Sewer pipe inspection device

Abstract

To provide a sewer pipe inspection device capable of checking the state of an inner wall portion immersed in sewage in a sewer pipe without stopping the flow of sewage in the sewer pipe. [Solution] The sewer pipe inspection device 1 comprises a motor 17 as a driving means for moving the device main body 10 within the sewer pipe 2, a high-pressure pump 4 constituting a high-pressure water injection means for using high-pressure water to remove deposits attached to the inner wall 2a of the underwater area P to be inspected that is submerged in sewage S in the sewer pipe 2, a bucket arm 11 movably arranged on the front side of the device main body 10, a bucket 113 at the tip of the bucket arm 11, a compressor 5 constituting a compressed air injection means for introducing compressed air into the bucket 113 and removing the sewage S from the bucket 113, and an illuminated camera 6 as a photographing means for photographing the inner wall 2a of the underwater area P to be inspected from which the sewage S has been removed.

Description

[Technical Field]

[0001] The present invention relates to a sewer pipe inspection device for inspecting the inner wall of a sewer pipe. [Background technology]

[0002] Traditionally, the most common method for inspecting underground sewer pipes has been for workers to descend into the pipe through a manhole installed above ground and visually inspect the inner walls of the pipe.

[0003] However, inside the sewer pipes, sulfur Due to the presence of highly toxic gases such as hydrogen chloride, there is a strong demand to avoid exposing workers to danger and ensure their safety.

[0004] For this reason, in recent years, a sewer pipe inspection device has been developed in which an unmanned aircraft such as an unmanned aerial vehicle is flown or moved within a sewer pipe, and the inner wall of the sewer pipe is photographed with a camera mounted on the drone, and a person on the ground can check the image from the camera displayed on a monitor to conduct the inspection (see Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2023-38108 Summary of the Invention [Problem to be solved by the invention]

[0006] However, with conventional sewer pipe inspection devices using such unmanned aircraft, there was a problem in that it was not possible to check the condition of the inner wall of the sewer pipe that was submerged in sewage in the images taken by the camera mounted on the unmanned aircraft, particularly the part of the wall that was submerged in sewage, unless the flow of sewage in the sewer pipe was stopped and the wall was not submerged in this dirty sewage.

[0007] The present invention has been made in consideration of the above circumstances, and its purpose is to provide a sewer pipe inspection device that can check the condition of the part of the inner wall of a sewer pipe that is submerged in sewage without stopping the flow of sewage inside the sewer pipe. [Means for solving the problem]

[0008] In order to achieve the above object, the invention described in claim 1 is a sewer pipe inspection device in which an apparatus main body moves inside an existing sewer pipe to inspect the inner wall of the sewer pipe, characterized in that it comprises: a driving means provided on the apparatus main body and driving the apparatus main body to move the apparatus main body inside the sewer pipe; a high-pressure water spraying means attached to the apparatus main body and using high-pressure water to remove deposits attached to the inner wall of an underwater portion of the sewer pipe to be inspected that is submerged in sewage; a bucket arm movably arranged on the front side in the direction of movement of the apparatus main body; a bucket attached to the tip of the bucket arm and surrounding the underwater portion to be inspected, isolating the space inside the surrounding area from the sewage outside the surrounding area; compressed air spraying means for introducing compressed air into the bucket that surrounds the underwater portion to be inspected from which deposits have been removed by spraying high-pressure water with the high-pressure water spraying means, thereby removing the sewage in the bucket from the inside of the bucket; and an imaging means provided in the bucket for photographing the inner wall of the underwater portion to be inspected from which the sewage has been removed.

[0009] Here, the underwater location to be investigated refers to a location within a sewer pipe that is submerged in sewage and that needs to be investigated.

[0010] The invention described in claim 2 is characterized in that, in the invention described in claim 1, the high-pressure water injection port for injecting high-pressure water from the high-pressure water injection means is provided within the bucket and is configured to inject high-pressure water onto the inner wall of the underwater location to be investigated.

[0011] The invention described in claim 3 is characterized in that, in the invention described in claim 1, the bucket arm is rotatably mounted on the device body, and the bucket is configured to move around the entire circumference of the inner wall of the sewer pipe as the bucket arm rotates.

