to clean the inside of the pipe 2.

[0040] In this embodiment, the brush 21 is provided on the tip portion 20. However, as long as it has a substantially annular shape with the axis O of the tip portion 20 as the center, other members such as a flange-shaped or umbrella-shaped synthetic rubber may be provided. Further, the tip portion 20 may be configured such that no other member having a substantially annular shape with the axis O of the brush 21 or the tip portion 20 as the center is provided.

[0041] In this embodiment, an elastic connection part 30 that connects the robot main body 10 and the tip part 20 is provided between the robot main body 10 and the tip part 20. The elastic connection part 30 is constituted by a compression coil spring extending along the axis O. The elastic connection part 30 can be elastically deformed so as to contract along the axis O. Further, the elastic connection part 30 can be elastically deformed flexibly so as to bend with respect to the axis O. Therefore, when the tip part 20 approaches the bent part of the tube 2, the elastic connection part 30 can be elastically deformed so as to bend with respect to the axis O, and thus can bend in the direction along the bent part.

[0042] Note that the elastic connection part 30 is not limited to the above-described compression coil spring, and any other member such as a rubber tube may be used as long as it is provided between the robot main body 10 and the tip part 20 to connect them and can be elastically deformed so as to bend with respect to the axis O between the robot main body 10 and the tip part 20. Further, the in-pipe moving robot 1 may be configured such that the elastic connection part 30 is not provided between the robot main body 10 and the tip part 20, and the tip part 20 is directly connected to the robot main body 10, or the tip part 20 is integrally provided at the front end of the robot main body 10.

[0043] As shown in FIG. 4, a camera 40 is attached to the tip part 20. The camera 40 outputs the captured image (video) as digital information, such as a CCD camera. In this embodiment, the camera 40 has a columnar outer shape, and is disposed inside the tip part 20 with the tip on the imaging direction side facing forward and in a posture coaxial with the axis O. Note that, in this embodiment, a part of the tip on the imaging direction side of the camera 40 protrudes forward from the front end of the tip part 20. The camera 40 is connected to a display device 42 such as a monitor installed outside the tube 2 via a wiring 41. The camera 40 is directed forward, and can capture the inside of the tube 2 on the front side of the tip part 20 when the in-pipe moving robot 1 moves inside the tube 2. By providing such a camera 40, when the in-pipe moving robot 1 moves inside the tube 2, the state of the inside of the tube 2 can be confirmed from the captured image of the camera 40 displayed on the display device 42.

[0044] A transparent cover body 50 that covers the camera 40 is attached to the tip portion 20. More specifically, the cover body 50 is attached to the front end of the tip portion 20 and covers the tip on the imaging direction side of the camera 40. That is, the camera 40 is configured to image the inside of the tube 2 through the transparent cover body 50. In the present embodiment, the cover body 50 is formed as an integral body without joints by a transparent material or member having a transparency such that the resolution of the captured image of the camera 40 is not deteriorated. The cover body 50 may be an injection molded product using a transparent synthetic resin material, or may be cut out from a transparent member.

[0045] In the present embodiment, a flat plane portion 51 perpendicular to the axial direction (direction parallel to the axis O) is provided at the portion of the outer surface of the cover body 50 that covers the tip on the imaging direction side of the camera 40. The portion on the outer peripheral side of the cover body 50 rather than the plane portion 51 is a curved curved portion 52. There is no joint between the plane portion 51 and the curved portion 52, and they are smoothly continuous. As shown in FIG. 5, the plane portion 51 is circular with the axis O as the center, and its outer diameter is larger than the viewing angle 43 of the camera 40 at the position where the plane portion 51 is provided. That is, the viewing angle 43 of the camera 40 at the position where the plane portion 51 is provided is set within the range of the plane portion 51, and thus, the inside of the tube 2 is imaged only through the portion of the plane portion 51 of the cover body 50. As shown in FIG. 4, the back surface 53 of the cover body 50 facing the camera 40 on the back side of the plane portion 51 is also a flat surface parallel to the plane portion 51. Therefore, the captured image of the camera 40 is displayed on the display device 42 without being distorted as if the cover body 50 acts like a lens.

