In-pipe mobile robot

Abstract

To provide an intra-pipe moving robot capable of moving suitably for different pipe diameters.SOLUTION: An intra-pipe moving robot comprises: a movable body that is configured of a plurality of expansion / contraction units connected to one another via connection means, and is provided inside a pipe, the expansion / contraction unit comprising an outer tube formed of an elastic body, an inner tube provided inside the outer tube, and an end member that is provided at each axial end of the outer and inner tubes and forms a closed space together with the inner periphery of the outer tube and the outer periphery of the inner tube, and the expansion / contraction unit axially contracting and radially expanding by supplying a fluid into the closed space, and axially expanding and radially contracting by discharging the fluid from the closed space; and a fluid control device that operates the plurality of connected expansion / contraction units so that they imitate peristaltic motions in the pipe to cause the movable body to generate propulsion power. The fluid control device comprises pipe inner diameter acquisition means for acquiring the inner diameter of the pipe, and propulsion control means configured to be capable of changing timing of the peristaltic motions on the basis of the inner diameter of the pipe.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to an in-pipe moving robot, and particularly to an in-pipe moving robot that is made movable inside a pipe by connecting actuators that can be expanded and contracted by the supply and discharge of fluid and causing these actuators to perform an operation imitating peristaltic motion.

Background Art

[0002] Pipes such as water supply and drainage pipes and gas pipes are laid out as social infrastructure. In order to maintain the integrity and sanitary conditions of such infrastructure environments, it is necessary to inspect the inside of the pipes to prevent aging and damage. As one of the technologies for inspecting the inside of such pipes, for example, a tubular moving body having an inspection unit attached to its leading end disclosed in Patent Document 1 is known (Patent Document 1). The tubular moving body is configured to expand the outer cylinder in the radial direction and contract it in the axial direction by supplying fluid between an inner cylinder and an outer cylinder made of an elastic material, and to contract the outer cylinder in the radial direction and extend it in the axial direction by discharging the fluid. A plurality of actuators are connected, and the inside of the pipe can be moved by causing these actuators to perform an operation imitating peristaltic motion.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the above-mentioned tubular moving body is configured with optimized size and peristaltic motion control for a specific pipe diameter, if it is applied to a pipe with a small diameter, the expansion and contraction unit will immediately enter a gripping state, resulting in a waiting time. Conversely, if it is applied to a pipe with a large diameter, it will take time for the expansion and contraction unit to expand and reach a gripping state, and it will not be able to perform adequately for movement within the pipe. Therefore, the objective of this invention is to provide a pipe-moving robot that can move appropriately even in pipes of different diameters. [Means for solving the problem]

[0005] To solve the above problems, a pipe-in-route robot is provided, comprising: an outer cylinder made of an elastic body; an inner cylinder provided inside the outer cylinder; and end members provided at the axial ends of the outer and inner cylinders, which together with the inner circumference of the outer cylinder and the outer circumference of the inner cylinder form a closed space; a plurality of expansion and contraction units are connected via connecting means, which contract axially and expand radially when fluid is supplied to the closed space, and extend axially and contract radially when fluid is discharged from the closed space; a mobile body provided inside the pipe; and a fluid control device that causes the plurality of connected expansion and contraction units to operate in a manner that mimics peristaltic motion inside the pipe, thereby generating a propulsive force for the mobile body, wherein the fluid control device is configured to include a pipe inner diameter acquisition means for acquiring the inner diameter of the pipe, and a propulsion control means configured to change the timing of the peristaltic motion based on the inner diameter of the pipe. This configuration allows for suitable movement even with different pipe diameters, and enables sufficient performance for movement within pipes. Furthermore, as another configuration for the pipe-mobile robot, the propulsion control means may be configured to change the timing of the peristaltic motion by changing the flow rate of the fluid supplied to the closed space. Furthermore, as another configuration for the pipe-in-pipe mobile robot, the pipe diameter acquisition means may be configured to acquire the pipe diameter based on user input. Furthermore, as an alternative configuration for the pipe-in-pipe mobile robot, the mobile body may be equipped with a camera at its front, and the pipe diameter acquisition means may be configured to acquire the pipe diameter based on the image of the inside of the pipe acquired by the camera. Furthermore, as another configuration for the pipe-mobile robot, the propulsion control means may be configured to change the timing of the peristaltic motion based on the cycle time set for the peristaltic motion when the mobile body moves using a standard pipe used in the design of the mobile body. For pipes with a smaller diameter than the standard pipe, the cycle time may be shorter than the cycle time, and for pipes with a larger diameter than the standard pipe, the cycle time may be longer than the cycle time. [Brief explanation of the drawing]