[0012] The invention described in claim 4 is characterized in that, in the invention described in claim 1, the opening edge of the bucket is provided with a flexible abutment portion that abuts against the inner wall of the underwater portion of the sewer pipe to be investigated, and when the abutment portion abuts against the inner wall, air is injected into the bucket by the compressed air injection means, causing the abutment portion to deform and the sewage in the bucket to be discharged to the outside from between the abutment portion and the inner wall.

[0013] The invention as set forth in claim 5 is characterized in that in the invention as set forth in claim 4, the contact portion having flexibility is formed of an airbag.

[0014] The invention described in claim 6 is characterized in that, in the invention described in claim 1, the drive means, the high-pressure water jetting means, the compressed air jetting means, the photographing means, and the bucket arm can be operated by remote control. [Effects of the Invention]

[0015] According to the invention described in claim 1 of the present invention, it is possible to check the condition of the inner wall portion of the underwater area to be investigated that is submerged in sewage in a sewer pipe without stopping the flow of sewage in the sewer pipe.

[0016] Furthermore, according to the invention described in claim 1, deposits and other adhesions adhering to the inner walls of the underwater area to be investigated, which is submerged in sewage in the sewer pipe, are removed with high-pressure water to clean the surface, and then compressed air is introduced into the bucket using the compressed air injection means to remove the sewage from the bucket, allowing the inner walls of the underwater area to be investigated to be clearly photographed using the photographing means.

[0017] Furthermore, according to the invention described in claim 2, the high-pressure water nozzle for spraying high-pressure water from the high-pressure water spraying means is provided inside the bucket, so that by spraying high-pressure water from the high-pressure water nozzle while the bucket is almost covering the inner wall of the underwater section of the sewer pipe to be investigated, it is possible to easily remove deposits and other adhesions that have adhered to the inner wall of the underwater section to be investigated.

[0018] Furthermore, according to the invention described in claim 3, the bucket arm rotates, causing the bucket to move around the entire circumference of the inner wall of the sewer pipe, making it possible to inspect the inner wall of the underwater section of the sewer pipe that is the subject of inspection, as well as other inner walls.

[0019] Furthermore, according to the invention described in claim 4, the opening edge of the bucket is provided with a flexible abutment portion that abuts against the inner wall of the underwater portion of the sewer pipe to be investigated. Therefore, when the abutment portion deforms, the abutment portion of the bucket is brought into close contact with the inner wall, reliably isolating the inside and outside of the bucket. Furthermore, when compressed air is introduced into the bucket from the compressed air injection means, the abutment portion deforms, causing the sewage in the bucket to be discharged to the outside from between the abutment portion and the inner wall, thereby removing the sewage from the bucket.

[0020] Furthermore, according to the invention described in claim 5, the flexible contact portion is formed from an airbag, so that the contact portion can be formed simply by filling the airbag with air, and furthermore, the flexibility of the contact portion can be easily adjusted simply by adjusting the air pressure inside the airbag.

[0021] Furthermore, according to the invention described in claim 6, the driving means, high-pressure water injection means, compressed air injection means, photographing means, and bucket arm can be operated by remote control, which makes it possible to easily improve the safety and efficiency of inspection work on the inner walls of sewer pipes. [Brief explanation of the drawings]

[0022] [Figure 1]1 is a cross-sectional configuration diagram showing an overall state in which a sewer pipe inspection device according to an embodiment of the present invention is used to inspect the inner wall of a sewer pipe. [Figure 2] 1 is a cross-sectional configuration diagram showing a state in which the sewer pipe inspection device of this embodiment is used inside a sewer pipe. [Figure 3] FIG. 3 is a cross-sectional view showing the sewer pipe inspection device of FIG. 2 as seen from the rear. [Figure 4] This is an explanatory diagram for explaining the work process in which high-pressure water is sprayed onto the inner wall of the underwater area to be inspected below the bucket using a high-pressure water spraying means, using the sewer pipe inspection device of this embodiment, to remove deposits and other adhesions. [Figure 5] 10 is an explanatory diagram for explaining a work process in which the sewer pipe inspection device of this embodiment uses compressed air from a compressed air injection means to discharge sewage in a bucket to the outside. FIG. [Figure 6] 10(a) and 10(b) are explanatory diagrams for explaining the assembly stage at the site of the sewer pipe inspection device of this embodiment. [Figure 7] 10(a) and 10(b) are explanatory diagrams for explaining the assembly stage at the site of the sewer pipe inspection device of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, a sewer pipe inspection device according to one embodiment of the present invention will be described.

