In-tube running vehicle

Abstract

This in-pipe traveling vehicle 1 comprises: a main body 2; a traveling device 3 that is provided to the main body 2 and moves the main body 2; and a detection device 5 that is provided at one end of the main body 2 in the longitudinal direction of the main body 2 and detects that the in-pipe traveling vehicle 1 comes into contact with an obstacle inside a sewer pipe P. The detection device 5 has: an upper bumper member 61 and a lower bumper member 65 that are displaced by coming into contact with the obstacle; and an upper switch 71 and a lower switch 72 that are pressed by the displaced upper bumper member 61 and lower bumper member 65. The upper bumper member 61 and the lower bumper member 65 are displaced by rotating about an axis 57a.

Description

Technical Field

[0001] The present invention relates to an in-pipe traveling vehicle that travels inside a pipe.

Background Art

[0002] As an inspection method for inside a sewer pipe, a method of visually inspecting while an inspector moves inside the sewer pipe is known. Such an inspection method may pose a danger to the inspector due to toxic gases generated inside the sewer pipe or a rise in water level during rainfall. Also, when the diameter of the sewer pipe is small, it is difficult for an inspector to enter the sewer pipe. For this reason, in recent years, a method has been proposed in which, instead of an inspector, an inspection is performed on a device that moves inside the sewer pipe.

[0003] Patent Document 1 proposes a vehicle that travels inside a pipe. This vehicle includes a motor that receives power supply from a battery, and the vehicle travels by the motor rotating wheels.

[0004] Also, the vehicle described in Patent Document 1 includes an obstacle sensor. The obstacle sensor is configured to detect the current supplied from the battery to the motor. When this current becomes equal to or greater than a threshold value, the vehicle is considered to have come into contact with an obstacle inside the pipe and unable to move forward.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the sewer pipe, in addition to obstacles such as stones, there are also many things that hinder the running of the vehicle, such as steps at the joints of the sewer pipe and mud deposited on the bottom surface of the sewer pipe. The current supplied from the battery to the motor may instantaneously become excessive even when the wheels catch on such steps or mud. Therefore, when detecting the contact between the vehicle and an obstacle based on the current supplied to the motor and a threshold value as in the vehicle described in Patent Document 1, it is not easy to appropriately set the threshold value.

[0007] Instead of the method proposed in Patent Document 1, the present inventors considered improving the detection accuracy of the contact between the vehicle and an obstacle by using a switch that is depressed when it comes into contact with an obstacle. Then, the present inventors manufactured a vehicle having this switch on its outer surface and conducted verification by actually running the vehicle inside a sewer pipe. However, since obstacles can exist at various positions in the sewer pipe, new problems occurred in the verification, such as the switch not being able to come into contact with an obstacle existing at a predetermined position or the switch not being appropriately depressed even when it comes into contact with an obstacle.

[0008] The present invention has been made to solve the above-described problems, and an object thereof is to provide an in-pipe traveling vehicle capable of detecting contact with an obstacle with high accuracy.

Means for Solving the Problems

[0009] In order to achieve the above-described object, the in-pipe traveling vehicle includes a main body, a traveling device provided on the main body for moving the main body, and a detection device provided at one end of the main body in the longitudinal direction of the main body for detecting that the in-pipe traveling vehicle has come into contact with an obstacle inside the pipe. The detection device has a bumper that is displaced by coming into contact with an obstacle and a switch that is depressed by the displaced bumper. The bumper It has a lower bumper member and an upper bumper member disposed above the lower bumper member. is displaced by rotating about an axis The shaft extends along the width direction intersecting the longitudinal direction of the main body. When viewed along the longitudinal direction of the main body, the switch is offset from the shaft. The switch has a lower switch pressed by the displaced lower bumper member and an upper switch pressed by the displaced upper bumper member. .

[0013] In the above in-duct traveling vehicle, when viewed along the longitudinal direction of the main body, the upper bumper member has a pair of upper edges that are arc-shaped, and an upper edge that is located between the pair of upper edges and forms the upper end portion of the upper bumper member. The upper edge may be located below an imaginary line that extends upward along the pair of upper edges.