[0006] [Figure 1] This is a schematic diagram of the pipe inspection robot. [Figure 2] This is a perspective view of the inspection unit. [Figure 3] This is a plan view of the inspection unit. [Figure 4] This is a cross-sectional view of the table shrinking unit. [Figure 5] This is a cross-sectional view of the elastic expander of the expansion / contraction unit. [Figure 6] This diagram shows the operation of the inflation / deflation unit. [Figure 7] This is a diagram showing the configuration of the connecting unit. [Figure 8] This is a block diagram explaining the hardware. [Figure 9] This is a cylinder representing an example of the configuration of a control device. [Figure 10] This diagram shows an example of the operation of the unit registration means. [Figure 11] This diagram shows an example of the operation of the inspection information setting means. [Figure 12] This is an example of the content displayed on the display device. [Figure 13] This figure shows an example of peristaltic motion, which enables the movement of a moving object. [Figure 14] This is an example of a timing chart that defines the operation of the thrust generation unit. [Figure 15] It is a diagram showing another form of the timing chart. [Figure 16] It is an expansion diagram when an air amount (standard expansion air amount) corresponding to a standard determination value is supplied to the expansion unit in a standard pipe, a small-diameter pipe, and a large-diameter pipe.

[0007] Hereinafter, the present invention will be described in detail through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential for the solution means of the invention, and include selectively adopted configurations.

Mode for Carrying Out the Invention

[0008] [Schematic Configuration of In-Pipe Moving Robot] Hereinafter, embodiments of the present invention will be described based on each drawing. FIG. 1 is a schematic configuration diagram of an in-pipe moving robot 1 that moves inside a pipe E. As shown in FIG. 1, the in-pipe moving robot 1 is configured to include a moving body 2 that moves inside the pipe E, a fluid control mechanism 110, and a fluid control device (hereinafter simply referred to as a control device) 150.

[0009] The moving body 2 includes an inspection unit 10, a plurality of expansion units 20 (expansion and contraction components), and a plurality of connection units (connection means) 40. The moving body 2 is configured such that the inspection unit 10 provided at the tip and the first expansion unit 20 counted from the front side are connected via a front-end side connection unit 40, and the first expansion unit 20 counted from the front side and the second expansion unit 20 counted from the front side are connected via a connection unit 40. Similarly, hereinafter, the front-side expansion unit 20 and the rear-side expansion unit 20 are sequentially connected via a connection unit 40. In addition, the moving body 2 includes, for example, a support means 15 that avoids contact of the inspection unit 10 and the expansion unit 20 with the inner wall of the pipe E.

[0010] In addition, in the present embodiment, as shown in FIG. 1, the inspection unit 10 and the four expansion and contraction units 20 are each connected via a plurality of connection units 40 to form the moving body 2. Further, when specifying the positions of the expansion and contraction units 20, they may be described as the expansion and contraction unit 20A, the expansion and contraction unit 20B, the expansion and contraction unit 20C, and the expansion and contraction unit 20D in order from the front side to the rear side. Also, in the following description, the direction along the arrow is taken as the traveling direction of the moving body 2, and the front-rear direction is specified with this traveling direction as the front side and the reverse as the rear side.

[0011] [Regarding the inspection unit] FIG. 2 is an external perspective view of the inspection unit, and FIG. 3 is a plan view of the front and rear surfaces of the inspection unit. The inspection unit 10 has a configuration including, for example, imaging means 17 and illumination means 18 as inspection means, and a tubular housing portion 12 as a head member for housing the inspection means in a predetermined mounting state.

[0012] The front end opening 12A of the tubular housing portion 12 is closed by a front side closing plate 13A having light transmissibility (see FIGS. 2 and 3). The illumination means 18 is mounted in the tube of the tubular housing portion 12 in a predetermined state so as to be able to irradiate the front through the front side closing plate 13A, and the imaging means 17 is mounted in the tubular housing portion 12 in a predetermined state so as to be able to image the front through the front side closing plate 13A.