[0046] Note that the cover body 50 is not limited to the above configuration as long as it is a transparent one attached to the tip portion 20 and covers the camera 40, and it may have various configurations or shapes. For example, the cover body 50 may have a configuration in which a slightly curved curved surface is provided at the portion of the outer surface that covers the tip on the imaging direction side of the camera 40 instead of the plane portion 51.

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

[0048] In the present embodiment, the fluid is also supplied to the nozzle 60 by using the fluid supply source 14 that supplies the fluid to the expansion and contraction unit 11. Thereby, the configuration of the in-pipe moving robot 1 can be simplified and the manufacturing cost can be reduced. Note that a fluid supply source different from the fluid supply source 14 that supplies the fluid to the expansion and contraction unit 11 may be provided, and the fluid may be supplied from the different fluid supply source to the nozzle 60 via the nozzle pipe 62.

[0049] As shown in FIG. 4, in the present embodiment, the nozzle 60 is formed separately from the cover body 50 by a metal such as a steel material, and is attached to the cover body 50. The nozzle 60 straddles the flat portion 51 and the curved portion 52 of the cover body 50 and has a shape that extends in an arc shape around the axis O, and a part of the nozzle 60 protrudes axially from the flat portion 51 and the curved portion 52. The discharge port 61 is provided at a portion that protrudes axially from the flat portion 51 and the curved portion 52 of the nozzle 60, and opens radially inward around the axis O. By configuring the nozzle 60 as a rigid body made of metal, it is possible to prevent the nozzle 60 from colliding with the inner peripheral surface of the pipe 2 and being damaged when the in-pipe moving robot 1 moves inside the pipe 2.

[0050] Further, as shown in FIG. 5, in the present embodiment, the nozzle 60 is arranged on the side where the aspect ratio of the viewing angle 43 of the camera 40 in the flat surface portion 51 is larger. That is, the viewing angle 43 of the camera 40 in the flat surface portion 51 has a rectangular shape having a short side 43a and a long side 43b longer than the short side 43a, and the nozzle 60 is arranged adjacent to the long side 43b so as to be located on the side opposite to the axis O across the long side 43b. Thereby, while setting the viewing angle 43 of the camera 40 in the flat surface portion 51 to a necessary size, the nozzle 60 can be provided in the cover body 50 with good space efficiency.

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

[0052] In the in-pipe moving robot 1 according to the present embodiment, by having the nozzle 60 and the fluid supply source 14, when moving inside the pipe 2, even if dirt such as dust, foreign matter, and liquid inside the pipe 2 adheres to the cover body 50 that covers the camera 40, the fluid is supplied from the fluid supply source 14 to the nozzle 60 via the nozzle pipe 62, and the fluid is discharged from the discharge port 61 toward the flat surface portion 51 of the cover body 50, so that the dirt adhering to the cover body 50 can be blown off by the pressure (dynamic pressure) of the fluid discharged from the discharge port 61 and removed from the cover body 50.

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

[0054] As described above, in the in-pipe moving robot 1 according to the present embodiment, in a configuration where the camera 40 is attached to the tip portion 20 of the robot main body 10, a transparent cover body 50 attached to the tip portion 20 and covering the camera 40, a nozzle 60 having a discharge port 61 that opens toward the outer surface of the cover body 50, and a fluid supply source 14 that is connected to the nozzle 60 via a nozzle pipe 62 and supplies fluid to the nozzle 60 are provided. Therefore, even if dirt adheres to the cover body 50 while moving inside the pipe 2, this dirt can be removed by the pressure of the fluid discharged from the discharge port 61 of the nozzle 60, and it is possible to suppress the visibility of the inside of the pipe 2 through the captured image of the camera 40 from being impaired by the dirt.