[0014] In the above in-duct traveling vehicle, when viewed along the longitudinal direction of the main body, the lower bumper member has a pair of lower edges that are arc-shaped, and a lower edge that is located between the pair of lower edges and forms the lower end portion of the lower bumper member. The lower edge may be located above an imaginary line that extends downward along the pair of lower edges.

[0015] In the above in-duct traveling vehicle, through holes that penetrate in the width direction are formed in each of the upper bumper member and the lower bumper member, and the upper bumper member and the lower bumper member may be configured to rotate about a shaft member that passes through both the through hole of the upper bumper member and the through hole of the lower bumper member.

[0016] In the above in-duct traveling vehicle, a notch that exposes one end portion of the main body may be formed in at least one of the upper bumper member and the lower bumper member.

Advantages of the Invention

[0017] According to the present invention, it becomes possible to provide an in-duct traveling vehicle that can detect contact with an obstacle with high accuracy.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0019] <Configuration of In-Pipe Running Vehicle> With reference to FIGS. 1 to 4, the configuration of the in-pipe running vehicle 1 (hereinafter referred to as "vehicle 1") according to the embodiment will be described. The vehicle 1 is used to acquire information about the sewer pipe P (see FIG. 4). The sewer pipe P is an example of a "pipe". FIGS. 1 and 2 are perspective views showing the vehicle 1. FIG. 1 shows the front part of the vehicle 1, and FIG. 2 shows the rear part of the vehicle 1. FIG. 3 is a side view showing the vehicle 1, and FIG. 4 is a front view showing the vehicle 1.

[0020] The main body 2 described later has a vertically long shape with the longitudinal direction being the front-rear direction so that it can be easily moved along the direction in which the sewer pipe P extends. In this specification, when facing the front of the vehicle 1 placed on the horizontal plane, the left side and the right side are referred to as "left" and "right", respectively. The left-right direction coincides with the width direction of the main body 2. Also, the vertical direction upward is referred to as "up", and the vertical direction downward is referred to as "down".

[0021] The vehicle 1 includes a main body 2, two traveling devices 3, a front camera 41, a rear camera 42, and a detection device 5.

[0022] As shown in FIGS. 1 to 3, the main body 2 has a casing 21, a heat sink 22, and a battery 23. The casing 21 is formed of, for example, carbon fiber reinforced plastic or a lightweight metal material. An accommodation space (not shown) is formed inside the casing 21. Devices necessary for the running of the vehicle 1 and the inspection in the sewer pipe P, such as a control device, a sensor, and a communication module, are accommodated in this accommodation space. The heat sink 22 is formed of a metal material with high thermal conductivity and is provided at the upper end of the casing 21. The heat generated by the devices accommodated in the accommodation space of the casing 21 is dissipated to the outside through this heat sink 22. The battery 23 is attached to the outer surface of the casing 21. The battery 23 supplies power to the devices accommodated in the accommodation space of the casing 21.

[0023] As shown in FIG. 4, the two traveling devices 3 are spaced apart from each other in the left-right direction and are provided at the lower part of the main body 2. As shown in FIGS. 1 to 3, each traveling device 3 has a casing 31 and a crawler 32. The casing 31 is formed of, for example, carbon fiber reinforced plastic or a lightweight metal material. An accommodation space (not shown) is formed inside the casing 31. The crawler 32 is a belt-shaped and annular member formed of, for example, a rubber material, and is arranged so as to cover the periphery of the casing 31. In the accommodation space of the casing 31, a mechanism for rotating the crawler 32 around the casing 31, such as a motor and a speed reducer, is accommodated.

[0024] As shown in FIG. 1, the front camera 41 is provided at the front end 2a of the main body 2. Also, as shown in FIG. 2, the rear camera 42 is provided at the rear end 2b of the main body 2. The front camera 41 is arranged so that its shooting range faces forward, and the rear camera 42 is arranged so that its shooting range faces backward.

[0025] The detection device 5 is a device for detecting that the vehicle 1 has come into contact with an obstacle in the sewer pipe P. The detection device 5 is provided at the front end 2a of the main body 2. As shown in FIGS. 1 to 3, the detection device 5 includes an upper detection device 51 and a lower detection device 52.

