Vehicle and Control Systems

Abstract

To make it possible to rotate a movable body without necessarily providing a dedicated drive wheel for rotating the movable body in a circumferential direction of a pipe.SOLUTION: Each of rotary shafts 400 has one end 401 and the other end 402. The other end 402 of the rotary shaft 400 is supported by a protrusion 220, and the other end 402 is a fixed end fixed to the protrusion 220. The one end 401 of the rotary shaft 400 is a free end that is not directed by the protrusion 220. A rotating direction of a drive wheel 200 when a measuring robot 10 moves toward a depth side of a pipe 100 is a direction indicated by an arrow 4A, and each of the rotary shafts 400 is collapsed toward an upstream side in the rotating direction.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a mobile object and a control system. [Background technology]

[0002] Patent Document 1 discloses an ultrasonic flaw detection device that can be inserted into a pipe and that moves inside the pipe using water flow pressure to detect the presence or absence of abnormalities inside the pipe. The device is configured to include an ultrasonic probe that emits ultrasonic waves toward the pipe wall and receives the reflected echo signals, and a flexible structure that connects multiple divided ultrasonic flaw detection means to each other. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-75384 Summary of the Invention [Problem to be solved by the invention]

[0004] By placing a moving object inside a pipe and moving the moving object along the pipe, for example, information about the inside of the pipe can be obtained. Here, when it is desired to rotate the moving body in the circumferential direction of the pipe, providing a drive wheel exclusively for this rotation leads to an increase in the size of the moving body and an increase in costs. An object of the present invention is to enable the rotation of the moving body in the circumferential direction of the pipe without necessarily providing a dedicated drive wheel for rotating the moving body in the circumferential direction of the pipe. [Means for solving the problem]

[0005] The moving body to which the present invention is applicable is a moving body that moves within a pipe, and is equipped with a drive wheel that performs rotational drive, and a rotating body that is provided on the outer periphery of the drive wheel and is rotatable around a rotation axis that is arranged in an inclined relationship with respect to the orthogonal direction that is perpendicular to the axial direction of the pipe, and that rotates when subjected to force from the inner surface of the pipe.

[0006] Here, a plurality of the rotating bodies may be provided and arranged side by side in the circumferential direction of the drive wheel. Furthermore, when the rotating body supported by the rotating shaft is in contact with the inner surface, one of the one end and the other end of the rotating shaft may be located upstream in the direction of movement of the moving body, and the other may be located downstream of the one end. In addition, the two drive wheels may be arranged on the same axis, and the device may further include a biasing means for biasing the two drive wheels arranged on the same axis in a direction intersecting the direction in which the coaxial axis extends, and for pressing the rotating body provided on each of the drive wheels against the inner surface. In addition, the two drive wheels may be arranged coaxially, one of the two drive wheels having a side facing the other drive wheel, and the other drive wheel having a side facing the one drive wheel, and the rotating shaft of each of the two drive wheels may protrude toward the side opposite to the side on which the side is provided, and the rotating body may be supported by the protruding rotating shaft. The tip end of the rotary shaft in the protruding direction may be a free end. Furthermore, the rotating shaft may have the tip portion and an opposite end portion located opposite the tip portion, and the rotating body supported by the rotating shaft may be configured so that the outer diameter of the portion located on the free end side of the rotating shaft is smaller than the outer diameter of the portion located on the opposite end side of the rotating shaft. Furthermore, in a cross section of the rotating body in a virtual plane along the rotation axis and passing through the rotation axis, the outer surface of the rotating body may be formed to have a curvature and be convex in a direction away from the rotation axis. Furthermore, in one of the two drive wheels, the rotation axis supporting the rotating body in contact with the inner surface may be tilted to one of the upstream and downstream sides in the direction of movement of the moving body, and in the other of the two drive wheels, the rotation axis supporting the rotating body in contact with the inner surface may be tilted to the one side. In addition, two other drive wheels may be further provided that are arranged coaxially and rotate in the same direction as the two drive wheels when the moving body moves along the pipe, and in one of the other two drive wheels, the rotation axis supporting the rotating body in contact with the inner surface may be tilted to the opposite side from the one side, and in the other of the other two drive wheels, the rotation axis supporting the rotating body in contact with the inner surface may be tilted to the opposite side. In addition, the two drive wheels may be arranged coaxially, and the two drive wheels arranged coaxially may be biased in one direction that intersects the direction in which the coaxial axis extends, so as to contact the inner surface, and two other drive wheels may be arranged coaxially, biased in the opposite direction to the one direction, so as to contact the inner surface, and rotate in the opposite direction to the rotation direction of the two drive wheels when the moving body moves along the pipe. In addition, each of the other two drive wheels may be provided with a rotating body that rotates around a rotation axis that is arranged in an inclined relationship with respect to the perpendicular direction and that rotates by receiving force from the inner surface. The two drive wheels arranged on the same axis may be configured to rotate in the same direction, and the two drive wheels may be configured to rotate in directions different from each other.

[0007] Furthermore, when the present invention is considered as a control system, the control system to which the present invention is applicable is a control system comprising a moving body that moves within a pipe and a control unit that controls the moving body, wherein the moving body comprises at least two drive wheels that are arranged coaxially and drive to rotate, and a rotating body that is provided on the outer periphery of each of the two drive wheels and is rotatable around a rotation axis that is arranged inclined relative to the orthogonal direction that is perpendicular to the axial direction of the pipe, and rotates by receiving force from the inner surface of the pipe, and the control unit controls the two drive wheels that are arranged coaxially to rotate in the same direction and controls the two drive wheels to rotate in directions different from each other. [Effects of the Invention]

[0008] According to the present invention, the moving body can be rotated in the circumferential direction of the pipe without necessarily providing a dedicated drive wheel for rotating the moving body. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is an overall view of a mobile object control system. [Figure 2] FIG. 2 is a side view of the measuring robot. [Figure 3] (a) and (b) are a top view and a front view of the measuring robot. [Figure 4] 4 is a view of the fifth wheel unit as viewed from the direction indicated by arrow IV in FIG. 3(b). [Figure 5] 10 is a front view of the other of the two drive wheels provided in the fifth wheel unit. FIG. [Figure 6] This shows the state of contact between the fifth wheel part and the inner surface of the pipe. [Figure 7] FIG. 7 is a view of the measuring robot as seen from the direction indicated by arrow VII in FIG. 2. [Figure 8] 8 is a diagram showing the state of the fifth wheel unit when the measuring robot shown in FIG. 7 moves toward the rear side. FIG. [Figure 9]10A and 10B are diagrams showing the movements of the various parts when the measuring robot is moved in the opposite direction. [Figure 10] 10A and 10B are diagrams showing the movements of each part when the measuring robot is rotated in the circumferential direction of the pipe. [Figure 11] 10A and 10B are diagrams showing the movements of each part when the measuring robot is rotated. [Figure 12] 3A to 3C are diagrams showing the movements of each part of the measuring robot. [Figure 13] 3A to 3C are diagrams showing the movements of each part of the measuring robot. [Figure 14] FIG. 8 is a cross-sectional view of the drive wheel taken along line XIV-XIV in FIG. 7. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. <Mobile Control System 1> FIG. 1 is an overall view of a mobile object control system 1 according to this embodiment. As shown in Figure 1, the mobile object control system 1 of this embodiment includes a measuring robot 10 that moves along the pipe 100 within the pipe 100, a supply device 40 connected to the measuring robot 10 via a cable 41, and a terminal device 50 that manages the measuring robot 10.

[0011] In the mobile object control system 1 of this embodiment, the measuring robot 10, the supply device 40, and the terminal device 50 are capable of communicating information with each other via a network. The network is not particularly limited as long as it is a communication network used for data communication between the devices, and may be, for example, a LAN (Local Area Network), a WAN (Wide Area Network), the Internet, etc. The communication line used for data communication may be either wired or wireless, and a combination of these may be used.

[0012] The mobile object control system 1 of this embodiment is a system for controlling the movement of a measuring robot 10 that moves in a pipe 100 through which a fluid flows, such as a water pipe or a sewer pipe. The mobile control system 1 is not limited to water pipes or sewer pipes, but can also be applied to the movement of the measuring robot 10 in, for example, gas pipes through which gas flows or electrical conduits through which electrical wiring passes. In addition, in this embodiment, the measuring robot 10, which is an example of a moving body, moves to measure the pipe 100, but the moving body moving within the pipe 100 may be used not only for measuring the pipe 100, but also for cleaning the pipe 100, etc.

[0013] [Measuring Robot 10] FIG. 2 is a side view of the measuring robot 10. 3(a) and 3(b) are a top view and a front view of the measuring robot 10. Fig. 3(a) is a top view of the measuring robot 10 as seen from the arrow IIIa in Fig. 2, and Fig. 3(b) is a front view of the measuring robot 10 as seen from the arrow IIIb in Fig. 2.

[0014] As shown in Figure 2, a measuring robot 10 as an example of a moving body comprises a main body 11 that constitutes the main body of the measuring robot 10, a wheel unit 12 provided on the main body 11, a drive unit 13 that drives the wheel unit 12, and a photographing unit 14 that photographs the inside of the pipe 100. Furthermore, the measuring robot 10 includes a distance measuring unit 15 that measures the distance traveled by the main body 11, an attitude measuring unit 16 that measures the attitude of the main body 11, and a temperature measuring unit 17 that measures the temperature. The measuring robot 10 also includes a communication unit 18 that communicates with the outside world, and a control unit 19 that controls each component of the measuring robot 10. In this embodiment, sensors such as a sensor for measuring the distance traveled, a sensor for measuring the posture, and a sensor for measuring the temperature are provided, but these sensors are not essential and do not need to be installed. The measuring robot 10 may also be equipped with an infrared sensor, a LiDER (Light Detection and Ranging) to measure the shape inside the pipe 100, an ultrasonic sensor to detect damage to the pipe 100, a humidity sensor, a drill to remove foreign matter, a collection mechanism to collect foreign matter, a laser to remove rust, etc.

[0015] (Main body 11) The main body 11 has one end 11A and the other end 11B. The main body 11 also has a plurality of nodes 21, a plurality of hinges 22 provided between the nodes 21, and coil springs 23 provided in the hinges 22. Here, each of the joints 21 can be regarded as a movable member, and in this embodiment, a plurality of movable members are connected via hinge portions 22. In this embodiment, one movable member is configured to be movable (rotatable) relative to another adjacent movable member connected via hinge portion 22. In other words, in this embodiment, one movable member is displaceable relative to another adjacent movable member connected to this one movable member. In this embodiment, the multiple nodes (movable members) 21 include a first node 21A provided at one end 11A of the main body 11, a second node 21B connected to the first node 21A, and a third node 21C connected to the second node 21B.