[0013] Thereby, when the moving body 2 moves in the traveling direction inside the inspection target tube E, the light irradiated by the illumination means 18 illuminates the inside of the tube E in front of the inspection unit 10, and for example, the imaging means 17 such as a camera can image the inside of the tube E in front of the inspection unit 10.

[0014] A flexible cable 19 is connected to the imaging means 17 and the illumination means 18 (see Figure 1). One end of the cable 19 is connected to the imaging means 17 and the illumination means 18, and the other end is connected to a control device 150 located outside the pipe E. The cable 19 is configured as a bundle of flexible cables, such as power lines that supply power to the imaging means 17 and the illumination means 18, and signal lines that output image data obtained by receiving light in the imaging means 17.

[0015] The rear end of the tubular housing section 12 is closed by a rear cover 13B, for example, while allowing the cable 19 to be exposed to the outside. The inside of the tubular housing section 12 is kept airtight by the aforementioned front sealing plate 13A and rear cover 13B, preventing the intrusion of liquids, gases, etc. The tubular housing section 12 is configured to be connectable to the front end of the connecting unit 40. In addition, a stepped portion 12B is provided on the outer circumference of the rear end of the tubular housing section 12 so that a support means 15 can be attached.

[0016] As shown in Figure 1, the support means 15, which is composed of multiple fibers, is provided, for example, at the rear end of the inspection unit 10 and on the front and rear sides of each expansion / contraction unit 20 so as to sandwich each expansion / contraction unit 20, and functions as a centering means for positioning the entire movable body 2, which is composed of the inspection unit 10 and each expansion / contraction unit 20, toward the center line of the pipe E. The support means 15 is configured such that a ring-shaped base member 15A can be fitted onto, for example, the rear end of the inspection unit 10, the outer circumference of the end members 23;23 provided at both ends of the expansion / contraction unit 20, or the outer circumference of the connecting unit 40 connected to both ends of the expansion / contraction unit 20, and a plurality of fibers 15B extend radially in the circumferential direction of the base member 15A. As shown in Figure 3, the multiple fibers 15B arranged radially are preferably such that, for example, the tips of the fibers 15B reach the inner wall of the pipe E, and that they have rigidity such that the inspection unit 10 and the expansion / contraction unit 20 are maintained in a position near the center line of the pipe E. Furthermore, the multiple fibers 15B provided on the outer circumference of the base member 15A should preferably have gaps between the fibers 15B such that, for example, when the moving body 2 moves forward, the air in front can escape to the rear. More preferably, when the movable body 2 is placed inside the pipe E to be inspected and fluid is flowed through the pipe E, the material should be set according to the properties of the fibers 15B, such as the density and rigidity of the fibers 15B, so that the fluid can pass between the fibers 15B without hindering the movement of the movable body 2. The support means 15 is not limited to those made of fibers 15B, but preferably it is one that allows flow within the pipe E, maintains the position of the inspection unit 10 and the expansion / contraction unit 20 near the center line of the pipe E, and has low friction during movement. Even if the mobile body 2 is equipped with such support means 15, the fluid flowing through the pipe E flows through the gaps in the fibers 15B that constitute the support means 15 on the outer circumference side of the mobile body 2, and even if the mobile body 2 performs peristaltic motion, the fluid can be discharged downstream in the direction of travel of the mobile body 2.

[0017] [Configuration of the expansion / contraction unit] Figure 4 is an axial cross-sectional view showing one example configuration of the expansion / contraction unit 20. The expansion / contraction unit 20 functions as a so-called soft actuator, mainly composed of an elastic material. The expansion / contraction unit 20 is equipped with individual identification means, such as an individual identification number, which enables the identification of the solid.

[0018] The expansion / contraction unit 20 comprises an inner cylinder 21, an outer cylinder 22 disposed to surround the outer circumference of the inner cylinder 21 so as to form a double tube together with the inner cylinder 21, and a pair of end members 23;23 provided at the ends of the inner cylinder 21 and the outer cylinder 22.

[0019] The inner cylinder 21 is a cylindrical body with a circular cross-section having a bellows structure that can expand and contract along the axial direction. The bellows structure in this embodiment is described as having a helical bellows structure, but is not limited to this. Preferably, the material constituting the inner cylinder 21 is made of a flexible material that allows for bending of the axis and is resistant to deformation by pressure from the inner or outer circumference. Each end of the inner cylinder 21 is attached to an inner cylinder fixing part 28 provided on the end member 23.