[0026] <Configuration of the inspection device> Next, with reference to FIG. 5 as well, the configuration of the detection device 5 will be described. FIG. 5 is an exploded perspective view showing the vehicle 1, and particularly shows the detection device 5 exploded.

[0027] As shown in FIG. 5, the upper detection device 51 has an upper bumper member 61, an upper switch 71, and two upper tensioners 81.

[0028] The upper bumper member 61 has a plate 62 and a pair of arms 63. The plate 62 has a pair of upper edges 62d and an upper end edge 62e. The pair of upper edges 62d are arc-shaped with a predetermined radius of curvature. The upper end edge 62e is located between the pair of upper edges 62d and is linear. FIG. 5 shows a virtual line V1 extending upward along the pair of upper edges 62d. That is, the virtual line V1 is curved, and its radius of curvature is the same as that of the pair of upper edges 62d. The upper end edge 62e is located below this virtual line V1.

[0029] Also, a semi-circular notch 62c is formed in a portion of the edge of the plate 62 that faces the upper end edge 62e. The pair of arms 63 are provided on the back surface 62b of the plate 62 and are arranged to face each other with the notch 62c in between. A through hole 63a is formed in each arm 63.

[0030] A pair of holding members 56 are provided at the front end portion 2a of the main body 2. The upper switch 71 and the two upper tensioners 81 are provided at a portion above the holding members 56 in the front end portion 2a. The upper switch 71 has an input portion 71a at its front end. The input portion 71a is configured to retract when receiving an external force from the rear and return forward when the external force is released. The upper switch 71 is configured to transmit a detection signal to the control device of the main body 2 when the input portion 71a is pressed. The upper tensioner 81 is biased forward by an elastic member (not shown) disposed within the front end portion 2a of the main body 2. The upper tensioner 81 is also configured to retract when receiving an external force of a predetermined value (for example, 13 Newtons) from the rear and return forward when the external force is released.

[0031] The lower detection device 52 includes a lower bumper member 65, a lower switch 72, and two lower tensioners 82.

[0032] The lower bumper member 65 has a plate 66 and a pair of arms 67. The plate 66 has a pair of lower edges 66d and a lower end edge 66e. The pair of lower edges 66d are in an arc shape having a predetermined radius of curvature. The lower end edge 66e is located between the pair of lower edges 66d. FIG. 5 shows a virtual line V2 extending downward along the pair of lower edges 66d. That is, the virtual line V2 is curved, and its radius of curvature is the same as that of the pair of lower edges 66d. The lower end edge 66e is located above this virtual line V2.

[0033] Further, a semi-circular notch 66c is formed in a portion of the edge of the plate 66 that faces the lower end edge 66e. The pair of arms 67 are provided on the back surface 66b of the plate 66 and are arranged to face each other with the notch 66c therebetween. A through hole 67a is formed in each arm 67.

[0034] The lower switch 72 and the two lower tensioners 82 are provided at a position below the holding member 56 in the front end portion 2a of the main body 2. The lower switch 72 has an input portion 72a at its front end portion. The input portion 72a is configured to retract when receiving an external force rearward and return forward when the external force is released. The lower switch 72 is configured to transmit a detection signal to the control device of the main body 2 when the input portion 72a is pressed. The lower tensioner 82 is biased forward by an elastic member (not shown) disposed within the front end portion 2a of the main body 2. The lower tensioner 82 is also configured to retract when receiving an external force of a predetermined value (for example, 13 Newtons) rearward and return forward when the external force is released.

[0035] The upper bumper member 61 and the lower bumper member 65 are attached to the holding member 56 using bolts 57 and nuts 58. The bolt 57 is an example of the "shaft member" of the present invention. The bolt 57 is held by the holding member 56 in a state where it passes through the through hole 67a of the lower bumper member 65, the through hole 63a of the upper bumper member 61, the hole 56a of the holding member 56, and the washer 59 and is screwed with the nut 58. Thereby, the upper bumper member 61 and the lower bumper member 65 can rotate about the axis 57a of the bolt 57 and are displaceable in the front-rear direction. The axis 57a extends along the left-right direction. The upper switch 71 is offset upward from the axis 57a, and the lower switch 72 is offset downward from the axis 57a.