[0016] In addition, in this embodiment, a fourth node 21D connected to the third node 21C, a fifth node 21E connected to the fourth node 21D, and a sixth node 21F connected to the fifth node 21E and provided at the other end 11B of the main body 11 are provided. It should be noted that the first to sixth node portions 21A to 21F are collectively referred to as node portions 21 when not being particularly distinguished from one another. The joint portion 21 is formed to extend long in one direction. The joint portion 21 can accommodate a motor or the like, which will be described later, inside. Furthermore, the main body 11 of this embodiment is waterproofed, so that water or the like does not penetrate into the inside of the main body 11.

[0017] In this embodiment, the hinge portion 22 includes a first hinge portion 22a connecting the first node portion 21A and the second node portion 21B, a second hinge portion 22b connecting the second node portion 21B and the third node portion 21C, and a third hinge portion 22c connecting the third node portion 21C and the fourth node portion 21D. In addition, in this embodiment, the hinge portion 22 includes a fourth hinge portion 22d that connects the fourth node portion 21D and the fifth node portion 21E, and a fifth hinge portion 22e that connects the fifth node portion 21E and the sixth node portion 21F. It should be noted that the first hinge portion 22a to the fifth hinge portion 22e will be collectively referred to as the hinge portion 22 when they are not particularly distinguished from one another. As shown in FIG. 3(a), each hinge portion 22 rotatably connects two joint portions 21 together.

[0018] As shown in FIG. 2, the coil spring 23 is provided at each of the second hinge portion 22b and the fourth hinge portion 22d. Coil spring 23 of second hinge portion 22b constantly applies spring force to second node portion 21B and third node portion 21C in a direction in which second node portion 21B and third node portion 21C approach each other with second hinge portion 22b as the center of rotation. Furthermore, the coil spring 23 of the fourth hinge portion 22d constantly applies a spring force to the fourth node portion 21D and the fifth node portion 21E in a direction that moves the fourth node portion 21D and the fifth node portion 21E toward each other with the fourth hinge portion 22d as the center of rotation.

[0019] (Wheel part 12) As shown in FIG. 2, in this embodiment, a first wheel portion 31 to a fifth wheel portion 35 are provided as the wheel portion 12. In this embodiment, a first wheel portion 31 is provided on one end portion 11A side of the main body portion 11, and a fifth wheel portion 35 is provided on the other end portion 11B side of the main body portion 11. In addition, in this embodiment, multiple wheel sections 12 are provided in the following order from one end 11A side of the main body 11 to the other end 11B side: first wheel section 31, second wheel section 32, third wheel section 33, fourth wheel section 34, and fifth wheel section 35.

[0020] The first wheel portion 31 is arranged coaxially with the first hinge portion 22a, the second wheel portion 32 is arranged coaxially with the second hinge portion 22b, and the third wheel portion 33 is arranged coaxially with the third hinge portion 22c. The fourth wheel portion 34 is arranged coaxially with the fourth hinge portion 22d, and the fifth wheel portion 35 is arranged coaxially with the fifth hinge portion 22e.

[0021] As shown in FIGS. 3(a) and 3(b), each of the first wheel unit 31 to the fifth wheel unit 35 is made up of two drive wheels 200 that form a pair of drive wheels. In this embodiment, as shown in Fig. 3(a), a hinge portion 22 is provided between the two drive wheels 200. The two drive wheels 200 and the hinge portion 22 are arranged coaxially. In this embodiment, as shown in FIG. 3(a), a drive unit 13 is provided for each drive wheel 200, and in this embodiment, each drive wheel 200 is individually driven to rotate.

[0022] As described above, the second hinge portion 22b and the fourth hinge portion 22d of this embodiment are provided with the coil springs 23 (see FIG. 2). In this embodiment, this coil spring 23 applies a force to the first wheel portion 31, the second wheel portion 32, the third wheel portion 33, the fourth wheel portion 34 and the fifth wheel portion 35 toward the outside of the main body portion 11 (the outside in the radial direction of the piping 100). As a result, the first wheel portion 31, the second wheel portion 32, the third wheel portion 33, the fourth wheel portion 34, and the fifth wheel portion 35 are pressed against an inner peripheral surface 110, which is an example of the inner surface of the pipe 100. More specifically, in this embodiment, as described above, the second node 21B and the third node 21C approach each other, and the fourth node 21D and the fifth node 21E approach each other by the coil spring 23. This causes the first wheel portion 31, the second wheel portion 32, the third wheel portion 33, the fourth wheel portion 34, and the fifth wheel portion 35 to be pressed against the inner circumferential surface 110 of the piping 100. The pressing of each wheel portion 12 against the inner peripheral surface 110 of the pipe 100 is not limited to the use of the coil spring 23, but may be performed by using a motor provided in the measuring robot 10. More specifically, by using a motor, for example, second node 21B and third node 21C are moved closer to each other, and fourth node 21D and fifth node 21E are moved closer to each other. This also causes first wheel portion 31, second wheel portion 32, third wheel portion 33, fourth wheel portion 34, and fifth wheel portion 35 to be pressed against inner circumferential surface 110 of piping 100.

[0023] Further, the drive wheels 200 provided on each of the first wheel unit 31, the second wheel unit 32, the third wheel unit 33, the fourth wheel unit 34, and the fifth wheel unit 35 rotate upon receiving a rotational drive force from the drive unit 13. This causes the main body unit 11 to move within the piping 100. Specifically, in each of the first wheel unit 31 to the fifth wheel unit 35, the drive wheels 200 rotate in a predetermined direction, causing the main body unit 11 to move toward the back of the piping 100. In addition, the drive wheels 200 rotate in a direction opposite to the predetermined direction, causing the main body unit 11 to move toward the inlet (opening) of the piping 100.

[0024] In this embodiment, the measuring robot 10 is inserted into the pipe 100 through an inlet (opening) at the end of the pipe 100 . The measuring robot 10 moves toward the depth of the pipe 100 as the drive wheels 200 provided on each of the first wheel unit 31 to the fifth wheel unit 35 rotate in a predetermined direction. Furthermore, the driving wheels 200 rotate in the direction opposite to the predetermined direction, causing the measuring robot 10 to return toward the entrance side. More specifically, in this embodiment, the two drive wheels 200 provided on each of the first wheel unit 31 to the fifth wheel unit 35 are rotated in the same direction and in one direction, thereby moving the measuring robot 10 toward the back side of the piping 100. Furthermore, the two drive wheels 200 provided on each of the first wheel unit 31 to the fifth wheel unit 35 are rotated in the same direction and in the opposite direction to this one direction, thereby moving the measuring robot 10 toward the inlet side.

[0025] In addition, in this embodiment, the measuring robot 10 moves in the circumferential direction of the piping 100 by rotating and driving the two drive wheels 200 provided on each of the first wheel section 31 to the fifth wheel section 35 in opposite directions (details will be described later). In other words, in this embodiment, the measuring robot 10 moves around the central axis of the piping 100 by rotating the two drive wheels 200 provided on each of the first wheel unit 31 to the fifth wheel unit 35 in opposite directions. When the two drive wheels 200 provided on each of the first wheel section 31 to the fifth wheel section 35 are rotated in opposite directions, the action of the rotating body 300 (described later) provided on each of the drive wheels 200 causes the measuring robot 10 to move circumferentially around the pipe 100 and around the central axis of the pipe 100, as shown in Figure 10 described later.

[0026] (Drive unit 13) For example, an electric motor can be used as the drive unit 13. The drive unit 13 operates under the control of the control unit 19. The drive unit 13 receives power supply from a cable 41 of a supply device 40 (see FIG. 1). Alternatively, for example, a battery may be mounted on the main body 11, and power may be supplied from this battery to the drive unit 13. In this case, the main body 11 operates without receiving power from the cable 41.

[0027] As shown in FIG. 2, the driving units 13 are provided at the first node 21A, the second node 21B, the third node 21C, the fifth node 21E, and the sixth node 21F. The drive unit 13 of the first joint 21A drives the first wheel unit 31 to rotate. The drive unit 13 of the second joint 21B drives the second wheel unit 32 to rotate. The drive unit 13 of the third node 21C drives and rotates the third wheel unit 33. The drive unit 13 of the fifth node 21E drives and rotates the fourth wheel unit 34. The drive unit 13 of the sixth node 21F drives and rotates the fifth wheel unit 35.

[0028] As shown in FIG. 3(a), each of the first joint 21A, the second joint 21B, the third joint 21C, the fifth joint 21E and the sixth joint 21F is provided with two drive units 13. In this embodiment, one of the two drive units 13 drives one of the drive wheels 200 provided on the wheel unit 12 to rotate, and the other drive unit 13 drives the other drive wheel 200 provided on the wheel unit 12 to rotate. In this embodiment, the two drive wheels 200 are driven to rotate independently.

[0029] (Photography Section 14) As shown in Fig. 3(b), the imaging unit 14 is provided at an end of the main body 11. Also, as shown in Fig. 2, the imaging units 14 are provided on the front and rear sides of the main body 11 in the direction of travel. In this embodiment, the imaging units 14 are provided at the first node 21A and the sixth node 21F. Furthermore, photographing unit 14 is capable of changing photographing conditions such as the photographing direction in response to, for example, a user operation. Furthermore, photographing unit 14 has an LED light source that illuminates the inside of pipe 100. Photography unit 14 transmits the photographed image of the inside of pipe 100 to terminal device 50 via communication unit 18. Note that a photographing unit that detects light of wavelengths other than visible light, such as infrared light or ultraviolet light, may be used as the photographing unit 14. Also, the photographing unit 14 may be used in combination with a projector.

[0030] (Distance measurement unit 15) Distance measurement unit 15 (see FIG. 2) is provided on fourth node 21D. For example, a rotary encoder is provided in the distance measurement unit 15. A lattice disk that serves as a reference for rotation is provided on the third wheel unit 33, and the distance measurement unit 15 reads this lattice disk using a reading unit.

[0031] The distance measurement unit 15 stores in advance information about the outer periphery of the third wheel unit 33. The distance measurement unit 15 measures the movement distance of the main body unit 11 based on the amount of rotation of the third wheel unit 33 obtained from the reading unit and the information about the outer periphery of the third wheel unit 33. The distance measurement unit 15 transmits travel distance information relating to the measured travel distance of the main body unit 11 to the terminal device 50 via the communication unit 18. The travel distance information transmitted by the distance measurement unit 15 is a read value of an encoder, and is so-called raw data that has not been edited.