[0024] Fig. 1 is a cross-sectional view showing the overall state of a sewer pipe inspection device according to an embodiment of the present invention when used to inspect the inner wall of a sewer pipe. Fig. 2 is a cross-sectional view showing the state of the sewer pipe inspection device according to this embodiment when used inside a sewer pipe. Fig. 3 is a cross-sectional view showing the sewer pipe inspection device of Fig. 2 as seen from the rear.

[0025] The sewer pipe inspection device 1 of this embodiment is suitable for use in inspecting the inner wall 2a of an existing underground sewer pipe 2 (for example, a cylindrical sewer pipe with an inner diameter of approximately 2500 mm to 3500 mm) that is large enough for people to enter and exit through a manhole H installed above ground, as shown in Figure 1, and through which sewage S flows.

[0026] As shown in Figure 1, this sewer pipe inspection device 1 comprises a device main body 10 that moves inside an existing underground sewer pipe 2, a bucket arm 11 that is movably arranged in front of the device main body 10 in the direction of movement, a high-pressure pump 4 that forms part of the high-pressure water injection means and a compressor 5 that forms part of the compressed air injection means, which are connected to the device main body 10 via a supply line 3 and installed on the ground, a power supply unit 7, and a personal computer 8 that serves as communication means.

[0027] As shown in Figures 2 and 3, the device main body 10 has an outer frame formed by assembling vertical supports 15 and upper supports 14b on top of a lower support 14a on which a pair of front wheels 12 and a pair of rear wheels 13 are provided, and a bucket arm moving device 16 that makes the bucket arm 11 movable is supported and fixed to the upper support 14b so that it is located inside this outer frame.

[0028] A motor 17 is connected to the rear wheels 13 as a driving means, and when the motor 17 is driven, the rear wheels 13 rotate, allowing the device main body 10 to run and move within the sewer pipe 2.

[0029] In addition, an illuminated camera 18 is provided on the front side of the device main body 10 as a means for checking the front, and by using this illuminated camera 18 to illuminate the surroundings in front and take pictures while traveling, it is possible to check the surrounding conditions in front of the sewer pipe 2.

[0030] The bucket arm moving device 16 has a fixed part 161 that is supported and fixed to the upper support 14 b, and a bucket arm moving part 162 that is connected to the fixed part 161.

[0031] The rear of the bucket arm movable part 162 is rotatably supported by the fixed part 161 with a pin p, and the front is connected to the fixed part 161 by a cylinder 163 for finely adjusting the angle of the bucket arm 11. The angle of the arm movable part 162 changes as this angle fine adjustment cylinder 163 extends and contracts, making it possible to finely adjust the angle in the vertical direction of the bucket arm 11 connected to this arm movable part 162.

[0032] A bucket arm rotating part 114 that enables the bucket arm 11 to rotate within the sewer pipe 2 is provided at the front tip of the bucket arm movable part 162.

[0033] Furthermore, a cylinder 162a for movement in the front-rear direction that is extendable and contractable in the front-rear direction is built into the bucket arm movable section 162, and the bucket arm swivel section 114 is fixed to the front tip of this cylinder 162a for movement in the front-rear direction, so that the bucket arm 11 can move in the front-rear direction by extension and contraction of the cylinder 162a for movement in the front-rear direction.

[0034] As shown in FIG. 2, the bucket arm 11 has an arm base end portion 111 that is connected to the bucket arm swivel portion 114, and an arm movable portion 112 that is connected to the arm base end portion 111 and has a bucket 113 provided at its front tip portion.

[0035] The rear end of the arm base end 111 is connected to the bucket arm rotating part 114, and when this connecting part is rotated by a rotation drive mechanism (not shown) inside the bucket arm rotating part 114, a bucket 113 provided at the front tip of an arm movable part 112 connected to this arm base end 111 moves around the entire circumference of the inner wall 2 a of the sewer pipe 2.

[0036] The rear end of the arm movable part 112 is pivotally supported on the front tip of the arm base end part 111, and the angle is adjusted by the extension and contraction of an angle adjustment cylinder 111a inside the arm base end part 111.