[0020] Figure 5 is an exaggerated view of the cross-section of the outer cylinder 22 as seen from the line A1-A1 in Figure 4. As shown in the figure, the outer cylinder 22 is composed of a cylindrical body 22A formed from an elastic material and a plurality of fibers 22B densely embedded inside the body 22A. The material of the body 22A is preferably an elastic material having airtightness and elasticity, such as synthetic rubber like silicone rubber or natural rubber like natural latex rubber.

[0021] The fibers 22B are arranged within the wall thickness of the outer cylinder 22 so as to extend along the axis, continuously from one end to the other. In this embodiment, multiple fibers are densely embedded in a layered manner. However, the fibers 22B may also be in a single layer without being layered. The fibers 22B are shown as extending along the axial direction of the cylinder body 22A, but they may also be arranged to intersect with the axial direction.

[0022] Each end of the outer cylinder 22 is attached to an outer cylinder fixing portion 29 provided on the end member 23. Furthermore, the aforementioned continuous distribution from one end to the other refers to a state in which a single fiber 22B reaches from one end to the other of the outer cylinder 22, or a state in which multiple fibers shorter than the axial length of the outer cylinder 22 reach from one end to the other by being continuously distributed in the axial direction.

[0023] The material for fiber 22B should preferably be one that exhibits small changes in axial stretching. For example, the material for fiber 22B can be appropriately selected and used from materials with stretchability such as aramid fibers, carbon fibers, glass fibers, nylon, polyamide fibers, polyolefin fibers, and metal fibers. Furthermore, the fibers 22B should be subjected to an appropriate primer treatment or surface oxidation treatment, taking into consideration their adhesion to the cylindrical body 22A.

[0024] Furthermore, the fiber 22B can be used in any form, such as filament, yarn (spun yarn and filament yarn), or strand. In addition, it is possible to use untwisted fibers that are gathered without twisting, or fibers created by twisting multiple of these fibers together. Depending on the type of fiber, it is also possible to combine two or more fibers of different materials or fibers of different forms.

[0025] The material forming the cylindrical body 22A can be any material whose shape can be changed by supplying and discharging compressed air to and from the fluid chamber V, as described later. Furthermore, the thickness of the cylindrical body 22A and the arrangement of the fibers 22B are determined considering the elongation force when air is discharged from the outer cylinder 22.

[0026] The end member 23 is a cylindrical body formed in a cylindrical shape from, for example, resin, hard rubber, or metal, and includes an inner cylinder fixing portion 28 for fixing the inner cylinder 21 and an outer cylinder fixing portion 29 for fixing the outer cylinder 22. The inner cylinder fixing portion 28 is provided on one end of the inner circumferential surface of the end member 23 so that the outer circumference of the inner cylinder 21 can be fitted into it.

[0027] In this embodiment, the inner cylinder 21 has a helical bellows structure. For example, the inner cylinder fixing portion 28 can be formed as a screwable helical groove on the outer circumference of the inner cylinder 21, utilizing the helical shape of the inner cylinder 21. Hereinafter, the side of the end member 23 on which the inner cylinder fixing portion 28 is provided in the axial direction will be referred to as the inside, and the opposite side will be referred to as the outside.

[0028] For example, the helical groove forming the inner cylinder fixing portion 28 should be formed such that it forms at least one pitch of helical peaks on the outer circumference side of the inner cylinder 21, taking into consideration airtightness with the inner cylinder 21. Furthermore, by forming the inner cylinder fixing portion 28 to be an interference fit with the outer circumference surface of the inner cylinder 21, for example, airtightness with the inner cylinder 21 can be made more reliable. In this way, the inner cylinder 21 is integrated with the end members 23;23, thereby forming a space S2 that penetrates the expansion / contraction unit 20 axially, together with the space on the inner circumference side of the end members 23;23.

[0029] The outer cylinder fixing portion 29 is formed on the outer circumferential surface of the end member 23. The outer cylinder fixing portion 29 is located a predetermined distance axially outward from the end face of the inner cylinder 21 fixed to the inner cylinder fixing portion 28, and is preferably formed in a spherical or tapered shape, for example, so that the outer diameter gradually decreases as the outer circumference of the end member 23 moves axially outward.