[0032] (Posture measurement section 16) The posture measuring unit 16 (see FIG. 2) is provided on the fourth joint 21D. For example, a motion sensor can be used as the attitude measurement unit 16. Specifically, the attitude measurement unit 16 has a triaxial gyro sensor that detects the angular velocity (rotational speed) of the main body unit 11, a triaxial acceleration sensor that detects the acceleration of the main body unit 11, and a triaxial geomagnetic sensor that detects the geomagnetism to detect the absolute orientation of the main body unit 11. The attitude measurement unit 16 measures the attitude of the main body unit 11 based on the detection results obtained by the three-axis gyro sensor, the three-axis acceleration sensor, and the three-axis geomagnetic sensor.

[0033] Then, the posture measurement unit 16 transmits posture information relating to the measured posture of the main body unit 11 to the terminal device 50 via the communication unit 18. The attitude information transmitted by the attitude measurement unit 16 is the detection results of the three-axis gyro sensor, the three-axis acceleration sensor, and the three-axis geomagnetic sensor, and is so-called raw data that has not been edited.

[0034] (Temperature measurement part 17) The temperature measuring unit 17 is provided in the fourth node 21D. The temperature measuring unit 17 measures the temperature of the main body 11. The temperature measuring unit 17 transmits temperature information of the measured temperature to the terminal device 50.

[0035] (Communications Department 18) The communication unit 18 communicates information between the supply device 40 and the terminal device 50. For example, the communication unit 18 receives information relating to the driving of the driving unit 13 from the terminal device 50. In addition, the communication unit 18 transmits the captured image obtained by the photographing unit 14, the travel distance information obtained by the distance measuring unit 15, the posture information obtained by the posture measuring unit 16, and the temperature information obtained by the temperature measuring unit 17 to the terminal device 50.

[0036] (Control unit 19) The control unit 19 performs drive control of the drive unit 13 , photography control related to photography by the photography unit 14 , measurement control related to measurements by the distance measurement unit 15 and attitude measurement unit 16 , and communication control related to communication by the communication unit 18 . The control by the control unit 19 may be performed based on a program pre-stored in the measuring robot 10. Alternatively, the control by the control unit 19 may be performed based on control information transmitted from the terminal device 50, for example. The terminal device 50 is provided with an operation unit 51 (see FIG. 1) that receives operations from a user (operator). The control unit 19 may control the measuring robot 10 based on control information received by the operation unit 51 and transmitted via the terminal device 50. Furthermore, the control unit 19 may be provided at a location separate from the measuring robot 10, and a control signal may be transmitted to the measuring robot 10 from this control unit 19 provided at a location separate from the measuring robot 10.

[0037] In the measuring robot 10 configured as above, the first wheel unit 31 to the fifth wheel unit 35 are rotationally driven. In this embodiment, the control unit 19 controls the first wheel unit 31 to the fifth wheel unit 35 to be rotationally driven. This allows the measuring robot 10 to move along the pipe 100 and in the circumferential direction of the pipe 100. For example, in a building, the measuring robot 10 passes through horizontal sections of the piping 100 that are approximately horizontal, vertical sections that are approximately vertical, and even bent sections that are approximately right-angled. In particular, the measuring robot 10 of this embodiment is capable of both ascending and descending in vertical sections and bent sections.

[0038] In addition, in this embodiment, the measuring robot 10 moves in the circumferential direction of the pipe 100, so that the posture of the measuring robot 10 can be changed. In other words, in this embodiment, it is possible to turn the measuring robot 10 upside down. In other words, in this embodiment, it is possible to change the phase of the measuring robot 10 in the circumferential direction of the pipe 100.

[0039] When the measuring robot 10 attempts to pass through a bent portion of the pipe 100, the measuring robot 10 may not be able to pass through the bent portion depending on the phase of the measuring robot 10 in the circumferential direction of the pipe 100. Furthermore, when taking an image using the photographing unit 14, there may be cases where it is desired to move the measuring robot 10 in the circumferential direction of the pipe 100 and change the orientation of the photographing unit 14. In this embodiment, the measuring robot 10 can move in the circumferential direction of the pipe 100, which allows the measuring robot 10 to pass through the bent parts of the pipe 100 and also allows the orientation of the photographing unit 14 to be changed.

[0040] [Feeding device 40] As shown in FIG. 1, supply device 40 includes cable 41 in which various wires are bundled, cable supply unit 42 that supplies cable 41, and distance measurement unit 43 provided in cable supply unit 42.

[0041] The cable 41 includes a power line for supplying power to the measuring robot 10 and a signal line for sending and receiving commands, measurement information, etc. to and from the measuring robot 10. The cable 41 is connected to a terminal device 50 and a power source (not shown). The cable 41 transmits and receives information between the measuring robot 10 and the terminal device 50 and supplies power.

[0042] Furthermore, the cable 41 is configured so that the measuring robot 10 can be pulled out from inside the piping 100 by the cable 41 in the event that some kind of malfunction occurs in the traveling ability of the measuring robot 10 . In this embodiment, the cable 41 is firmly connected to the approximate center of the first node 21A (see FIG. 2). The tensile strength of the cable 41 is set so as to withstand the tension when the measuring robot 10 is pulled out of the piping 100.

[0043] The cable supply unit 42 is rotatably supported and has a drum 42d that winds and unwinds the cable 41. The cable supply unit 42 unwinds the cable 41 when the measuring robot 10 moves along the pipe 100 toward the back of the pipe 100. On the other hand, the cable supply unit 42 winds up the cable 41 when the measuring robot 10 moves toward the entrance of the pipe 100. In this embodiment, the cable supply unit 42 of the supply device 40 controls the drum 42d so that a constant tension (tensile force) is always applied to the cable 41 so that the cable 41 does not become loose when the measuring robot 10 moves.

[0044] A rotary encoder, for example, can be used as the distance measurement unit 43. In this embodiment, a grid disk serving as a reference for rotation is provided on the drum 42d, and the distance measurement unit 43 reads this grid disk using a reading unit. Here, the distance measurement unit 43 stores in advance information about the relationship between the length of the cable 41 unwound from the drum 42d and the amount of rotation of the drum 42d. The distance measurement unit 43 determines the length of the cable 41 unwound from the drum 42d based on the rotation amount of the drum 42d obtained from the reading unit. Furthermore, the distance measurement unit 43 determines the movement distance of the measuring robot 10 based on the determined length of the cable 41. The method for determining the movement distance of the measuring robot 10 is not particularly limited, and as described above, the movement distance may be determined by providing a distance measurement unit 15 in the measuring robot 10, or the movement distance of the measuring robot 10 may be determined by providing a distance measurement unit 43 in the supply device 40 and using this distance measurement unit 43. Furthermore, the travel distance of the measuring robot 10 may be determined using both the distance measurement unit 15 provided in the measuring robot 10 and the distance measurement unit 43 provided in the supply device 40. More specifically, for example, an average of the travel distances may be calculated based on the travel distance determined by the distance measurement unit 15 provided in the measuring robot 10 and the travel distance determined by the distance measurement unit 43 provided in the supply device 40, and this average of the travel distances may be used as the travel distance of the measuring robot 10.

[0045] [Terminal device 50] As shown in Figure 1, the terminal device 50 includes an operation unit 51 that controls the movement of the measuring robot 10, an image display unit 52 that displays images, and an identification processing unit 53 that performs processing related to identifying the structure of the piping 100 based on information obtained from the measuring robot 10.

[0046] (Operation unit 51) The operation unit 51 has an operation stick or the like for moving the measuring robot 10 forward or backward. The operation unit 51 receives, from a user (operator), operations for moving the measuring robot 10. The operation unit 51 also receives, from the user, operations for the photographing direction of the photographing unit 14, the LED light source, and the like.

[0047] (Image display unit 52) The image display unit 52 displays various types of information related to the measuring robot 10 on the display screen 50D of the terminal device 50. The image display unit 52 displays on the display screen 50D an operation screen for operating the operation unit 51, an image captured by the photographing unit 14 of the measuring robot 10, structural information regarding the structure of the piping 100 identified by the identification processing unit 53, and the like.

[0048] (Specific processing unit 53) The specific processing unit 53 has a distance information acquisition unit that acquires travel distance information, an attitude information acquisition unit that acquires attitude information, and a piping standard database (DB) unit that stores information related to the standards of the piping 100. Furthermore, the identification processing unit 53 has a structure identification unit that identifies the overall structure of the piping 100, a map creation unit that creates a drawing of the overall structure of the identified piping 100, and a structure information memory unit that stores information on the overall structure of the piping 100.

[0049] Here, the hardware configuration of the information processing device included in the measuring robot 10, the supply device 40, and the terminal device 50 of this embodiment will be described. The measuring robot 10, the supply device 40 and the terminal device 50 each include a CPU (Central Processing Unit) as a calculation means, a memory as a main storage means, a magnetic disk device (HDD: Hard Disk Drive), a network interface, a display mechanism including a display device, an audio mechanism, and input devices such as a keyboard and a mouse.

[0050] The magnetic disk device stores the OS program and application programs, which are loaded into memory and executed by the CPU to realize the functions of the components of the measuring robot 10, the supply device 40, and the terminal device 50. The programs that realize the series of functions in the mobile body control system 1 of this embodiment in the measuring robot 10, the supply device 40, and the terminal device 50 may be provided, for example, via communication means, or may be stored on various recording media and provided.

[0051] FIG. 4 is a view of the fifth wheel unit 35 as viewed from the direction indicated by arrow IV in FIG. 3(b). In this embodiment, as shown in FIG. 3(b), the fifth wheel section 35 is provided with a pair of drive wheels 200. In other words, the fifth wheel section 35 is provided with two coaxially arranged drive wheels 200. Fig. 4 shows the drive wheel 200 located on the right side in Fig. 3(b) of the two drive wheels 200 as viewed from the front. In other words, Fig. 4 shows the drive wheel 200 located on the right side in Fig. 3(b) of the two drive wheels 200 as viewed from an extension of the axis of the drive wheel 200 located on the right side in Fig. 3(b).

[0052] Here, "coaxially arranged" refers to a state in which the rotation axes of the two drive wheels 200 are located on a single imaginary straight line. The term "coaxially arranged" does not necessarily mean that the two drive wheels 200 have a common rotation axis, but also includes a state in which the two drive wheels 200 each have their own individual rotation axis. In this embodiment, the rotation axes of the two drive wheels 200 are positioned on an imaginary straight line that is perpendicular to the extension direction of the main body 11 (see FIG. 2). In other words, in this embodiment, the rotation axes of the two drive wheels 200 are positioned on an imaginary straight line that is perpendicular to the axial direction of the pipe 100.