[0036] As shown in FIG. 3, in the upper bumper member 61, the surface 62a of the plate 62 faces forward, and the back surface 62b is supported by the upper tensioner 81 (see FIG. 5). The back surface 62b supported by the upper tensioner 81 that is not receiving an external force is disposed at a distance from the input portion 71a (see FIG. 5) of the upper switch 71.

[0037] The lower bumper member 65 is also arranged such that the front surface 66a of the plate 66 faces forward and the rear surface 66b is supported by the lower tensiometer 82 (see FIG. 5). The rear surface 66b supported by the lower tensiometer 82 when no external force is applied is arranged at a distance from the input portion 72a (see FIG. 5) of the lower switch 72.

[0038] Also, as shown in FIG. 4, the notch 62c of the upper bumper member 61 and the notch 66c of the lower bumper member 65 are arranged to face each other in the vertical direction. By these notches 62c and 66c, a substantially circular opening 53 for exposing the front end portion 2a of the main body 2 is formed. The front camera 41 provided at the front end portion 2a of the main body 2 is exposed through this opening 53.

[0039] <Detection by the detection device> Next, with reference to FIG. 6 as well, the detection by the detection device 5 will be described. FIG. 6 is an enlarged view showing a part of the vehicle 1, and particularly shows the detection device 5 enlarged.

[0040] When the front surface 66a of the plate 66 of the lower bumper member 65 abuts against an obstacle in the lower water pipe P (see FIG. 4) during the forward movement of the vehicle 1, the lower bumper member 65 receives a force from the obstacle in the direction indicated by the arrow F in FIG. 6. As described above, the lower bumper member 65 is rotatable about the axis 57a of the bolt 57, but the rear surface 66b of the plate 66 is supported by the lower tensiometer 82. Therefore, when the magnitude of the force received by the lower bumper member 65 from the obstacle is less than a predetermined value (for example, 13 N), the lower tensiometer 82 does not retract and the lower bumper member 65 does not rotate. At this time, the lower bumper member 65 does not press the input portion 72a of the lower switch 72.

[0041] On the other hand, when the magnitude of the force received by the lower bumper member 65 from an obstacle exceeds a predetermined value, the lower tensioner 82 retracts. Along with this, the lower bumper member 65 rotates about the shaft 57a. When the lower bumper member 65 rotates by an angle θ or more, the back surface 66b of the plate 66 presses the input portion 72a of the lower switch 72. As a result, the lower switch 72 transmits a detection signal, and the control device that receives the detection signal detects that the vehicle 1 has come into contact with an obstacle. The same applies when detecting that the vehicle 1 has come into contact with an obstacle using the upper bumper member 61.

[0042] <Inspection in a sewer pipe using a vehicle traveling inside a pipe> Next, with reference to FIG. 7 as well, the inspection of the sewer pipe P using the vehicle 1 will be described. FIG. 7 is an explanatory diagram showing the traveling vehicle 1.

[0043] First, the inspector arranges two radio wave transmitting devices (not shown) inside the sewer pipe P to be inspected. Specifically, one radio wave transmitting device is arranged at each of two locations (for example, 100 meters) spaced apart in the direction in which the sewer pipe P extends.

[0044] While receiving radio waves in the communication module, the vehicle 1 autonomously advances inside the sewer pipe P with one of the two radio wave transmitting devices as the starting point and the other as the target point. The control device housed inside the main body 2 drives the traveling device 3 and rotates the crawler 32 around the casing 31 to advance the vehicle 1.

[0045] After the control device advances the vehicle 1 by a predetermined distance (for example, 10 centimeters), it stops the traveling device 3. Then, the control device operates the rear camera 42 (see FIG. 2) to capture the area behind the vehicle 1. The image data obtained by this capture is temporarily stored in the memory included in the control device and is used to check the state of the sewer pipe P after the inspection is completed. After the capture by the rear camera 42, the control device drives the traveling device 3 again to advance the vehicle 1 by a predetermined distance. If the advancement of the vehicle 1 is not hindered by an obstacle, the vehicle 1 repeats the advancement by a predetermined distance and the capture by the rear camera 42 until it reaches the target point.