[0055] Also, in the present embodiment, a flat plane portion 51 perpendicular to the axial direction is provided on the outer surface of the cover body 50, and the viewing angle 43 of the camera 40 is set within the range of the plane portion 51. Therefore, the dirt can be effectively removed from the plane portion 51 by the fluid discharged from the discharge port 61 of the nozzle 60. That is, the plane portion 51 where the viewing angle 43 of the camera 40 is set is a flat surface without joints, grooves, etc., and does not have a portion where dirt easily accumulates like a groove that causes capillary action. Therefore, the dirt within the range of the viewing angle 43 of the camera 40 can be effectively removed by the fluid discharged from the discharge port 61 of the nozzle 60. Thereby, it is possible to more effectively suppress the visibility of the inside of the pipe 2 through the captured image of the camera 40 from being impaired by the dirt.

[0056] The nozzle 60 can be configured such that the discharge port 61 is directed in a direction inclined toward the side of the plane portion 51, that is, downward.

[0057] In this case, as shown in FIG. 6 as a modified example, the nozzle 60 is preferably configured such that the discharge port 61 is directed in a direction D2 inclined at an angle of 5 to 10 degrees toward the flat portion 51 with respect to the direction D1 perpendicular to the axial direction (the direction along the axis O). In FIG. 6, the direction D2 indicates a direction inclined at an angle of 7.5 degrees toward the flat portion 51 with respect to the direction D1. Note that the direction of the discharge port 61 is the direction in which the fluid is discharged from the discharge port 61 and is the direction along the central axis of the discharge port 61. With such a configuration, while the nozzle 60 is arranged outside the viewing angle 43 of the camera 40, the fluid discharged from the discharge port 61 of the nozzle 60 is more effectively sprayed onto the flat portion 51 where the viewing angle 43 of the camera 40 is set, so that dirt within the range of the viewing angle 43 of the camera 40 can be removed more effectively. Therefore, it is possible to more effectively suppress the visibility of the inside of the pipe 2 through the captured image of the camera 40 being obstructed by dirt.

[0058] Next, with reference to FIG. 7, the in-pipe moving robot 100 according to the second embodiment of the present invention will be described. In FIG. 7, the members or parts corresponding to the members or parts described above are denoted by the same reference numerals.

[0059] The connection structure of the nozzle pipe 62 between the fluid supply source 14 and the nozzle 60 of the in-pipe moving robot 100 according to the second embodiment is different from the corresponding connection structure of the in-pipe moving robot 1 according to the first embodiment. The configurations of other parts of the in-pipe moving robot 100 according to the second embodiment, such as the robot body 10 and the elastic connection portion 30, are basically the same as the corresponding configurations of the in-pipe moving robot 1 according to the first embodiment.

[0060] As shown in Fig. 7, in the in-pipe moving robot 100 according to the second embodiment, the nozzle pipe 62 connecting the fluid supply source 14 and the nozzle 60 is connected to the discharge port 15a of the exhaust valve 15 provided in the telescopic pipe 13 connecting the telescopic unit 11 and the fluid supply source 14. That is, in the in-pipe moving robot 100 according to the second embodiment, the fluid supply source 14 is connected to the nozzle 60 via the telescopic pipe 13, the exhaust valve 15, and the nozzle pipe 62. Therefore, when the fluid is supplied to the plurality of telescopic units 11 of the robot body 10 from the fluid supply source 14 through the telescopic pipe 13 in a predetermined pattern to move the in-pipe moving robot 1 inside the pipe 2, when the discharge port 15a of the exhaust valve 15 of the telescopic pipe 13 where the fluid supply is stopped is opened and the fluid inside the cylindrical portion 11a of the telescopic unit 11 is exhausted to the outside through the discharge port 15a, the fluid is supplied to the nozzle 60 through the nozzle pipe 62. Thus, while the in-pipe moving robot 1 is moving inside the pipe 2, every time the discharge port 15a of the exhaust valve 15 is opened, the fluid from the fluid supply source 14 will continue to be intermittently supplied to the nozzle 60.