[0053] Fig. 4 shows only one of the drive wheels 200 located on the right side of Fig. 3(b). In this embodiment, the other drive wheel 200, indicated by reference symbol 3X in Fig. 3(b), is provided behind the one of the drive wheels 200 shown in Fig. 4. In this embodiment, when the measuring robot 10, which is an example of a moving body, moves toward the back side of the pipe 100, each of the drive wheels 200 (see Figure 3(b)) provided on the fifth wheel unit 35 is driven to rotate in the direction indicated by the arrow 3Y by the drive unit 13 (see Figure 2).

[0054] In this embodiment, as shown in FIG. 4, a rotating body 300 that rotates while receiving a resistance force from the inner peripheral surface 110 of the pipe 100 is provided on the outer periphery of the drive wheel 200. A plurality of the rotors 300 are provided. Specifically, in this embodiment, eight rotors 300 are provided. Below, a configuration example in which there are eight rotors 300 will be described as an example, but the number of rotors 300 is not particularly limited, and may be other than eight, such as 12. As shown in Fig. 4, the driving wheel 200 of this embodiment is provided with an octagonal rotating part 210 that is rotationally driven by the driving part 13 (see Fig. 2). Furthermore, in this embodiment, a protruding part 220 is provided that is connected to the outer circumferential surface of the rotating part 210 and protrudes outward in the radial direction of the rotating part 210. There are provided a plurality of protrusions 220. Specifically, there are provided eight protrusions 220. Furthermore, the protrusions 220 are arranged radially around the rotation center 210C of the rotating part 210.

[0055] Moreover, the protrusions 220 are arranged at regular intervals in the circumferential direction of the rotating part 210. Specifically, the protrusions 220 are arranged at 45° intervals in the circumferential direction of the rotating part 210. As described above, in this embodiment, the rotating body 300 that rotates by receiving a force from the inner peripheral surface 110 of the pipe 100 is provided on the outer periphery of the drive wheel 200. In other words, the rotating body 300 that rotates by receiving a resistance force from the inner peripheral surface 110 of the pipe 100 is provided on the outer periphery of the drive wheel 200. As described above, in this embodiment, eight rotating bodies 300 are provided. As described above, the number of rotating bodies 300 is not particularly limited, and may be other than eight.

[0056] A plurality of rotating bodies 300 are provided and are arranged side by side at predetermined intervals in the circumferential direction of the drive wheel 200. Specifically, the rotating bodies 300 are arranged at 45° intervals in the circumferential direction of the rotating part 210. Furthermore, in this embodiment, the rotating bodies 300 are arranged so that the distance between the rotation center 210C of the rotating portion 210 (the rotation center of the drive wheel 200) and each of the rotating bodies 300 is equal to each other.

[0057] Each of the rotating bodies 300 is rotatable around a rotation axis 400 . Each of the rotating shafts 400 is supported by a protruding portion 220. Each of the rotating shafts 400 is disposed in a tilted relationship with respect to the orthogonal direction, which is a direction orthogonal to the axial direction of the pipe 100. In this embodiment, the direction perpendicular to the plane of the paper in FIG. 4 is the orthogonal direction perpendicular to the axial direction of the pipe 100, and each of the rotation axes 400 is inclined with respect to this orthogonal direction. To explain further, in this embodiment, assuming that there is an imaginary straight line CL passing through the base (other end 402) of the rotating shaft 400 and parallel to the rotating shaft 210H of the drive wheel 200, the rotating shaft 400 is positioned in an inclined relationship with respect to this straight line CL. In other words, the straight line CL is a straight line that extends in a direction perpendicular to the axial direction of the pipe 100 and in the extension direction of the rotation axis 210H, and in this embodiment, the rotation axis 400 is inclined with respect to this straight line CL. 3(a) also shows the orthogonal direction orthogonal to the axial direction of the pipe 100. The straight line CL is also shown in FIG.

[0058] As shown in FIG. 4, each of the rotation axes 400 is inclined in the same direction. Each of the rotating shafts 400 has one end 401 and the other end 402. In this embodiment, the other end 402 of the rotating shaft 400 is supported by the protruding portion 220, and this other end 402 is a fixed end fixed to the protruding portion 220. On the other hand, in this embodiment, one end 401 of the rotating shaft 400 is a free end that is not supported by the protruding portion 220 . In this embodiment, the rotating shaft 400 is provided in a cantilever shape, and one end 401 of the rotating shaft 400 is a free end. In other words, in this embodiment, the one end 401 of the rotating shaft 400 is not supported by the drive wheel 200 .

[0059] In addition, in this embodiment, when the measuring robot 10 moves toward the back side of the pipe 100, the rotation direction of the drive wheel 200 is the direction indicated by the arrow 4A, and each of the rotation axes 400 leans toward the upstream side in this rotation direction and is inclined with respect to the above-mentioned perpendicular direction (straight line CL). In this embodiment, the inclination angle of the rotation axis 400 with respect to the orthogonal direction perpendicular to the axial direction of the pipe 100 is 45°. The inclination angle is not limited to 45°, and may be 30° or 60°. In other words, the inclination angle of the rotation axis 400 with respect to the orthogonal direction perpendicular to the axial direction of the pipe 100 may be any angle greater than 0° and less than 90°.

[0060] In addition, in this embodiment, when the rotating body 300 is in contact with the inner surface 110 of the pipe 100, one of the one end 401 and the other end 402 of the rotating shaft 400 supporting the rotating body 300 is located upstream in the movement direction of the measuring robot 10, and the other is located downstream of the one end. In other words, one of the one end 401 and the other end 402 of the rotating shaft 400 supporting the rotating body 300 is located on one side in the extension direction of the piping 100, and the other is located on the other side in the extension direction of the piping 100. In this specification, the terms "upstream side" and "downstream side" do not refer to the upstream side and downstream side in the flow direction of the fluid flowing through the pipe 100, but rather refer to the upstream side and downstream side in the movement direction of the measuring robot 10.

[0061] In the example shown in FIG. 4, a rotor 300 indicated by reference numeral 4C is in contact with the inner peripheral surface 110 of the pipe 100. In this embodiment, one end 401 on the free end side of the rotating shaft 400, indicated by the symbol 4E, which supports the rotating body 300, is located downstream in the direction of movement of the measuring robot 10, and the other end 402 on the fixed end side of the rotating shaft 400 is located upstream of this one end 401.

[0062] More specifically, if the direction indicated by arrow 4G is the direction of movement of the measuring robot 10, one end 401 on the free end side of the rotating shaft 400 indicated by symbol 4E is located downstream in this direction of movement, and the other end 402 on the fixed end side of the rotating shaft 400 is located upstream of this one end 401. However, this is not limited to the above, and as will be described later, in other drive wheels 200, one end 401 on the free end side of the rotating shaft 400 may be located upstream of the other end 402 on the fixed end side of the rotating shaft 400.

[0063] Fig. 5 is a front view of the other of the two drive wheels 200 provided in the fifth wheel section 35. Specifically, Fig. 5 is a view of the other drive wheel 200 as viewed from the direction indicated by arrow V in Fig. 3(b). The other drive wheel 200 basically has the same configuration as the one drive wheel 200 shown in FIG. The other drive wheel 200 also has a rotating body 300 on its outer periphery that rotates under the force of the inner circumferential surface 110 of the pipe 100. A plurality of rotating bodies 300 are provided, and are arranged side by side at predetermined regular intervals in the circumferential direction of the drive wheel 200. Specifically, eight rotating bodies 300 are provided, and are arranged at 45° intervals in the circumferential direction of the drive wheel 200.

[0064] Furthermore, in each of the other drive wheels 200, the rotating body 300 is rotatable about a rotation axis 400. As described above, each of the rotation axes 400 is inclined with respect to the orthogonal direction that is perpendicular to the axial direction of the pipe 100. In other words, as described above, each of the rotation axes 400 is disposed in an inclined relationship with respect to an imaginary straight line CL that passes through the base (other end 402) of the rotation axis 400 and is parallel to the rotation axis 210H of the drive wheel 200. Each of the rotating shafts 400 is inclined in the same direction. Specifically, when the rotation direction of the drive wheels 200 is the direction indicated by the arrow 5A, each of the rotating shafts 400 is inclined toward the upstream side in this rotation direction. In this embodiment, the inclination angle of the rotation axis 400 with respect to the orthogonal direction perpendicular to the axial direction of the pipe 100 is 45°, as described above. Note that the inclination angle is not limited to 45°, and may be 30° or 60°.

[0065] In this other drive wheel 200, when the rotating body 300 is in contact with the inner surface 110 of the pipe 100, one of the one end 401 and the other end 402 of the rotating shaft 400 supporting this rotating body 300 (rotating body 300 indicated by symbol 5C) is located upstream in the direction of movement of the measuring robot 10, and the other is located downstream of the one end. Specifically, one end 401 on the free end side of the rotating shaft 400 is located downstream in the movement direction of the measuring robot 10, and the other end 402 on the fixed end side of the rotating shaft 400 is located upstream of this one end 401.

[0066] These two drive wheels 200 provided in the fifth wheel section 35 are arranged coaxially as shown in FIGS. 3(a) and 3(b). In this embodiment, the two drive wheels 200 arranged on the same axis are urged by the coil spring 23 (see FIG. 2 ) functioning as urging means in a direction intersecting (orthogonal) the direction in which the coaxial axis extends and perpendicular to the axial direction of the piping 100. In other words, the two drive wheels 200 are urged by the coil spring 23 in a direction intersecting (orthogonal) the direction in which the coaxial axis extends and toward the inner circumferential surface 110 of the piping 100. Specifically, the two drive wheels 200 are biased in one direction as indicated by an arrow 3E in Fig. 3(b), whereby each of the two drive wheels 200 is pressed against the inner circumferential surface 110 of the pipe 100. More specifically, the outer circumferential surfaces of the rotors 300 provided on each of the two drive wheels 200 are pressed against the inner circumferential surface 110 of the pipe 100 .

[0067] As shown in Figure 3(b), the drive wheel 200 on the right side of the figure, which corresponds to one of the two drive wheels 200 provided on the fifth wheel section 35, has a side surface 209 facing the drive wheel 200 on the left side of the figure, which corresponds to the other drive wheel 200. Similarly, the drive wheel 200 on the left side in the drawing, which corresponds to the other drive wheel 200, has a side surface 209 facing the drive wheel 200 on the right side in the drawing, which corresponds to one drive wheel 200.