[0046] When the detection device 5 detects that the vehicle 1 has come into contact with an obstacle in the sewer pipe P while moving forward, it transmits a detection signal. When the control device receives this detection signal, it rotates the crawler 32 of the traveling device 3 in the direction opposite to the forward direction to reverse the vehicle 1. Then, after the vehicle 1 has reversed by a predetermined distance (for example, 10 centimeters), the control device stops the traveling device 3. After that, the control device moves the vehicle 1 forward again. When the vehicle 1 repeats such forward and backward movements and the control device has received the detection signal from the detection device 5 three times, it determines that there is an obstacle in the sewer pipe P that hinders the forward movement of the vehicle 1.

[0047] When there is an obstacle in the sewer pipe P that hinders the forward movement of the vehicle 1, the control device reverses the vehicle 1 by a predetermined distance (for example, 30 centimeters) from the position of the obstacle and then stops the traveling device 3. Next, the control device causes the front camera 41 to capture the obstacle existing in front of the vehicle 1. The image data obtained by this capture is also temporarily stored in the memory included in the control device and is used to confirm the obstacle after the inspection is completed. When the capture by the front camera 41 is completed, the control device reverses the vehicle 1 to the position where one of the two radio wave transmitting devices, which is the starting point, is arranged.

[0048] FIG. 4 shows the inner wall surface P1 of the sewer pipe P with a perfect circular shape. As described above, the pair of upper edges 62d of the plate 62 of the upper bumper member 61 and the pair of lower edges 66d of the plate 66 of the lower bumper member 65 are arc-shaped with a predetermined radius of curvature. Therefore, when the vehicle 1 is arranged on the bottom surface PB of the sewer pipe P, the upper edge 62d and the lower edge 66d are arranged so as to generally follow the inner wall surface P1. As a result, a gap extending in the circumferential direction of the arc is formed between the upper edge 62d and the lower edge 66d and the inner wall surface P1.

[0049] In addition, the sewer pipe P may be deformed, for example, by receiving an external force from earth and sand underground. FIG. 4 shows the inner wall surface P2 of the deformed sewer pipe P. Here, as described above, the upper end edge 62e of the plate 62 of the upper bumper member 61 is located below the virtual line V1 extending upward along the pair of upper edges 62d (see FIG. 5). Therefore, even when the sewer pipe P is deformed and the top surface PT is displaced downward, a gap is formed between the upper end edge 62e and the top surface PT.

[0050] Furthermore, as described above, the lower end edge 66e of the plate 66 of the lower bumper member 65 is located above the virtual line V2 extending downward along the pair of lower edges 66d (see FIG. 5). Therefore, even when mud or the like accumulates on the bottom surface PB of the sewer pipe P, a gap is formed between the lower end edge 66e and the mud.

[0051] Also, as shown in FIG. 7, when the vehicle 1 rides up on the obstacle 9 existing on the bottom surface PB of the sewer pipe P, the vehicle 1 may tilt and the upper bumper member 61 may approach the top surface PT. Also in this case, due to the configuration in which the upper end edge 62e of the plate 62 of the upper bumper member 61 is located below the virtual line V1 (see FIG. 5), the gap between the upper end edge 62e and the top surface PT is maintained.

[0052] Furthermore, when the vehicle 1 gets over the obstacle 9 and returns to the bottom surface PB of the sewer pipe P, the vehicle 1 may tilt and the lower bumper member 65 may approach the bottom surface PB. Also in this case, due to the configuration in which the lower end edge 66e of the plate 66 of the lower bumper member 65 is located above the virtual line V2 (see FIG. 5), the gap between the lower end edge 66e and the bottom surface PB is maintained.

[0053] <Function and Effect> Next, the function and effect based on the vehicle 1 will be described.

[0054] For example, in a configuration having a bumper that moves horizontally and a switch is pressed by the displaced bumper, when the bumper receives a force in a direction inclined with respect to the horizontal direction from an obstacle, the bumper may not be displaced appropriately, and there is a risk that the detection accuracy of the contact between the vehicle 1 and the obstacle will be reduced.