[0037] The length of the movable arm part 112 may be adjusted appropriately at a factory or the like, or the movable arm part 112 itself may be configured to be extendable and retractable by operation.

[0038] As shown in Figure 2, the bucket 113 is attached integrally to the front tip of the arm movable part 112, and this bucket 113 has an abutment part 113b at its opening edge part 113a, which has flexibility to abut against the inner wall 2a of the underwater location P to be investigated, which is submerged in sewage S of the sewer pipe 2.

[0039] The bucket 113 may be configured so that the angle of attachment to the movable arm part 112 can be adjusted as appropriate at a factory or the like, or the angle can be adjusted by operating the tip of the movable arm part 112.

[0040] Here, this flexible contact portion 113b is formed of an airbag, and is made flexible by the elasticity of the air inside the airbag.

[0041] The bucket 113 may be provided with a stopper to prevent the airbag from being displaced significantly in the circumferential direction.

[0042] Additionally, a high-pressure water nozzle 4a is provided inside the bucket 113 to spray high-pressure water through a high-pressure water supply pipe 41 in the supply line 3 extending from the high-pressure pump 4 on the ground, so that high-pressure water can be sprayed onto the underwater location P to be investigated to remove deposits and other adhesions on the inner wall 2a. In other words, the high-pressure water spraying means is made up of the high-pressure pump 4, the high-pressure water supply pipe 41, and the high-pressure water nozzle 4a.

[0043] Additionally, inside the bucket 113, there is provided a compressed air nozzle 5a that sprays compressed air through a compressed air supply pipe 51 in the supply line 3 extending from the aboveground compressor 5, and compressed air can be introduced into the bucket 113 that surrounds the underwater location P to be investigated from which deposits and other adhering matter have been removed, thereby removing the sewage S from inside the bucket 113. In other words, the compressed air spraying means is made up of the compressor 5, the compressed air supply pipe 51, and the compressed air nozzle 5a.

[0044] In addition, inside the bucket 113, an illuminated camera 6 is installed as a photographing means connected to a computer 8 on the ground by a communication line 81 within a supply line 3 extending from the ground, making it possible to photograph the inner wall 2a of the underwater area P to be investigated from which the sewage S has been removed.

[0045] Furthermore, by supplying power to the motor 17, the illuminated camera 18, the drive units for the angle fine adjustment cylinder 163, the bucket arm rotation unit 164, the cylinder 162a for forward and backward movement, and the angle adjustment cylinder 111a, which are connected by electric wires 71 in the supply line 3 extending from the power supply unit 7 installed on the ground, these can be operated.

[0046] That is, as shown in Figures 1 to 3, the high-pressure pump 4, compressor 5, illuminated camera 6, power supply unit 7, and the main body 10 of the sewer pipe inspection device 1, the drive unit of the bucket arm 11, and peripheral equipment (motor 17, illuminated camera 18, drive unit of the angle fine adjustment cylinder 163, bucket arm swivel unit 164, cylinder for forward and backward movement 162a, and angle adjustment cylinder 111a, etc.) connected to this power supply unit 7 by an electric wire 71 in the supply line 3 are connected to a personal computer 8, and are configured so that they can be operated remotely from the ground using this personal computer 8.

[0047] Next, a method for inspecting the inner wall 2a of the sewer pipe 2 using this sewer pipe inspection device 1 will be described.

[0048] First, as shown in Figure 4, the angle adjustment cylinder 111a, etc. is operated to create a gap G above the inner wall 2a of the underwater location P to be investigated, which is submerged in the sewage S of the sewer pipe 2, and the bucket 113 provided at the front tip of the arm movable part 112 of the bucket arm 11 is positioned so that its opening 113c faces downward.

[0049] Next, high-pressure water is sprayed from the high-pressure water nozzle 4a in the bucket 113, which is connected to the high-pressure pump 4 by a high-pressure water supply pipe 41, to remove deposits and other adhesions that have stuck to the surface of the inner wall 2a of the underwater location P to be investigated.