[0068] Each of the two drive wheels 200 has a rotation shaft 400 (see FIGS. 4 and 5) protruding toward the side opposite to the side where the side surface 209 is provided. In this embodiment, one end 401 is located at the tip of the rotating shaft 400 in the protruding direction, and the one end 401 side is a free end. The rotating shaft 400 also has the other end 402 on the opposite side to the one end 401 side. In this embodiment, the other end 402 of the rotating shaft 400 is supported by the protruding portion 220 .

[0069] In addition, in this embodiment, as shown in Figures 4 and 5, the outer diameter of the portion of the rotating body 300 supported by the rotating shaft 400 located on one end 401 side of the rotating shaft 400 is smaller than the outer diameter of the portion of the rotating body 300 located on the other end 402 side of the rotating shaft 400. The other end 402 of the rotating shaft 400 can also be regarded as the opposite end located opposite one end 401 of the rotating shaft 400, and in the rotating body 300 of this embodiment, the outer diameter of the portion located on the one end 401 side of the rotating shaft 400 is smaller than the outer diameter of the portion located on the opposite end side of the rotating shaft 400. Rotating body 300 has a shape in which the outer diameter gradually increases from one end 401 side to the other end 402 side of rotating shaft 400. In this embodiment, rotating body 300 is formed in a substantially conical shape.

[0070] FIG. 6 shows the state of contact between the fifth wheel portion 35 and the inner peripheral surface 110 of the pipe 100. Specifically, Fig. 6 shows the rotating body 300 provided on the fifth wheel unit 35 and the piping 100 as viewed from the downstream side in the movement direction of the measuring robot 10. In other words, Fig. 6 shows the rotating body 300 provided on the fifth wheel unit 35 and the piping 100 as viewed from the direction indicated by arrow IIIb in Fig. 2. In this embodiment, the pipe 100 is formed in a circular shape, and the inner circumferential surface 110 of the pipe 100 has a curvature.

[0071] In this case, as described above, if the rotor 300 has a shape in which the outer diameter of the rotor 300 gradually increases from one end 401 of the rotating shaft 400 toward the other end 402, the contact area between the inner surface 110 of the pipe 100 and the rotor 300 increases compared to when the outer diameter of the rotor 300 is constant. This makes it less likely that slippage will occur between the drive wheel 200 of the measuring robot 10 and the inner surface 110 of the pipe 100 compared to when the contact area between the inner surface 110 of the pipe 100 and the rotating body 300 is small.

[0072] Referring again to FIG. 3(b). In FIG. 3(b), the fourth wheel portion 34 is also shown. In this embodiment, in the other wheel sections 12 including the fourth wheel section 34, two drive wheels 200 are also arranged coaxially. The fourth wheel portion 34 is also biased in a direction intersecting the direction in which this coaxial member extends. More specifically, the fourth wheel portion 34 is biased in a direction opposite to the one direction (direction indicated by arrow 3E) in which the fifth wheel portion 35 is biased. In other words, the fourth wheel portion 34 is biased in a direction intersecting (orthogonal to) the direction in which this coaxial member extends, a direction perpendicular to the axial direction of the piping 100, and a direction opposite to the one direction. In other words, the fourth wheel portion 34 is biased in a direction intersecting (orthogonal to) the direction in which this coaxial member extends, a direction toward the inner circumferential surface 110 of the piping 100, and a direction opposite to the one direction. As a result, the fourth wheel portion 34 also comes into contact with the inner circumferential surface 110 of the pipe 100.

[0073] The two drive wheels 200 provided on the fourth wheel unit 34 rotate in the direction indicated by the arrow 3Z in FIG. 3(b) when the measuring robot 10 moves toward the back side of the pipe 100. In other words, the two drive wheels 200 provided on the fourth wheel unit 34 rotate in the opposite direction to the two drive wheels 200 provided on the fifth wheel unit 35. In this embodiment, the two drive wheels 200 provided in the fourth wheel section 34 are configured in the same manner as the two drive wheels 200 shown in FIGS.

[0074] Although not shown in the figure, each of the two drive wheels 200 provided on the fourth wheel section 34 is provided with a rotating shaft 400 that is inclined relative to the orthogonal direction, which is a direction perpendicular to the axial direction of the piping 100, and a rotating body 300 supported by this rotating shaft 400 is provided. Similarly, each of the first to third wheel sections 31 to 33 also has two coaxially arranged drive wheels 200. Each of the first to third wheel sections 31 to 33 also has a rotating shaft 400 that is inclined with respect to the orthogonal direction that is a direction perpendicular to the axial direction of the piping 100, and a rotating body 300 supported by this rotating shaft 400. Each of the first wheel portion 31 to the fifth wheel portion 35 is configured in the same manner except for the inclination direction of the rotation shaft 400.

[0075] Fig. 7 is a diagram of the measuring robot 10 as viewed from the direction indicated by arrow VII in Fig. 2. In Fig. 7 and subsequent figures, each of the drive wheels 200 is shown in an enlarged state compared to the drive wheels 200 shown in Fig. 3(a). First, the fifth wheel unit 35 will be described with reference to FIG. In FIG. 7, the rotation shafts 400 of the rotating bodies 300 (not shown in FIG. 7) provided on each of the two drive wheels 200 provided on the fifth wheel unit 35 are indicated by dashed lines. More specifically, FIG. 7 shows rotating shaft 400 supporting rotating body 300 (not shown in FIG. 7) in contact with inner circumferential surface 110 of pipe 100.

[0076] In this specification, each of the rotating shafts 400 described below also refers to a rotating shaft 400 that supports a rotating body 300 that is in contact with the inner circumferential surface 110 of the pipe 100. FIG. 7 also shows the state of each part when the measuring robot 10 moves toward the rear side. In Figure 7, in a direction perpendicular to the plane of the paper on which Figure 7 is drawn, the inner surface 110 of the pipe 100, with which the rotating body 300 supported by the rotating shaft 400 comes into contact, is located further back than the rotating shaft 400 provided on the fifth wheel section 35.

[0077] Here, the orientation of the rotation axis 400 will be described. In this embodiment, of the two drive wheels 200 provided on the fifth wheel section 35, one of the drive wheels 200 located on the right side in the figure (hereinafter referred to as the "right drive wheel 200R") has a rotation shaft 400 arranged diagonally upward and to the right in the figure. Here, the up and down in Figure 7 refer to the upstream and downstream sides in the movement direction of the measuring robot 10, and to explain the orientation of this rotation axis 400 in relation to this movement direction, the rotation axis 400 is positioned so that it faces the downstream side in the movement direction of the measuring robot 10. 7 shows a state in which the measuring robot 10 moves in the rear direction, and in FIG. 7, the rotation axis 400 of the right drive wheel 200R faces in this rear direction. The rotation shaft 400 is disposed so that the tip end side in the protruding direction is located downstream of the base side. In other words, in this embodiment, the position of the tip end of the rotation shaft 400 and the position of the base of the rotation shaft 400 are different in the movement direction of the measuring robot 10, and in the right drive wheel 200R of the fifth wheel unit 35, the position of the tip end of the rotation shaft 400 is located downstream of the position of the base of the rotation shaft 400. In this embodiment, a rotation shaft 400 is provided on each of the wheel units 12, including the fifth wheel unit 35. The rotation shaft 400 provided on each of the wheel units 12 is arranged so as to face either the upstream side or the downstream side in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward either the upstream side or the downstream side. In other words, the rotation shaft 400 provided on each wheel unit 12 is disposed so that the tip end side in the protruding direction is located either upstream or downstream of the base end side. In other words, in this embodiment, the position of the tip end of the rotation shaft 400 and the position of the base of the rotation shaft 400 are different in the movement direction of the measuring robot 10. In this way, the rotation axis 400 is arranged to face either the upstream or downstream side, but for the right drive wheel 200R of the fifth wheel section 35, the side to which the rotation axis 400 faces is the downstream side in the direction of movement of the measuring robot 10.

[0078] In addition, in this embodiment, the other of the two drive wheels 200 provided on the fifth wheel section 35, which is located on the left side in the figure (hereinafter referred to as the "left drive wheel 200L"), also has a rotation shaft 400 that faces in the same direction as the rotation shaft 400 provided on the right drive wheel 200R. That is, the rotation shaft 400 provided on the left drive wheel 200L faces downstream in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the downstream side in the movement direction of the measuring robot 10. The rotation axes 400 of the right drive wheel 200R and the left drive wheel 200L provided in the fifth wheel unit 35 face the same direction, that is, the downstream direction in the movement direction of the measuring robot 10.

[0079] In this embodiment, the same applies to the first wheel portion 31. In the right drive wheel 200R provided on the first wheel section 31, the rotating shaft 400 supporting the rotating body 300 (not shown) in contact with the inner surface 110 of the pipe 100 faces downstream in the movement direction of the measuring robot 10. Also, in the left driving wheel 200L provided in the first wheel section 31, the rotating shaft 400 supporting the rotating body 300 (not shown) in contact with the inner peripheral surface 110 faces downstream.

[0080] In this embodiment, when the measuring robot 10 moves toward the rear, i.e., upward in the figure, the two drive wheels 200 (right drive wheel 200R and left drive wheel 200L) provided on the first wheel unit 31 and the fifth wheel unit 35 rotate in the same direction. Specifically, the two drive wheels 200 (right drive wheel 200R and left drive wheel 200L) provided on the first wheel section 31 and the fifth wheel section 35 rotate in the direction indicated by the arrow 7C in FIG. The direction indicated by this arrow 7C indicates the direction of movement of a portion of drive wheel 200 that is positioned on the opposite side to the side that contacts inner circumferential surface 110 of pipe 100.

[0081] In Figures 7 and subsequent figures, the arrows indicating the rotation direction of the drive wheels 200 provided on the first wheel section 31, the third wheel section 33, and the fifth wheel section 35 indicate the movement direction of the part of the drive wheel 200 located on the opposite side to the side that contacts the inner surface 110 of the piping 100. In addition, in Figures 7 and subsequent figures, the arrows indicating the rotation direction of the drive wheels 200 provided on the second wheel section 32 and the fourth wheel section 34 indicate the movement direction of the part of the drive wheels 200 that is located on the side that comes into contact with the inner surface 110 of the piping 100.

[0082] Next, the third wheel unit 33 will be described. The third wheel section 33 is also provided with two drive wheels 200. These two drive wheels 200 are also arranged coaxially. As described above, when the measuring robot 10 moves upward in the figure, the two drive wheels 200 provided on the third wheel unit 33 rotate in the same direction as the two drive wheels 200 provided on the first wheel unit 31 and the fifth wheel unit 35.