[0055] On the other hand, in the configuration of the vehicle 1, the upper bumper member 61 and the lower bumper member 65 are displaced by rotating about the shaft 57a, and the upper switch 71 and the lower switch 72 are pressed by the displaced upper bumper member 61 or lower bumper member 65. According to this configuration, when contacting an obstacle, the upper bumper member 61 or the lower bumper member 65 can be reliably displaced, and the upper switch 71 or the lower switch 72 can be pressed. As a result, it becomes possible to detect the contact between the vehicle 1 and the obstacle with high accuracy.

[0056] Also, when viewed along the front-rear direction (that is, the longitudinal direction of the main body 2), the upper switch 71 and the lower switch 72 are offset from the shaft 57a.

[0057] According to this configuration, it becomes possible to reliably press the upper switch 71 or the lower switch 72 by the rotation of the upper bumper member 61 or the lower bumper member 65 about the shaft 57a.

[0058] Also, the shaft 57a extends along the left-right direction (that is, the width direction of the main body 2) that intersects the front-rear direction.

[0059] According to this configuration, when the upper bumper member 61 or the lower bumper member 65 of the advancing vehicle 1 contacts an obstacle, the upper bumper member 61 or the lower bumper member 65 is pushed backward by the obstacle. Therefore, due to the contact between the vehicle 1 and the obstacle, it becomes possible to smoothly displace the upper bumper member 61 or the lower bumper member 65 and reliably press the upper switch 71 or the lower switch 72.

[0060] Incidentally, obstacles may exist not only on the bottom surface PB of the sewer pipe P but also on the top surface PT. For example, the end of another pipe may penetrate the top surface PT of the sewer pipe P and protrude into the interior of the sewer pipe P.

[0061] Therefore, the bumper of the vehicle 1 has a lower bumper member 65 and an upper bumper member 61 disposed above the lower bumper member 65. The switch has a lower switch 72 pressed by the displaced lower bumper member 65 and an upper switch 71 pressed by the displaced upper bumper member 61.

[0062] According to this configuration, it becomes possible to detect the contact between the obstacles existing on the bottom surface PB and the top surface PT of the sewer pipe P and the vehicle 1 by the lower bumper member 65 and the upper bumper member 61, respectively. That is, by using members corresponding to each position where obstacles may exist, it becomes possible to detect the contact between the vehicle 1 and the obstacles with high accuracy.

[0063] Also, when viewed along the longitudinal direction of the main body 2, the upper bumper member 61 has a pair of upper edges 62d in an arc shape and an upper end edge 62e located between the pair of upper edges 62d and forming the upper end portion of the upper bumper member 61. The upper end edge 62e is located below an imaginary line V1 extending upward along the pair of upper edges 62d.

[0064] According to this configuration, when the vehicle 1 is disposed on the bottom surface PB of the sewer pipe P, the upper edges 62d are arranged to generally follow the inner wall surface P1 (see FIG. 4). As a result, a gap extending in the circumferential direction of the arc is formed between the upper edges 62d and the inner wall surface P1. Further, even when the top surface PT is displaced downward due to the deformation of the sewer pipe P, a gap is formed between the upper end edge 62e and the inner wall surface P2. As a result, it is possible to suppress interference between the upper bumper member 61 and the sewer pipe P during the running of the vehicle 1.

[0065] Further, when viewed along the longitudinal direction of the main body 2, the lower bumper member 65 has a pair of lower edges 66d that are arc-shaped, and a lower edge 66e that is located between the pair of lower edges 66d and forms the lower end portion of the lower bumper member 65. The lower edge may be located above an imaginary line that extends downward along the pair of lower edges.

[0066] According to this configuration, when the vehicle 1 is disposed on the bottom surface PB of the sewer pipe P, the lower edges 66d are disposed so as to generally follow the inner wall surface P1 (see FIG. 4). As a result, a gap is formed between the lower edges 66d and the inner wall surface P1 over the circumferential direction of the arc. Further, even when mud or the like is deposited on the bottom surface PB of the sewer pipe P, a gap is formed between the lower edge 66e and this mud. As a result, it is possible to suppress interference between the lower bumper member 65 and the sewer pipe P or the mud during the running of the vehicle 1.