[0050] 5, the angle fine adjustment cylinder 163 and the like are operated to press the contact portion 113b, which is an airbag attached to the opening edge 113a of the bucket 113, against the inner wall 2a of the underwater location P to be investigated, so that the contact portion 113b, which is an airbag, is tightly attached to the inner wall 2a, reliably isolating the inside and outside of the bucket 113. Compressed air is then injected from the compressed air injection port 5a inside the bucket 113, which is connected to the compressor 5 by the compressed air supply pipe 51, to introduce compressed air into the bucket 113 surrounding the underwater location P to be investigated from which deposits and other adhering matter have been removed, and the contact portion 113b, which is an airbag, is deformed, thereby removing the sewage S from inside the bucket 113.

[0051] At this time, in order to more smoothly remove the sewage S from inside the bucket 113, the air pressure inside the airbag may be appropriately adjusted taking into consideration the amount of compressed air injected from the compressed air injection nozzle 5a, etc.

[0052] Then, the inner wall 2a of the underwater area P to be investigated inside the bucket 113 from which the sewage S has been removed is photographed with an illuminated camera 6 connected to the personal computer 8 via a communication line 81, and the photographed image is checked on a monitor (not shown) of the personal computer 8 to check for cracks, etc.

[0053] Next, as shown in Figure 2, the arm movable part 112 of the bucket arm 11 is rotated so that the bucket 113 is at positions 113A, 113B, and 113C shown by the dotted line, and not only the inner wall 2a of the underwater area P to be investigated, which is submerged in the sewage S of the sewer pipe 2, but also other inner walls 2a such as the side and ceiling sides are checked.

[0054] At this time, the bucket 113 is not pressed against the inner wall 2a, but instead high-pressure water is sprayed from the high-pressure pump 4 to remove deposits and other adhesions from the inner wall 2, and then the inner wall 2a from which the deposits and other adhesions have been removed is photographed by the illuminated camera 6, and the photographed image is checked on a monitor (not shown) of the personal computer 8 to check for cracks, etc.

[0055] When checking the inner wall 2a on the ceiling side or the like of the sewer pipe 2, when high-pressure pump 4 sprays high-pressure water to remove deposits and other adhesions on the inner wall 2, the splashed water may enter the interior through opening 113c of bucket 113. However, this splashed water is discharged from inside bucket 113 to the outside by a check valve (not shown) provided near illuminated camera 6 inside bucket 113. Therefore, illuminated camera 6 can immediately photograph the inner wall 2a on the ceiling side or the like without being immersed in the water.

[0056] Next, as shown in Figure 2, the device body 10 of the sewer pipe inspection device 1 is moved forward and the cylinder 162a for forward and backward movement is activated, and then the arm movable part 112 of the bucket arm 11 is rotated so that the bucket 113 is at positions 113D, 113E, and 113F shown by the dotted line, and similarly, not only the inner wall 2a of the underwater location P to be inspected that is submerged in the sewage S of the sewer pipe 2, but also other inner walls 2a such as the side and ceiling sides are checked.

[0057] In this way, the water pipe inspection device 1 inspects the inner wall 2a of the sewer pipe 2 up to an appropriate position.

[0058] When the device body 10 of the sewer pipe inspection device 1 is moved forward, the supply line 3 is pulled out from the winding machine M and extended (see also FIG. 1).

[0059] Next, the work of assembling the sewer pipe inspection device 1 of this embodiment inside the sewer pipe 2 will be described.

[0060] First, as shown in Figures 6(a) and 6(b), scaffolding materials are lowered by crane C from a vertical shaft T built from the ground, and a worker W, who had previously descended from a manhole H next to it, assembles scaffolding A directly below this vertical shaft T.

[0061] Next, as shown in Figures 7(a) and 7(b), worker W uses this scaffolding A to assemble the parts that are being lowered by crane C, and then connects them with supply lines 3 to a high-pressure pump 4, compressor 5, power supply unit 7, and computer 8, which are installed on the ground (not shown), to complete the sewer pipe inspection device 1.

[0062] Then, by moving a part A1 of the scaffolding A located in front of the sewer pipe inspection device 1 to the side and then starting the sewer pipe inspection device 1, the above-mentioned method of inspecting the inner wall 2a of the sewer pipe 2 using the sewer pipe inspection device 1 can be performed.

[0063] Before worker W enters the sewer pipe 2, a ventilation device 9 is installed on the ground, and a hose 91 connected to this ventilation device 9 is hung down from the vertical shaft T to the inside of the sewer pipe 2. Fresh air for ventilation is supplied from a hose opening 91a at the tip of the hose 91, creating a ventilated and safe environment in the surrounding space where worker W works.