[0030] The outer cylinder 22 is fixed to the end member 23 by positioning the outer cylinder 22 so that its end passes the outer cylinder fixing portion 29 axially outward, placing a ring-shaped crimping member 30 over the outer circumferential surface of the outer cylinder 22 from the axially outward side of the end member 23, and then securing it by sandwiching it between a pair of semicircularly formed fixing members 32 from the outside of the crimping member 30 and the outer circumferential surface of the end member 23.

[0031] By fixing the ends of the inner cylinder 21 and the outer cylinder 22 to the end members 23, 23, a fluid chamber V is formed in the expansion / contraction unit 20 as a closed space surrounded by the outer circumferential surface of the inner cylinder 21, the outer circumferential surface of the end member 23, and the inner circumferential surface of the outer cylinder 22.

[0032] Furthermore, the end member 23 is provided with a joint fixing portion 34 for fixing the connecting unit 40 and a supply / discharge hole 36 that allows air to be supplied to and discharged from the fluid chamber V.

[0033] The joint fixing portion 34 is provided so as to be exposed axially outward from the aforementioned fixing member 32 when the outer cylinder 22 is fixed to the end member 23, for example. The joint fixing portion 34 is formed, for example, as a threaded hole that penetrates the end member 23 in the thickness direction (radial direction).

[0034] The supply and discharge hole 36 is formed to allow air to be supplied to and discharged from the inner circumference to the fluid chamber V formed between the inner cylinder fixing portion 28 and the outer cylinder fixing portion 29. For example, the supply and discharge hole 36 is formed as a through hole that penetrates from the inner circumferential surface of the end member 23 to the inner end face of the end member 23. A tube 60 extending from the control device 150, which will be described later, is connected to this supply and discharge hole 36.

[0035] The end member 23 has an individual identification number (not shown) on its outer surface, which is exposed when the inner cylinder 21 and outer cylinder 22 are assembled. The individual identification number may be indicated by, for example, an engraving or a label.

[0036] Figure 6 shows the operation of the expansion / contraction unit 20. When the expansion / contraction unit 20 supplies air to the fluid chamber V, its outer diameter expands radially from d1 to d2 and its length contracts axially from x1 to x2. When the expansion / contraction unit 20 discharges air from the fluid chamber V, its outer diameter contracts radially from d2 to d1 and its length expands axially from x2 to x1.

[0037] In the following description, the state in which compressed air is supplied to the fluid chamber V of the expansion / contraction unit 20, causing the outer cylinder 22 to expand (increase in diameter) and a predetermined frictional force is obtained between the outer cylinder 22 and the pipe E may be referred to as the gripping state, or simply gripping. Furthermore, the state in which the fluid chamber V of the expansion / contraction unit 20 is at atmospheric pressure, or the state in which the outer diameter of the outer cylinder 22 is set to be at its most contracted, is referred to as the fully contracted state, or simply as fully contracted. Furthermore, the state in which the expansion / contraction unit 20 is between the gripping state and the fully contracted state is called the contracted state. Furthermore, the process in which compressed air is supplied to the fluid chamber V is called expansion, and the process in which compressed air is discharged from the fluid chamber V is called contraction.

[0038] [Regarding the structure of the connecting body] Figure 7 is an external view showing an example of a connecting unit 40. The connecting unit 40 comprises a pair of mounting bodies 41 attached to the expansion / contraction unit 20, a connecting body 42 that connects the mounting bodies 41 together, and a coil spring 44, and is configured to function as a so-called universal joint.

[0039] The mounting body 41 comprises, for example, a cylindrical base 41A formed to a size that can be fitted onto the outer circumference of the end member 23, and a pair of projections 41B;41B that are diametrically opposed to each other on one side of the base 41A and extend along the axial direction of the base 41A with the same length.

[0040] The connecting body 42 is formed as an annular member having an outer diameter that allows it to slide on the inner circumferential surface side of the projections 41B;41B of the mounting body 41. The connecting unit 40 is attached by sandwiching the connecting body 42 between the projections 41B;41B of one mounting body 41 and the projections 41B;41B of the other mounting body 41, so that they are in a position twisted 90° relative to each other. As a result, the connecting unit 40 as a whole is configured as a cylindrical shape having a hollow space S3 that penetrates in the axial direction.