[0083] In the right drive wheel 200R provided in the third wheel section 33, the rotation shaft 400 supporting the rotating body 300 (not shown) in contact with the inner peripheral surface 110 faces the opposite side from the one side mentioned above. Specifically, the rotation shaft 400 provided on the right drive wheel 200R faces upstream in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the upstream side in the movement direction of the measuring robot 10.

[0084] In the fifth wheel unit 35, as described above, the rotation shaft 400 provided on the right drive wheel 200R faces downstream in the movement direction of the measuring robot 10. The opposite is true for the third wheel unit 33, and the rotation axis 400 of the right drive wheel 200R of the third wheel unit 33 faces upstream in the movement direction of the measuring robot 10.

[0085] Also, in the left drive wheel 200L provided in the third wheel section 33, the rotation shaft 400 supporting the rotor 300 in contact with the inner peripheral surface 110 faces the opposite side from the one side mentioned above. That is, the rotation shaft 400 provided on the left drive wheel 200L faces the upstream side in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the upstream side in the movement direction of the measuring robot 10.

[0086] In the fifth wheel unit 35, as described above, the rotation shaft 400 provided on the left drive wheel 200L faces downstream in the movement direction of the measuring robot 10. The opposite is true for the third wheel unit 33, and the rotation axis 400 of the left drive wheel 200L of the third wheel unit 33 faces upstream in the movement direction of the measuring robot 10.

[0087] Next, the fourth wheel unit 34 will be described. The fourth wheel section 34 also includes two drive wheels 200. These two drive wheels 200 are also arranged coaxially. When the measuring robot 10 moves upward along the pipe 100 in the figure, the two drive wheels 200 provided on the fourth wheel unit 34 rotate in the opposite direction to the drive wheels 200 provided on the first wheel unit 31, the third wheel unit 33, and the fifth wheel unit 35.

[0088] Furthermore, in the right drive wheel 200R provided in the fourth wheel unit 34, a rotation shaft 400 supporting a rotating body 300 (not shown) in contact with the inner peripheral surface 110 faces upstream in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the upstream in the movement direction of the measuring robot 10. Furthermore, in the left drive wheel 200L provided in the fourth wheel unit 34, the rotation shaft 400 supporting the rotating body 300 (not shown) in contact with the inner peripheral surface 110 also faces upstream in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the upstream in the movement direction of the measuring robot 10.

[0089] Next, the second wheel section 32 will be described. The second wheel section 32 is also provided with two drive wheels 200. These two drive wheels 200 are also arranged coaxially. When the measuring robot 10 moves upward in the figure along the piping 100, the two drive wheels 200 provided on the second wheel unit 32 rotate in the same direction as the two drive wheels 200 provided on the fourth wheel unit 34.

[0090] In the right drive wheel 200R provided in the second wheel unit 32, a rotation shaft 400 supporting a rotating body 300 (not shown) in contact with the inner peripheral surface 110 faces downstream in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the downstream in the movement direction of the measuring robot 10. In the fourth wheel unit 34, as described above, the rotation shaft 400 provided on the right drive wheel 200R faces upstream in the movement direction of the measuring robot 10. The opposite is true for the second wheel unit 32, and the rotation axis 400 of the right drive wheel 200R of the second wheel unit 32 faces downstream in the movement direction of the measuring robot 10.

[0091] Furthermore, in the left drive wheel 200L provided on the second wheel unit 32, a rotation shaft 400 supporting a rotating body 300 (not shown) in contact with the inner peripheral surface 110 faces downstream in the movement direction of the measuring robot 10. In other words, the rotation shaft 400 is inclined toward the downstream in the movement direction of the measuring robot 10. In the fourth wheel unit 34, as described above, the rotation shaft 400 provided on the left drive wheel 200L faces upstream in the movement direction of the measuring robot 10. The opposite is true for the second wheel unit 32, and the rotation axis 400 of the left drive wheel 200L of the second wheel unit 32 faces downstream in the movement direction of the measuring robot 10.

[0092] Figure 14 is a cross-sectional view of the drive wheel 200 taken along line XIV-XIV in Figure 7. More specifically, Figure 14 shows a cross-section of a rotating body 300 provided on the drive wheel 200. More specifically, Figure 14 shows the cross-section of the rotating body 300 on a virtual plane HB (a virtual plane) along the rotation axis 400 (see Figure 7) and passing through this rotation axis 400. In this embodiment, in this cross section, the outer peripheral surface 300A of the rotor 300 is formed to have a curvature and to be convex in the direction away from the rotation axis 400. In other words, in this embodiment, the outer circumferential surface 300A of the rotor 300 has a curvature and is formed so as to bulge in a direction away from the rotation axis 400.

[0093] FIG. 8 is a diagram showing the state of the fifth wheel unit 35 when the measuring robot 10 shown in FIG. 7 moves toward the rear side. In this embodiment, when the measuring robot 10 moves toward the rear, each of the two drive wheels 200 provided on the fifth wheel unit 35 rotates in the same direction and attempts to move in the direction indicated by the arrow 8A in the figure. More specifically, when the two drive wheels 200 are viewed from the direction indicated by the arrow 8C in the figure, the two drive wheels 200 rotate clockwise and attempt to move in the direction indicated by the arrow 8A in the figure.

[0094] In this embodiment, a rotating body 300 (not shown) that rotates around a rotation axis 400 indicated by a dashed line comes into contact with the inner circumferential surface 110 of the pipe 100 at the right drive wheel 200R. In this embodiment, the drive wheel 200 attempts to move further in the direction indicated by the arrow 8A in the figure from the state shown in Figure 8, and at this time, the rotating body 300 (not shown) supported by the rotating shaft 400 shown by the dashed line presses the inner surface 110 in the direction indicated by the arrow 8E. In other words, in this embodiment, at the location where the rotor 300 and the inner circumferential surface 110 come into contact, a force acts from the rotor 300 to the inner circumferential surface 110 in the direction indicated by the arrow 8E. In this embodiment, when the right drive wheel 200R moves in the direction indicated by the arrow 8A in the figure, the rotating body 300 rotates in the direction indicated by the arrow 8X.

[0095] When a force acts from the rotating body 300 on the inner surface 110 in the direction indicated by arrow 8E, a force component that tends to move the right driving wheel 200R to the left in the figure acts on the inner surface 110, and the right driving wheel 200R moves diagonally upward and to the left as indicated by arrow 8G. In this embodiment, multiple rotating bodies 300 are provided on the outer periphery of the right drive wheel 200R, and in this embodiment, each time the rotating bodies 300 come into contact with the inner surface 110 of the piping 100, the right drive wheel 200R attempts to move diagonally upward and to the left in the figure. As a result, in this embodiment, the right drive wheel 200R moves upward in the drawing and also moves leftward in the drawing.

[0096] On the other hand, the left drive wheel 200L also moves to the right while moving downstream in the movement direction of the measuring robot 10, according to the same principle. In other words, the left drive wheel 200L moves diagonally to the upper right in FIG. In this embodiment, a force component acts on the right drive wheel 200R, tending to move the right drive wheel 200R to the left in the figure, and a force component acts on the left drive wheel 200L, tending to move the left drive wheel 200L to the right in the figure.

[0097] In this embodiment, the component of force that tends to move to the left side in the drawing and the component of force that tends to move to the right side in the drawing cancel each other out. As a result, the fifth wheel portion 35 moves toward the rear side along the pipe 100 without moving to the left or right in the figure. The first wheel section 31 is configured in the same manner as the fifth wheel section 35, and the first wheel section 31 also moves toward the back along the piping 100 without moving to the left or right in the figure.

[0098] As for the third wheel portion 33 (see FIG. 7), the protruding direction of the rotary shaft 400 is opposite to the protruding direction of the first wheel portion 31 and the fifth wheel portion 35, as described above. Therefore, in the third wheel section 33, a force component acts on the right drive wheel 200R, tending to move the right drive wheel 200R to the right in the figure, and a force component acts on the left drive wheel 200L, tending to move the left drive wheel 200L to the left in the figure. In this embodiment, the component of force directing the force to the left side in the drawing and the component of force directing the force to the right side in the drawing cancel each other out in this case as well. As a result, the third wheel portion 33 also moves toward the rear without moving to the left or right in the figure.

[0099] As described above, in the fourth wheel section 34, the drive wheels 200 provided in the fourth wheel section 34 rotate in the opposite direction to the rotation direction of the drive wheels 200 in the first wheel section 31, the third wheel section 33, and the fifth wheel section 35. As described above, the rotation axis 400 of the right drive wheel 200R of the fourth wheel section 34 faces upstream in the direction of movement of the measuring robot 10, and in this case, a force component acts on the right drive wheel 200R, which tends to move the right drive wheel 200R to the right in the figure.

[0100] In addition, the rotation axis 400 of the left drive wheel 200L of the fourth wheel section 34 also faces upstream in the direction of movement of the measuring robot 10, and in this case, a force component acts on the left drive wheel 200L to urge the left drive wheel 200L to the left in the figure. In this case as well, the force component tending to move the right drive wheel 200R to the right in the drawing and the force component tending to move the left drive wheel 200L to the left in the drawing cancel each other out. As a result, the fourth wheel portion 34 also moves toward the rear side along the pipe 100 without moving to the left or right in the figure.

[0101] In the second wheel section 32, the driving wheels 200 also rotate in the direction opposite to the direction of rotation of the driving wheels 200 in the first wheel section 31, the third wheel section 33, and the fifth wheel section . As described above, in the second wheel portion 32, the protruding direction of the rotary shaft 400 is different from the protruding direction of the rotary shaft 400 in the fourth wheel portion .

[0102] Therefore, in the second wheel section 32 shown in FIG. 7, a force component acts on the right drive wheel 200R to move it to the left in the figure, and a force component acts on the left drive wheel 200L to move it to the right in the figure. In this case as well, the force component tending to move the right drive wheel 200R to the left in the drawing and the force component tending to move the left drive wheel 200L to the right in the drawing cancel each other out. As a result, the second wheel portion 32 also moves toward the rear side along the pipe 100 without moving to the left or right in the figure.

[0103] FIG. 9 is a diagram showing the movement of each part when the measuring robot 10 is moved in the opposite direction. When the measuring robot 10 is moved in the opposite direction, the drive wheels 200 provided on each of the first wheel unit 31 to the fifth wheel unit 35 are rotated in the opposite direction to the rotation direction shown in FIG. As a result, the measuring robot 10 moves toward the entrance side as shown by an arrow 9A in FIG.