[0067] Further, the upper bumper member 61 and the lower bumper member 65 are configured to rotate about a bolt 57 that passes through both the through hole 63a of the upper bumper member 61 and the through hole 67a of the lower bumper member 65.

[0068] According to this configuration, it is possible to rotate the upper bumper member 61 and the lower bumper member 65 with a small number of parts.

[0069] Further, notches 62c and 66c for exposing the front end portion 2a of the main body 2 are formed in the upper bumper member 61 and the lower bumper member 65. Note that such notches may be formed in at least one of the upper bumper member 61 and the lower bumper member 65.

[0070] According to this configuration, while providing the detection device 5 at the front end portion 2a of the main body 2, the openings 53 can be formed by the notches 62c and 66c, and the front end portion 2a can be exposed. For this reason, it is possible to expose the front camera 41 provided at the front end portion 2a and allow the front camera 41 to photograph the front of the vehicle 1 through this opening 53.

[0071] The embodiments described above are for facilitating the understanding of the present invention and are not for limiting the interpretation of the present invention. Each element included in the embodiments and its arrangement, material, conditions, shape, size, etc. are not limited to those exemplified and can be changed as appropriate.

Industrial Applicability

[0072] The present invention can be used in water supply pipes, sewer pipes, drain pipes, tunnels, ducts, pipe shafts, gas pipes, etc.

Explanation of Reference Numerals

[0073] 1 In-duct traveling vehicle (vehicle) 2 Main body 2a Front end portion (one end portion) 3 Traveling device 5 Detection device 51 Upper detection device 52 Lower detection device 57 Bolt (shaft member) 61 Upper bumper member 62c Notch 62d Upper edge 62e Upper end edge 63a Through hole 65 Lower bumper member 66c Notch 66d Lower edge 66e Lower end edge 67a Through hole 71 Upper switch 72 Lower switch 9 Obstacle P Sewer pipe (pipe) V1, V2 Virtual line

Claims

1. An in-pipe traveling vehicle that travels inside a pipe, comprising: a main body; a traveling device provided on the main body for moving the main body; a detection device provided at one end of the main body in the longitudinal direction of the main body for detecting that the in-pipe traveling vehicle has come into contact with an obstacle inside the pipe. The detection device has a bumper that is displaced by coming into contact with an obstacle, and a switch that is pressed by the displaced bumper. The bumper has a lower bumper member and an upper bumper member disposed above the lower bumper member, and is displaced by rotating about an axis. The axis extends along a width direction that intersects the longitudinal direction of the main body. When viewed along the longitudinal direction of the main body, the switch is offset from the axis. The switch has a lower switch that is pressed by the displaced lower bumper member and an upper switch that is pressed by the displaced upper bumper member. An in-pipe traveling vehicle.

2. When viewed along the longitudinal direction of the main body, the upper bumper member has a pair of upper edges that are arc-shaped, and an upper end edge that is located between the pair of upper edges and forms the upper end portion of the upper bumper member. The in-pipe traveling vehicle according to claim 1, wherein the upper end edge is located below an imaginary line that extends upward along the pair of upper edges.

3. When viewed along the longitudinal direction of the main body, the lower bumper member has a pair of lower edges that are arc-shaped, and a lower end edge that is located between the pair of lower edges and forms the lower end portion of the lower bumper member. The in-pipe traveling vehicle according to claim 1, wherein the lower end edge is located above an imaginary line that extends downward along the pair of lower edges.

4. Through holes penetrating in the width direction are formed in each of the upper bumper member and the lower bumper member. The in-pipe traveling vehicle according to claim 1, wherein the upper bumper member and the lower bumper member are configured to rotate about a shaft member that passes through both the through hole of the upper bumper member and the through hole of the lower bumper member.

5. An in-pipe traveling vehicle according to claim 1, wherein a notch for exposing one end of the main body is formed in at least one of the upper bumper member and the lower bumper member.

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