[0041] Each mounting body 41 is connected, for example, to the connecting body 42 via a shaft member 43 in the thickness direction of each projection 41B and in the thickness direction of the connecting body 42, so that each mounting body 41 is rotatably attached to the connecting body 42 with respect to the shaft member 43.

[0042] As shown in Figures 7(a) and 7(b), the coil spring 44 is provided on the inner circumference of one mounting body 41 and the other mounting body 41, which are connected via a coupling body 42. The coil spring 44 has a length that extends, for example, from the inner circumference of one mounting body 41 through the inner circumference of the coupling body 42 to the inner circumference of the other mounting body 41, and its outer diameter is slightly smaller than the inner diameter of the coupling body 42.

[0043] The coil spring 44 is integrated with the mounting bodies 41, 41 by providing a seating portion that supports the end so that the end protrudes from the inner circumferential surface of the base 41A of one mounting body 41 and the other mounting body 41, thereby preventing it from falling off the inner circumference of the mounting bodies 41, 41. In this way, because the connecting unit 40 contains the coil spring 44, the elasticity (restoring force) of the coil spring 44 allows the one mounting body 41 and the other mounting body 41 to be positioned linearly while allowing the other mounting body 41 to bend relative to the one mounting body 41.

[0044] Furthermore, the base portion 41A of each mounting body 41;41 is provided with a through hole 46. The through hole 46 is provided so as to overlap with the joint fixing portion 34 provided on the expansion / contraction unit 20 when the end member 23 of the expansion / contraction unit 20 is inserted into the mounting body 41. Then, the mounting body 41 is fixed to the end member of the expansion / contraction unit 20 by inserting a bolt (not shown) into the through hole 46, screwing it into the joint fixing portion 34, and tightening it. In this way, the expansion / contraction units 20;20 are connected to each other via the connecting unit 40.

[0045] The expansion and contraction units 20:20 connected by the connecting unit 40 can be in a straight state as shown in Figure 7(a), or bent so that the axes of the expansion and contraction units 20 intersect, as shown in Figure 7(b).

[0046] Therefore, the thrust generating unit 8 in the mobile body 2 is formed by sequentially connecting the end of one expansion / contraction unit 20, which is positioned front to back, with the opposite end of the other expansion / contraction unit 20, using the connecting unit 40.

[0047] Since the thrust generating unit 8 is hollow, with the expansion / contraction unit 20 and the connecting unit 40 each passing through it axially, a continuous hollow space is formed as a whole, extending from the tubular tip to the rear end. This continuous space is used as the piping route for the tubes 60 that are individually connected to the expansion / contraction unit 20, and as the wiring route for the cables 19 that are connected to the inspection unit 10.

[0048] The mobile body 2 is then constructed by connecting the front end of the expansion / contraction unit 20, located at the front of the thrust generation unit 8, and the rear end of the inspection unit 10 using a connecting unit 40.

[0049] Furthermore, the connecting unit 40 is not limited to a universal joint made of a rigid material as described above, but may also be made of a tubular elastic body (tubular elastic body). An example of a tubular elastic body is one that has flexibility, such as the bellows used in the inner cylinder 21 of the expansion / contraction unit 20, and has a restoring force due to the elasticity of the material.

[0050] [About the fluid control mechanism] The fluid control mechanism 110 is a device for controlling the supply, stopping, and discharge of the fluid, which is the working medium for operating the thrust generating unit 8 in the moving body 2. In this embodiment, air (compressed air) is used as the working medium. However, the fluid is not limited to air; other gases or liquids such as water may be used. Furthermore, the fluid control mechanism 110 should be configured to provide the functions described below, depending on the fluid used.

[0051] The fluid control mechanism 110 includes, for example, a compressor 112, a regulator 114, a supply valve 116, a discharge valve 118, a flow sensor 120, a pressure sensor 122, and the like. The compressor 112 generates compressed air to be supplied to the fluid chamber V. The compressed air is set to a pressure higher than the pressure required to bring the outer surface of the outer cylinder 22 of the expansion / contraction unit 20 into close contact with the inner wall of the pipe E when the outer cylinder 22 of the expansion / contraction unit 20 is expanded.

[0052] The regulator 114 is connected to the compressor 112 and reduces the compressed air generated by the compressor 112 to a predetermined pressure, outputting it as compressed air at a constant pressure.