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

[0062] As described above, in the in-pipe moving robot 100 according to the second embodiment, the nozzle pipe 62 is connected to the discharge port 15a so that the fluid supply source 14 is connected to the nozzle 60 via the telescopic pipe 13, the exhaust valve 15, and the nozzle pipe 62. Therefore, without providing a dedicated pipe for directly connecting the fluid supply source 14 and the nozzle 60, the fluid can be supplied to the nozzle 60 by using the fluid supplied from the fluid supply source 14 to the telescopic unit 11. Further, the fluid can be supplied from the fluid supply source 14 to the nozzle 60 without performing control for supplying to the nozzle 60 by the control device C to the fluid supply source 14. Thereby, the configuration of the in-pipe moving robot 100 can be simplified and the manufacturing cost can be reduced.

[0063] Next, based on FIGS. 8 and 9, the in-pipe moving robot 200 according to the third embodiment of the present invention will be described. In FIGS. 8 and 9, the members or parts corresponding to the members or parts described above are denoted by the same reference numerals.

[0064] The configuration of the tip portion 20 of the in-pipe moving robot 200 according to the third embodiment is different from the configuration of the tip portion 20 of the in-pipe moving robot 1 according to the first embodiment. The configurations of the other parts such as the robot body 10 and the elastic connection portion 30 of the in-pipe moving robot 100 according to the second embodiment are basically the same as those of the in-pipe moving robot 1 according to the first embodiment.

[0065] In the in-pipe moving robot 200 according to the third embodiment shown in FIG. 8, a pair of elastic bodies 22 and 23 are provided at the tip 20. The pair of elastic bodies 22 and 23 are each configured in a substantially annular shape centered on the axis O or an annular shape with a polygonal outer periphery, protruding radially outward from the outer peripheral surface of the tip 20 and being arranged at intervals in the axial direction. In the present embodiment, the pair of elastic bodies 22 and 23 are each annular (an annular shape with a circular outer periphery) centered on the axis O. The front elastic body 22 is arranged at the front end portion of the tip 20, and the rear elastic body 23 is arranged at a predetermined distance behind the front elastic body 22. The axial interval between the pair of elastic bodies 22 and 23 may be appropriately set according to the size of the pipe 2 to be moved, the curvature of the bent portion of the pipe 2, and the like. The pair of elastic bodies 22 and 23 are each elastically deformable in the axial direction and in the radial direction centered on the axis O.

[0066] The pair of elastic bodies 22 and 23 are, for example, annular brushes having the same configuration as the brush 21 provided at the tip 20 of the in-pipe moving robot 1 according to the first embodiment. That is, the pair of elastic bodies 22 and 23 each have a configuration in which a large number of hairs protruding radially outward from the outer peripheral surface of the tip 20 around the axis O are arranged over the entire circumference in the circumferential direction around the axis O. The large number of hairs constituting the elastic bodies 22 and 23 are, for example, flexible and elastically deformable ones made of synthetic resin. The outer diameter of the elastic bodies 22 and 23 is substantially the same as the inner diameter of the pipe 2 to be moved by the in-pipe moving robot 1. The outer diameter of the elastic bodies 22 and 23 is preferably the same as or slightly larger than the inner diameter of the pipe 2 to be moved by the in-pipe moving robot 1. The elastic bodies 22 and 23 are in contact with the inner peripheral surface of the pipe 2 at their outer peripheral ends 22a and 23a when the in-pipe moving robot 1 moves inside the pipe 2.

[0067] The tip portion 20, the cover body 50, and the nozzle 60 are configured such that the outer peripheral ends 22a and 23a of the pair of elastic bodies 22 and 23 are accommodated within the range of a virtual spherical surface 24 (indicated by a two-dot chain line in FIG. 8) that is inscribed over the entire circumference. The virtual spherical surface 24 has a point 24a on the axis O at the central position between the pair of elastic bodies 22 and 23 arranged at intervals along the axis O as the center point, and is a spherical surface that the outer peripheral ends 22a and 23a of the pair of elastic bodies 22 and 23 are inscribed in. The cover body 50 and the nozzle 60 are entirely arranged inside the virtual spherical surface 24 without protruding outside the virtual spherical surface 24.