[0064] Furthermore, once the confirmation survey using the sewer pipe survey device 1 is completed, the sewer pipe survey device 1 is disassembled into parts from inside the sewer pipe 2 and retrieved to the ground through the vertical shaft T, so in preparation for this, the ventilation device 9 and the hose 91 connected to it may be left in place until the survey is completed (see also Figure 1, etc.).

[0065] Furthermore, when the confirmation survey using the sewer pipe survey device 1 is completed and the sewer pipe survey device 1 is disassembled into parts from inside the sewer pipe 2 and retrieved to the ground through the vertical shaft T, it is efficient to position the sewer pipe survey device 1 that has returned from the survey in the center of the scaffolding A, return part A1 of the scaffolding A that was set aside to the side, and then perform the work of disassembling the sewer pipe survey device 1 into parts.

[0066] According to the sewer pipe inspection device 1 configured as described above, it is possible to check the condition of the inner wall 2a of the underwater location P to be inspected, which is submerged in the sewage S in the sewer pipe 2, without stopping the flow of the sewage S in the sewer pipe 2.

[0067] Furthermore, according to the sewer pipe inspection device 1 configured as described above, deposits and other adhesions on the inner wall 2a of the underwater area P to be inspected, which is submerged in the sewage S of the sewer pipe 2, are removed with high-pressure water to clean the surface, and then compressed air is introduced into the bucket 113 by the compressor 5 to remove the sewage S from the bucket 113, allowing the illuminated camera 6 to clearly photograph the inner wall 2a of the underwater area P to be inspected.

[0068] Furthermore, according to the sewer pipe inspection device 1 configured as described above, the high-pressure water nozzle 4a for spraying high-pressure water from the high-pressure pump 4 is provided inside the bucket 113, so that by spraying high-pressure water from the high-pressure water nozzle 4a while the bucket 113 is substantially covering the inner wall 2a of the underwater location P to be inspected of the sewer pipe 2, deposits and other adhesions attached to the inner wall 2a of the underwater location P to be inspected can be easily removed.

[0069] Furthermore, according to the sewer pipe inspection device 1 configured as described above, the bucket arm 11 rotates, causing the bucket 113 to move around the entire circumference of the inner wall 2a inside the sewer pipe 2, so that the inner wall 2a of the underwater location P to be inspected in the sewer pipe 2, as well as other inner walls 2a, can be inspected.

[0070] Furthermore, according to the sewer pipe inspection device 1 configured as described above, the opening edge 113a of the bucket 113 is provided with a flexible abutment portion 113b that abuts against the inner wall 2a of the underwater location P of the sewer pipe 2 to be inspected. As a result, the abutment portion 113b deforms, causing the abutment portion 113b of the bucket 113 to adhere tightly to the inner wall 2a, thereby reliably isolating the inside and outside of the bucket 113. Furthermore, when compressed air is introduced into the bucket 113 from the compressor 5, the abutment portion 113b deforms, causing the sewage S in the bucket 113 to be discharged to the outside from between the abutment portion 113b and the inner wall 2a, thereby removing the sewage S from the bucket 113.

[0071] Furthermore, according to the sewer pipe inspection device 1 configured as described above, the flexible abutment portion 113b is formed from an airbag, so that the abutment portion 113b can be formed simply by putting air into the airbag, and furthermore, the flexibility of the abutment portion 113b can be easily adjusted simply by adjusting the air pressure inside the airbag.

[0072] Furthermore, according to the sewer pipe inspection device 1 configured as described above, the high-pressure pump 4, compressor 5, illuminated camera 6, power supply unit 7, and the drive units and peripheral devices (motor 17, illuminated camera 18, angle fine adjustment cylinder 163, bucket arm swivel unit 164, forward / backward movement cylinder 162a, angle adjustment cylinder 112a drive units, etc.) of the device main body 10 of the sewer pipe inspection device 1 connected to this power supply unit 7 by electric wires in the supply line 3 are connected to the personal computer 8 and are configured so that they can be operated by remote control from the ground using this personal computer 8, thereby easily improving the safety and efficiency of the inspection work on the inner wall 2a of the sewer pipe 2.