[0053] The supply valve 116 is connected to the regulator 114 and controls the supply and cessation of compressed air flowing in from the regulator 114 to the fluid chamber V. The supply valve 116 has a valve that opens and closes based on an electrical signal, supplying compressed air to the fluid chamber V when the valve is opened and stopping the supply of compressed air when the valve is closed. The supply valve 116 is electrically connected to the control device 150 and opens and closes the valve based on a signal input from the control device 150.

[0054] The discharge valve 118 is connected to the expansion / contraction unit 20 and controls the discharge of compressed air from the expansion / contraction unit 20. The discharge valve 118 has a valve that opens and closes based on an electrical signal, discharging compressed air from the expansion / contraction unit 20 when the valve is opened and stopping the discharge of compressed air when the valve is closed. The discharge valve 118 is electrically connected to the control device 150 and opens and closes the valve based on a signal input from the control device 150.

[0055] Furthermore, the supply valve 116 and the discharge valve 118 are described as being in a closed state when no signal is input, opening when a signal is input, and closing when the signal stops.

[0056] For example, solenoid valves can be used for the supply valve 116 and the discharge valve 118. By using solenoid valves for the supply valve 116 and the discharge valve 118, the response speed when expanding or contracting the expansion / contraction unit 20 can be improved.

[0057] The flow sensor 120 is provided to measure the flow rate of compressed air supplied to the expansion / contraction unit 20 via the supply valve 116. The flow sensor 120 is provided, for example, between the supply valve 116 and the expansion / contraction unit 20. The flow sensor 120 is electrically connected to the control device 150 and outputs the measured flow rate of compressed air to the control device 150.

[0058] The flow rate measured by the flow sensor 120 is stored in the storage means 151 as a flow rate history, for example. When a signal is output to the discharge valve 118, for example, the flow sensor 120 resets the measured flow rate (returns it to zero), and measures the flow rate again when the supply of compressed air to the expansion / contraction unit 20 is restarted.

[0059] The pressure sensor 122 is provided to detect the air pressure in the fluid chamber V of the expansion / contraction unit 20. The pressure sensor 122 is provided, for example, between the flow sensor 120 and the expansion / contraction unit 20. The pressure sensor 122 is electrically connected to the control device 150 and outputs the measured air pressure in the fluid chamber V to the control device 150.

[0060] The flow rate and pressure values ​​measured by the flow rate sensor 120 and pressure sensor 122 may be stored, for example, in the storage means 151 described later, as flow rate history, pressure history, etc.

[0061] [Control device] The control device 150 controls the fluid control mechanism 110, controls the movement of the mobile body 2, and controls the inspection of the inside of the pipe by the inspection unit 10.

[0062] Figure 8 is a block diagram of the hardware that makes up the control device 150. The control device 150 is configured to include, for example, storage means 151 such as ROM or RAM for storing programs, etc., provided as hardware resources; arithmetic processing means 152 such as a CPU; an external input / output interface (external IF) 153 that enables the output of signals to the supply valve 116 and discharge valve 118 and the input of signals output from the flow sensor 120 and pressure sensor 122; input means 154 such as a keyboard, mouse, or touch panel; display means 155 such as a monitor; and communication means 156 such as a network interface that enables connection to the internet. The touch panel may also function as an input / display means that combines the functions of the input means 154 and the display means 155.

[0063] The storage means 151 stores, for example, a program for operating the thrust generating unit 8, a program for managing the expansion and contraction units 20 that constitute the thrust generating unit 8, and threshold values, described later, for controlling the opening and closing operations of the supply valve 116 and the discharge valve 118. Furthermore, the storage means 151 may record the images captured by the imaging means 17 of the inspection unit 10.

[0064] Thresholds for controlling the opening and closing operations of the supply valve 116 and the discharge valve 118 include, for example, a gripping determination value for stopping the output of a signal to the supply valve 116 when the expansion / contraction unit 20 reaches a gripping state, and a contraction determination value for determining whether the expansion / contraction unit 20 has reached complete contraction. The gripping determination value is set, for example, based on the flow rate supplied into the fluid chamber V when the expansion / contraction unit 20 is expanded from a fully contracted state inside the pipe and a predetermined friction is obtained between the inner wall of the pipe and the outer surface 22a of the expansion / contraction unit 20.