[0068] In the in-pipe moving robot 200 according to the third embodiment having such a configuration, in the tip portion 20, since the pair of elastic bodies 22 and 23 are provided at intervals in the axial direction, when moving inside the pipe 2, the pair of elastic bodies 22 and 23 can support the tip portion 20 at approximately the center of the pipe 2 and move along the pipe 2. Further, for example, as shown in FIG. 9, when the tip portion 20 moves through the bent portion 2b provided between the straight portions 2a of the pipe 2, it advances while rotating around the point 24a that is the center of the virtual spherical surface 24. By making the cover body 50 and the nozzle 60 fit within the range of the virtual spherical surface 24, when the tip portion 20 moves through the bent portion 2b of the pipe 2, it is possible to make it difficult for the cover body 50 and the nozzle 60 to contact the inner surface of the bent portion 2b of the pipe 2. As a result, even when there is a step 2c at the connection portion between the straight portion 2a and the bent portion 2b of the pipe 2, the tip portion 20 can smoothly pass through the bent portion 2b of the pipe 2 without the cover body 50 and the nozzle 60 being caught by the step 2c. Also, since it is possible to suppress the cover body 50 and the nozzle 60 from strongly contacting the inner surface of the bent portion 2b of the pipe 2, when the tip portion 20 moves through the bent portion 2b of the pipe 2, it is possible to suppress the transparent cover body 50 from being rubbed against the inner surface of the bent portion 2b and getting scratched, and the camera 40 arranged inside the cover body 50 can more clearly photograph the inside of the pipe 2.

[0069] In the third embodiment, the pair of elastic bodies 22 and 23 are annular with the axis O as the center. However, the present invention is not limited to this. As long as the tip 20 can be supported at the approximate center of the tube 2, for example, it may be configured in a substantially annular shape such as a D shape with a part of the outer periphery slightly cut, or it may be configured in an annular shape with a regular polygon outer periphery. Also, in the third embodiment, the pair of elastic bodies 22 and 23 are not limited to brushes. As long as they have an annular form centered on the axis O of the tip 20, for example, they may be made of other materials or configurations as long as they are annular and elastically deformable members such as flange-shaped or umbrella-shaped synthetic rubber.

[0070] Next, based on FIGS. 10 and 11, the in-pipe moving robot 300 according to the fourth embodiment of the present invention will be described. In FIGS. 10 and 11, members or parts corresponding to the members or parts described above are denoted by the same reference numerals.

[0071] The in-pipe moving robot 300 according to the fourth embodiment is different in the configurations of the tip 20 and the cover body 50 from those of the tip 20 and the cover body 50 of the in-pipe moving robot 1 according to the first embodiment. The configurations of other parts such as the robot body 10 and the elastic connection part 30 of the in-pipe moving robot 300 according to the fourth embodiment are basically the same as those of the in-pipe moving robot 1 according to the first embodiment.

[0072] As shown in FIG. 10(a), in the in-pipe moving robot 300 according to the fourth embodiment, an illumination device 25 is provided at the tip 20. The illumination device 25 is connected to a power source (not shown) via a wiring 25a. The illumination device 25 is attached to the tip 20 facing forward, and can illuminate the inside of the tube 2 photographed by the camera 40 with light. As the illumination device 25, for example, LED illumination can be used.

[0073] In this way, in the in-pipe moving robot 300 according to the fourth embodiment, since the illumination device 25 is provided at the tip 20, the inside of the dark tube can be clearly photographed by the camera 40.

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

[0075] With such a configuration, the inside of the tube 2 is illuminated more uniformly by the light emitted from the plurality of lighting devices 25, and the inside of the dark tube 2 can be photographed more clearly by the camera 40. In addition, since the nozzle 60 can be arranged avoiding the necessary irradiation ranges of the plurality of lighting devices 25, the performance of cleaning the cover body 50 by the nozzle 60 can be ensured while arranging the plurality of lighting devices 25 at the tip 20.

[0076] Note that the number and arrangement of the lighting devices 25 provided at the tip 20 are not limited to the above and can be changed as appropriate.