[0104] When the measuring robot 10 is moved toward the entrance side, a force component that moves it toward the left and a force component that moves it toward the right act on each of the first wheel section 31 to the fifth wheel section 35. However, in this case as well, the force component tending to move the measuring robot 10 leftward and the force component tending to move the measuring robot 10 rightward cancel each other out in each wheel unit 12. As a result, in this case as well, the measuring robot 10 moves along the axial direction of the pipe 100.

[0105] FIG. 10 is a diagram showing the movement of each part when the measuring robot 10 is rotated (moved) in the circumferential direction of the pipe 100. In this embodiment, when rotating the measuring robot 10 in the direction indicated by arrow 10A in Figure 10, the right drive wheel 200R of the fifth wheel unit 35 is rotated counterclockwise, as indicated by arrow 10C in the figure, and the left drive wheel 200L of the fifth wheel unit 35 is rotated clockwise, as indicated by arrow 10E in the figure.

[0106] In this specification, the terms "clockwise direction" and "counterclockwise direction" refer to the rotation direction of the drive wheel 200 when the drive wheel 200 is viewed from the direction indicated by the arrow 10X in the drawing. In other words, the terms "clockwise direction" and "counterclockwise direction" refer to the rotation direction of the drive wheel 200 when the measuring robot 10 is viewed from the right side of the figure.

[0107] When the measuring robot 10 is moved in the circumferential direction of the pipe 100, the two drive wheels 200 provided on the fifth wheel unit 35 are rotated in mutually different directions. When the right drive wheel 200R of the fifth wheel unit 35 is rotated counterclockwise, the right drive wheel 200R tends to move diagonally downward to the right in the drawing. Furthermore, when the left drive wheel 200L of the fifth wheel unit 35 is rotated clockwise, the left drive wheel 200L tends to move diagonally to the upper right in the figure. As a result, a force acts on the installation portion of the measuring robot 10 where the fifth wheel unit 35 is installed, moving this installation portion to the right in the drawing, as shown by an arrow 10G.

[0108] In this example, a force component acts on the installation portion of the fifth wheel section 35 in a manner that tends to move this installation portion downward in the figure, and a force component acts on the installation portion in a manner that tends to move this installation portion upward in the figure, but these force components cancel each other out. As a result, in this case, the installation portion of the fifth wheel unit 35 does not move in the axial direction of the pipe 100. The same applies to the first wheel section 31, and a force acts on the installation portion of the first wheel section 31 to move this installation portion to the right in the drawing.

[0109] Next, the movement of the third wheel unit 33 will be described. In the third wheel section 33, the right driving wheel 200R is rotated clockwise. This rotation direction is opposite to the rotation direction of the right driving wheel 200R in the first wheel section 31 and the fifth wheel section . In addition, the left driving wheel 200L of the third wheel unit 33 rotates counterclockwise. This rotation direction is also opposite to the rotation direction of the left driving wheel 200L of the first wheel unit 31 and the fifth wheel unit 35. In the third wheel section 33, similar to the first wheel section 31 and the fifth wheel section 35, the rotation direction of the right drive wheel 200R and the rotation direction of the left drive wheel 200L are opposite to each other.

[0110] In the third wheel section 33, the right drive wheel 200R tends to move diagonally upward and to the right in the figure, and the left drive wheel 200L tends to move diagonally downward and to the right in the figure. As a result, similarly to the above, a force acts on the installation portion of the third wheel section 33 to move this installation portion to the right in the drawing. As in the case of the third wheel section 33, the force component that tends to move the installation portion of the third wheel section 33 upward in the drawing and the force component that tends to move the installation portion of the third wheel section 33 downward in the drawing cancel each other out. As a result, the third wheel section 33 does not move in the axial direction of the piping 100.

[0111] Next, the movement of the fourth wheel section 34 will be described. In the fourth wheel section 34, the right drive wheel 200R rotates clockwise and the left drive wheel 200L rotates counterclockwise. In the fourth wheel section 34, the two drive wheels 200 are rotated in different directions, similar to the above. When the right drive wheel 200R of the fourth wheel unit 34 is rotated clockwise, the right drive wheel 200R tends to move diagonally downward and to the left in the figure. When the left drive wheel 200L of the fourth wheel unit 34 is rotated counterclockwise, the left drive wheel 200L tends to move diagonally upward and to the left in the figure.

[0112] As a result, a force acts on the installation portion of the fourth wheel section 34 to move the installation portion of the fourth wheel section 34 to the left in the figure. In this case, too, the force component that tries to move the installation portion of the fourth wheel section 34 downward and the force component that tries to move the installation portion of the fourth wheel section 34 upward cancel each other out. As a result, the fourth wheel section 34 does not move in the axial direction of the piping 100.

[0113] Next, the movement of the second wheel section 32 will be described. In the second wheel section 32, the right drive wheel 200R is rotated counterclockwise. This rotation direction is opposite to the rotation direction of the right drive wheel 200R in the fourth wheel section . Furthermore, in the second wheel section 32, the left driving wheel 200L is rotated in the clockwise direction. This rotation direction is also opposite to the rotation direction of the left driving wheel 200L in the fourth wheel section . As in the above, in the second wheel section 32, the rotation direction of the right drive wheel 200R and the rotation direction of the left drive wheel 200L are opposite to each other.

[0114] In the second wheel section 32, the right drive wheel 200R tends to move diagonally upward and left in the figure, and the left drive wheel 200L tends to move diagonally downward and left in the figure. As a result, a force acts on the second wheel section 32 to move the installation portion of the second wheel section 32 to the left in the drawing. In this case, too, the force component that tries to move the installation portion of the second wheel section 32 downward and the force component that tries to move the installation portion of the second wheel section 32 upward cancel each other out. Therefore, the second wheel section 32 does not move in the axial direction of the piping 100.

[0115] In this embodiment, as described above, in the third wheel portion 33, the rotation shaft 400 protrudes in the opposite direction to the protrusion direction of the rotation shaft 400 in the fifth wheel portion . Specifically, in this embodiment, as shown in Figure 10, in the fifth wheel section 35, the rotating shaft 400 protrudes toward the other end 11B of the main body section 11, while in the third wheel section 33, the rotating shaft 400 protrudes toward the one end 11A of the main body section 11.

[0116] As a result, in this embodiment, the measuring robot 10 is prevented from rotating around a rotation center CZ (a rotation axis perpendicular to the paper surface of FIG. 10) along the radial direction of the pipe 100. Here, the rotation center CZ is also shown in FIG. 2. In this embodiment, a force acts on the measuring robot 10 to move the installation portion of the right drive wheel 200R of the fifth wheel unit 35 in the direction indicated by the symbol 10J, and a force acts on the installation portion of the left drive wheel 200L of the fifth wheel unit 35 in the direction indicated by the symbol 10K. In this case, these two forces act on the measuring robot 10 with a rotational moment (a rotational moment around the center of rotation CZ along the radial direction of the pipe 100) that tends to rotate the measuring robot 10 clockwise in the figure.

[0117] In contrast, in this embodiment, when the protruding direction of the rotation axis 400 in the fifth wheel section 35 is different from the protruding direction of the rotation axis 400 in the third wheel section 33, a rotation moment acting in the opposite direction to this rotation moment acts on the measuring robot 10. This prevents the measuring robot 10 from rotating around the center of rotation CZ along the radial direction of the pipe 100.

[0118] Specifically, the third wheel section 33 exerts a force on the measuring robot 10 to move the installation portion of the right drive wheel 200R in the direction indicated by the symbol 10H, and also exerts a force on the measuring robot 10 to move the installation portion of the left drive wheel 200L in the direction indicated by the symbol 10F. In this case, due to these two forces, a rotational moment acts on the measuring robot 10, tending to rotate the measuring robot 10 counterclockwise in the drawing.

[0119] In this case, the clockwise rotational moment generated by the fifth wheel section 35 and the counterclockwise rotational moment generated by the third wheel section 33 cancel each other out, preventing the measuring robot 10 from rotating around the rotation center CZ along the radial direction of the piping 100. The same applies to the fourth wheel section 34 and the second wheel section 32, and in this embodiment, the rotational moment generated by the fourth wheel section 34 and the rotational moment generated by the second wheel section 32 cancel each other out.

[0120] FIG. 11 is a diagram showing the movement of each part when the measuring robot 10 is rotated in the direction indicated by the arrow 11M. When rotating the measuring robot 10 in the direction indicated by the arrow 11M, the drive wheels 200 provided on each of the first wheel unit 31 to the fifth wheel unit 35 are rotated in the direction opposite to the rotation direction shown in FIG.

[0121] That is, the right drive wheel 200R of the fifth wheel section 35 is rotated in the clockwise direction, and the left drive wheel 200L of the fifth wheel section 35 is rotated in the counterclockwise direction. Similarly, the right drive wheel 200R of the first wheel unit 31 is rotated clockwise, and the left drive wheel 200L of the first wheel unit 31 is rotated counterclockwise. In addition, in the third wheel section 33, the right drive wheel 200R rotates counterclockwise, and the left drive wheel 200L rotates clockwise.

[0122] In the fourth wheel section 34, the right drive wheel 200R rotates counterclockwise, and the left drive wheel 200L rotates clockwise. In the second wheel section 32, the right drive wheel 200R rotates clockwise, and the left drive wheel 200L rotates counterclockwise.

[0123] As a result, in this case, when the measuring robot 10 is viewed from the direction indicated by the arrow 11C, the measuring robot 10 rotates clockwise. In the following description, the terms "counterclockwise direction" and "clockwise direction" refer to the rotation directions of the measuring robot 10 when the measuring robot 10 is viewed from the direction indicated by the arrow 11C. In other words, the left-handed direction and the right-handed direction refer to the rotation direction of the measuring robot 10 when the measuring robot 10 is viewed from the inlet side of the pipe 100.

[0124] Here, in the above description, the case where only one of the movement of the measuring robot 10 along the axial direction of the pipe 100 and the movement of the measuring robot 10 along the circumferential direction of the pipe 100 is performed has been described. However, the present invention is not limited to this. For example, when the measuring robot 10 moves, the movement in the axial direction of the pipe 100 and the movement in the circumferential direction of the pipe 100 may be performed simultaneously.