[0073] Although one embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment can be embodied in various other forms, and various omissions, substitutions, modifications, and combinations can be made without departing from the spirit of the invention. This embodiment is intended to be included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents.

[0074] For example, in the above-described embodiment, the high-pressure water injection port 4a of the high-pressure pump 4 constituting the high-pressure water injection means is provided inside the bucket 113, but this is not limited to this, and the high-pressure water injection port 4a of the high-pressure pump 4 may be provided outside the bucket 113.

[0075] Furthermore, in the above-described embodiment, the opening edge 113a of the bucket 113 is provided with an abutment portion 113b formed of a flexible airbag that abuts against the inner wall 2a of the underwater location P to be inspected of the sewer pipe 2, but this is not limited to this, and any abutment portion other than an airbag may be used as long as it is flexible. [Explanation of symbols]

[0076] 1 Sewer pipe inspection device 10. Device body 11 Bucket arm 111 Arm base end 111a Angle adjustment cylinder 112 Arm moving part 113 Bucket 113A~113F Bucket 113a Opening edge 113b Contact part 113c Bucket opening 114 Bucket arm swivel 12 Front wheels 13 rear wheel 14a Lower support 14b Upper support 15 Vertical Shoring 16 Bucket arm moving device 161 Fixed part 162 Bucket arm moving part 162a Cylinder for forward and backward movement 163 Angle fine adjustment cylinder 17 Motor (drive means) 18. Illuminated camera (forward viewing means) 2 Existing sewer pipes 2a Sewer pipe inner wall 3 Supply Line 4. High-pressure pump (part of high-pressure water injection means) 41 High-pressure water supply pipe (part of high-pressure water injection means) 4a High-pressure water jet nozzle (part of high-pressure water jetting means) 5 Compressor (part of compressed air injection means) 51 Compressed air supply pipe (part of compressed air injection means) 5a Compressed air injection port (part of compressed air injection means) 6. Illuminated camera (photography means) 7 Battery (power source) 71 Electric wire 8. Computer (communication means) 81 Communication Line 9. Ventilation system 91 Horse 91a Hose opening p pin M Winding Machine S Sewer P Underwater location to be surveyed G Gap H manhole T shaft A Scaffolding A1 Part of the scaffolding C Crane W Worker

Claims

1. A sewer pipe inspection device in which the device body moves inside an existing sewer pipe to inspect the inner wall of the sewer pipe, a driving means provided in the device body and driving the device body to move it within the sewer pipe; a high-pressure water jetting means attached to the device body and configured to use high-pressure water to remove deposits attached to the inner wall of the underwater location to be inspected that is submerged in sewage in the sewer pipe; a bucket arm movably disposed on the front side of the device body in the direction of movement; A bucket attached to the tip of the bucket arm and surrounding the underwater location to isolate the inner space around the location from the sewage outside the location; a compressed air injection means for introducing compressed air into the bucket surrounding the underwater location to be investigated from which the deposits have been removed by injecting high-pressure water using the high-pressure water injection means, thereby removing the sewage in the bucket from the bucket; an imaging means provided in the bucket for imaging the inner wall of the underwater location to be investigated from which the sewage has been removed; A sewer pipe inspection device comprising:

2. The sewer pipe inspection device according to claim 1, characterized in that a high-pressure water injection port for injecting high-pressure water from the high-pressure water injection means is provided within the bucket and is configured to inject high-pressure water onto the inner wall of the underwater location to be inspected.

3. The sewer pipe inspection device according to claim 1, characterized in that the bucket arm is rotatably mounted on the device body, and the bucket is configured to move around the entire circumference of the inner wall of the sewer pipe by rotating the bucket arm.

4. The sewer pipe inspection device of claim 1, characterized in that the opening edge of the bucket is provided with a flexible abutment portion that abuts against the inner wall of the underwater portion of the sewer pipe to be inspected, and when the abutment portion abuts against the inner wall, air is injected into the bucket by the compressed air injection means, causing the abutment portion to deform and the sewage in the bucket to be discharged to the outside from between the abutment portion and the inner wall.

5. 5. The sewer pipe inspection device according to claim 4, wherein the flexible contact portion is formed of an airbag.

6. 2. The sewer pipe inspection device according to claim 1, wherein the driving means, the high-pressure water injection means, the compressed air injection means, the photographing means, and the bucket arm can be operated by remote control.

Images