[0077] As shown in Fig. 11, in the in-tube moving robot 300 according to the fourth embodiment, the discharge port 61 of the nozzle 60 has a shape in which the ratio (H:W) of the height H to the width W is in the range of 1:3 to 5. In this embodiment, the shape of the discharge port 61 of the nozzle 60 is such that the ratio of the height H to the width W is 1:4. The opening area of the discharge port 61 may be set as appropriate based on the necessary injection pressure capable of cleaning the flat portion 51 of the cover body 50 by the fluid.

[0078] With such a configuration, the fluid can be injected from the discharge port 61 of the nozzle 60 toward the flat portion 51 of the cover body 50 at the necessary injection pressure in the necessary range, and the dirt attached to the cover body 50 can be effectively removed.

[0079] The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist thereof.

[0080] For example, the fluid supplied from the fluid supply source 14 to the telescopic unit 11 and the nozzle 60 is not limited to compressed air, and may be, for example, a liquid such as water or a cleaning liquid, or another gas such as nitrogen. When nitrogen is adopted as the fluid supplied from the fluid supply source 14 to the telescopic unit 11 and the nozzle 60, the explosion-proof performance inside the pipe 2 in which the in-pipe mobile robot 1 moves can be enhanced.

Explanation of Reference Numerals

[0081] 1 In-pipe mobile robot 2 Pipe 2a Straight portion 2b Bent portion 2c Step 10 Robot body 11 Telescopic unit 11a Cylindrical portion 12 Connecting portion 13 Piping for telescoping 14 Fluid supply source 15 Exhaust valve 15a Exhaust port 16 Brush 20 Tip portion 21 Brush 22 Elastic body 22a Outer peripheral end 23 Elastic body 23a Outer peripheral end 24 Virtual spherical surface 24a Point 25 Lighting device 25a Wiring 30 Elastic connection portion 40 Camera 41 Wiring 42 Display device 43 Viewing angle 43a Short side 43b Long side 50 Cover body 51 Flat portion 52 Curved portion 53 Back side 60 nozzles 61 discharge port 62 piping for nozzle 100 in-pipe moving robot 200 in-pipe moving robot 300 in-pipe moving robot O axis C control device D1 direction D2 direction H height W width

Claims

1. A pipe-internal moving robot comprising a robot body having at least three telescopic units that expand radially and contract axially when fluids are supplied thereto, wherein the telescopic units are configured to move inside a pipe by performing peristaltic motion in a predetermined pattern, a camera attached to a tip portion of the pipe-internal moving robot, a transparent cover body attached to the tip portion and covering the camera, a nozzle having a discharge port that opens toward an outer surface of a portion of the cover body covering a tip on a photographing direction side of the camera, a fluid supply source connected to the nozzle via a pipe for the nozzle and supplying a fluid to the nozzle, and characterized in that dirt attached to the outer surface of the cover body is removed by the fluid discharged from the discharge port.

2. a telescopic pipe connecting the fluid supply source to the telescopic unit, an exhaust valve provided in the telescopic pipe and capable of switching between a state of discharging the fluid inside the telescopic pipe to the outside of the telescopic pipe from an exhaust port and a state of closing the exhaust port, and The pipe-internal moving robot according to claim 1, wherein the nozzle pipe is connected to the exhaust port, so that the fluid supply source is connected to the nozzle via the telescopic pipe, the exhaust valve, and the nozzle pipe.

3. an elastically deformable elastic connection portion provided between the robot body and the tip portion and connecting the robot body and the tip portion, a pair of elastic bodies each having a substantially annular shape centered on the axis of the tip portion or an annular shape with an outer periphery being a regular polygon, protruding radially outward from the outer peripheral surface of the tip portion, and arranged at intervals in the axial direction, and The pipe-internal moving robot according to claim 1 or 2, wherein the cover body and the nozzle are accommodated within a range of a virtual spherical surface in which outer peripheral ends of each of the pair of elastic bodies are inscribed over the entire circumference.

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

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

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