[0125] In this case, for example, as shown in Fig. 12 (a diagram showing the movement of each part of the measuring robot 10), only one of the two drive wheels 200 provided on each of the multiple wheel units 12 is driven to rotate. In this case, the measuring robot 10 moves in both the axial direction of the pipe 100 and the circumferential direction of the pipe 100. In the example shown in Figure 12, the left drive wheel 200L of the fifth wheel section 35, the left drive wheel 200L of the fourth wheel section 34, the right drive wheel 200R of the third wheel section 33, the right drive wheel 200R of the second wheel section 32, and the left drive wheel 200L of the first wheel section 31 are rotated.

[0126] Specifically, the left drive wheel 200L of the fifth wheel section 35 rotates clockwise, the left drive wheel 200L of the fourth wheel section 34 rotates counterclockwise, and the right drive wheel 200R of the third wheel section 33 rotates clockwise. Additionally, the right drive wheel 200R of the second wheel section 32 is rotated counterclockwise, and the left drive wheel 200L of the first wheel section 31 is rotated clockwise.

[0127] In this case, the installation portions of the fifth wheel unit 35, the third wheel unit 33, and the first wheel unit 31 move in the direction indicated by arrow 12A, and the installation portions of the fourth wheel unit 34 and the second wheel unit 32 move in the direction indicated by arrow 12B. In this case, the measuring robot 10 moves toward the rear side while rotating in the circumferential direction of the pipe 100, with the other end 11B of the main body 11 at the front. More specifically, in this case, the measuring robot 10 moves toward the rear side while rotating counterclockwise with the other end 11B at the front.

[0128] In the configuration shown in Figure 12, it is assumed that the left drive wheel 200L of the fifth wheel unit 35, the left drive wheel 200L of the fourth wheel unit 34, the right drive wheel 200R of the third wheel unit 33, the right drive wheel 200R of the second wheel unit 32, and the left drive wheel 200L of the first wheel unit 31 are each rotated in the opposite direction. In this case, the fifth wheel unit 35, the third wheel unit 33, and the first wheel unit 31 move in the direction opposite to the direction indicated by the arrow 12A, and the fourth wheel unit 34 and the second wheel unit 32 move in the direction opposite to the direction indicated by the arrow 12B. In this case, the measuring robot 10 moves toward the entrance side while rotating clockwise with one end 11A of the main body 11 at the front.

[0129] In addition, for example, as shown in Figure 13 (a diagram showing the movement of each part of the measuring robot 10), the right drive wheel 200R of the fifth wheel unit 35, the right drive wheel 200R of the fourth wheel unit 34, the left drive wheel 200L of the third wheel unit 33, the left drive wheel 200L of the second wheel unit 32, and the right drive wheel 200R of the first wheel unit 31 may be rotated. Specifically, in this case, the right drive wheel 200R of the fifth wheel unit 35 rotates clockwise, the right drive wheel 200R of the fourth wheel unit 34 rotates counterclockwise, the left drive wheel 200L of the third wheel unit 33 rotates clockwise, the left drive wheel 200L of the second wheel unit 32 rotates counterclockwise, and the right drive wheel 200R of the first wheel unit 31 rotates clockwise.

[0130] In this case, the installation portions of the fifth wheel unit 35, the third wheel unit 33, and the first wheel unit 31 move in the direction indicated by the arrow 13A. Additionally, the installation portions of the fourth wheel section 34 and the second wheel section 32 move in the direction indicated by the arrow 13B. In this case, the measuring robot 10 moves toward the rear side while rotating clockwise with the other end 11B of the main body 11 at the front.

[0131] Also, in the state shown in Figure 13, it is assumed that the right drive wheel 200R of the fifth wheel section 35, the right drive wheel 200R of the fourth wheel section 34, the left drive wheel 200L of the third wheel section 33, the left drive wheel 200L of the second wheel section 32, and the right drive wheel 200R of the first wheel section 31 are each rotated in the opposite direction. In this case, the installation portions of the fifth wheel unit 35, the third wheel unit 33, and the first wheel unit 31 move in the direction opposite to the direction indicated by arrow 13A. Also, the installation portions of the fourth wheel unit 34 and the second wheel unit 32 move in the direction opposite to the direction indicated by arrow 13B. In this case, the measuring robot 10 moves toward the entrance side while rotating counterclockwise with one end 11A of the main body 11 at the front. [Explanation of symbols]

[0132] 10...measuring robot, 23...coil spring, 100...piping, 110...inner surface, 200...driving wheel, 209...side surface, 300...rotating body, 400...rotating shaft, 401...one end, 402...other end

Claims

1. It is a moving object that moves inside the pipe, a main body having one end and another end, one of which moves in the pipe as a leader; a drive wheel supported by the main body portion and driven to rotate around a rotation center along an orthogonal direction that is a direction perpendicular to the extension direction of the main body portion; a rotating body that is provided on an outer periphery of the drive wheel, is rotatable about a rotation axis that is inclined with respect to the orthogonal direction, and rotates by receiving a force from the inner surface of the pipe; A moving body comprising: The drive wheels include: a rotating unit that rotates around a rotation center along the orthogonal direction, the rotating unit having a surface facing the main body unit side and a surface facing an opposite side to the main body unit side; a plurality of protrusions that protrude outward in the radial direction of the rotating part from an outer periphery of the rotating part, are arranged side by side in the circumferential direction of the rotating part, and support the plurality of rotating shafts; is established, each of the rotation shafts supported by the protrusions is provided to extend from the protrusions toward an opposite side to a side on which the main body is located; the rotating body supported by the rotation shaft is provided on the opposite side of the protruding portion from the side on which the main body is located, The rotating body is not provided on the main body side of the protrusion. Mobile object.

2. The two drive wheels are arranged coaxially and are driven to rotate around a rotation center along the orthogonal direction, one of the two drive wheels has a side surface facing the main body portion and the other drive wheel, and the other drive wheel has a side surface facing the main body portion and the one drive wheel, In each of the two drive wheels, when the protruding portion is used as a starting point, the rotation shaft protrudes toward the opposite side to the side where the side surface is provided, and the rotating body is not provided on the side of the side surface beyond the protruding portion. The moving body according to claim 1 .

3. The moving body according to claim 1 , wherein a plurality of the rotating bodies are provided and are arranged side by side in the circumferential direction of the drive wheel.

4. 2. A moving body as described in claim 1, wherein when the rotating body supported by the rotating shaft is in contact with the inner surface, one of the one end and the other end of the rotating shaft is located upstream in the direction of movement of the moving body, and the other is located downstream of the one end.

5. The two drive wheels are arranged coaxially, 2. The moving body according to claim 1, further comprising a biasing means for biasing the two drive wheels arranged on the same axis in a direction intersecting the direction in which the coaxial axis extends, and pressing the rotating body provided on each of the drive wheels against the inner surface.

6. The two drive wheels are arranged coaxially, one of the two drive wheels has a side surface facing the other drive wheel, and the other drive wheel has a side surface facing the one drive wheel, 2. The moving body according to claim 1, wherein the rotating shaft of each of the two drive wheels protrudes toward the side opposite to the side on which the side surface is provided, and the rotating body is supported by the protruding rotating shaft.

7. 7. The moving body according to claim 6, wherein the tip end of the rotary shaft in the protruding direction is a free end.

8. the rotating shaft has the tip portion and an opposite end portion located on the opposite side of the tip portion, 8. The movable body according to claim 7, wherein the outer diameter of the portion of the rotating body supported by the rotating shaft located on the free end side of the rotating shaft is smaller than the outer diameter of the portion of the rotating body located on the opposite end side of the rotating shaft.

9. A moving body as described in claim 8, wherein in a cross section of the rotating body in a virtual plane along the rotation axis and passing through the rotation axis, the outer surface of the rotating body has a curvature and is formed so as to be convex in a direction away from the rotation axis.

10. In one of the two drive wheels, the rotation shaft supporting the rotating body in contact with the inner surface is tilted toward one of the upstream side and the downstream side in the moving direction of the moving body, 8. The moving body according to claim 7, wherein the rotation shaft supporting the rotating body in contact with the inner surface of the other of the two drive wheels also tilts to the one side.

11. two other drive wheels are further provided, the other two drive wheels being arranged coaxially and rotating in the same direction as the two drive wheels when the moving body moves along the pipe; In one of the other two drive wheels, the rotation shaft supporting the rotating body in contact with the inner surface is tilted toward the opposite side from the one side, 11. The moving body according to claim 10, wherein the rotation axis supporting the rotating body in contact with the inner surface of the other of the two other driving wheels is also tilted toward the opposite side.

12. The two drive wheels are arranged coaxially, The two drive wheels arranged on the same axis are biased in one direction that intersects with the direction in which the coaxial shaft extends, and come into contact with the inner surface, The movable body described in claim 1, further comprising two other drive wheels arranged coaxially, biased in a direction opposite to the one direction to contact the inner surface, and rotating in a direction opposite to the rotation direction of the two drive wheels when the movable body moves along the pipe.

13. 13. The moving body according to claim 12, wherein each of the other two drive wheels is provided with a rotating body that rotates around a rotation axis that is arranged in an inclined relationship with respect to the perpendicular direction and that rotates by receiving force from the inner surface.

14. 2. The moving body according to claim 1, wherein the two drive wheels arranged on the same axis can be rotated in the same direction and the two drive wheels can be rotated in directions different from each other.

15. A control system including a moving body that moves within a pipe and a control unit that controls the moving body, The moving body is a main body having one end and another end, one of which moves in the pipe as a leader; At least two drive wheels are arranged coaxially and driven to rotate, the drive wheels being supported by the main body and rotating around a rotation center along an orthogonal direction that is a direction perpendicular to the extension direction of the main body; a rotor provided on an outer periphery of each of the two drive wheels, rotatable about a rotation axis disposed in a tilted relationship with respect to the orthogonal direction, and configured to rotate by receiving a force from an inner surface of the pipe; Equipped with Each of the drive wheels has: a rotating unit that rotates around a rotation center along the orthogonal direction, the rotating unit having a surface facing the main body unit side and a surface facing an opposite side to the main body unit side; a plurality of protrusions that protrude outward in the radial direction of the rotating part from an outer periphery of the rotating part, are arranged side by side in the circumferential direction of the rotating part, and support the plurality of rotating shafts; is established, each of the rotation shafts supported by the protrusions is provided to extend from the protrusions toward an opposite side to a side on which the main body is located; the rotating body supported by the rotation shaft is provided on the opposite side of the protruding portion from the side on which the main body is located, The rotating body is not provided on the main body side of the protrusion, The control unit Controlling the two coaxially arranged drive wheels to rotate in the same direction, and controlling the two coaxially arranged drive wheels to rotate in directions different from each other. Control system.

Images