[0065] The gripping judgment values ​​should be composed of a standard judgment value corresponding to the pipe used in the design of the expansion / contraction unit 20 (referred to as the standard pipe), a small-diameter judgment value for pipes smaller than the standard pipe, and a large-diameter judgment value for pipes larger than the standard pipe. The relationship between the standard judgment value, small-diameter judgment value, and large-diameter judgment value is such that small-diameter judgment value < standard judgment value < large-diameter judgment value. For example, if the standard pipe is 100 mm, then the small-diameter pipe may be 90 mm and the large-diameter pipe 110 mm. Note that the sizes of the small-diameter and large-diameter pipes relative to the standard pipe are not limited to these.

[0066] The program for operating the thrust generation unit 8 can consist of multiple programs, such as a program for moving the mobile body 2 forward or backward, and a program for stopping the mobile body 2 inside the pipe E. Moving forward means moving in the direction indicated by the arrow in Figure 1, and moving backward means moving in the opposite direction to moving forward.

[0067] The arithmetic processing means 152 sequentially executes the programs stored in the storage means 151, thereby causing the control device 150 to function as the means described later.

[0068] Figure 9 is a block diagram showing an example of the configuration of the control device 150. As shown in Figure 9, the control device 150 is configured to include a unit registration means 170, an inspection information setting means 172, an inspection control means 174, an operation selection means 180, a propulsion control means 182, a stop control means 184, an operation history acquisition means 202, a replacement timing determination means 204, a movable distance estimation means 208, a pre-confirmation means 210, and a notification means 212.

[0069] Figure 10 shows an example of the operation of the unit registration means 170. The unit registration means 170 performs a process to prompt the user to register the expansion and contraction units 20 that constitute the thrust generation unit 8. As shown in Figure 10(a), the unit registration means 170 can be configured to display a message on the display means 155, such as "How many units are connected?", and allow the user to operate the input means 154 and input a numerical value.

[0070] As shown in Figure 10(b), when a number such as "4" is entered, the unit registration means 170 executes a process to prompt the user to input the individual identification number of the expansion / contraction unit 20. The unit registration means 170 assigns codes such as No. 1, No. 2, etc. to the expansion / contraction unit 20 from the leading unit based on the entered quantity, and displays an input field on the display means 155 for inputting the individual identification number along with the code, prompting the user to input the individual identification number corresponding to the connected position. The code for identifying the expansion / contraction unit 20 can be set as appropriate.

[0071] As a result, as shown in Figures 1 and 13, the expansion / contraction unit 20A is designated as No. 1, expansion / contraction unit 20B as No. 2, expansion / contraction unit 20C as No. 3, expansion / contraction unit 20D as No. 4, and so on, and is registered along with an individual identification number.

[0072] Furthermore, the individual identification means is not limited to individual identification numbers; identifiers such as barcodes or RFID may also be used. For example, when using a one-dimensional barcode or a two-dimensional code identifier as the individual identification means, a barcode reader or camera may be used as an input means to register the expansion / contraction unit 20 with the control device 150.

[0073] By using such identifiers as a means of individual identification, information such as the operation history of the expansion / contraction unit 20 stored in the storage means 151 can be read along with information for identifying the individual. Furthermore, for example, when using RFID as a means of individual identification, the expansion / contraction unit 20 may be registered with the control device 150 by using a short-range wireless communication device as an input means. By using RFID as an individual identification means, it can be used as part of a storage means 151 for storing information such as the operation history of the expansion / contraction unit 20, along with information for identifying the individual.

[0074] Figure 11 shows an example of the operation of the inspection information setting means 172. The inspection information setting means 172 performs processing to prompt the user to input information such as the size (pipe diameter) and inspection distance of the pipe to be inspected. The inspection information setting means 172 prompts the user to input the pipe diameter of pipe E to be inspected by the mobile unit 2 and the planned inspection distance, and stores the input pipe diameter and inspection distance in the storage means 151. The inspection information setting means 172 displays, for example, "Pipe diameter?", "Planned inspection distance?", etc., on the display means 155, and prompts the user to input the pipe diameter and planned inspection distance via the input means 154. In other words, the inspection information setting means 172 functions as a pipe diameter acquisition means to acquire the pipe diameter of pipe E.

[0075] Furthermore, the system can be configured so that the user inputs the pipe diameter and the planned inspection distance, allowing the storage means 151 to store the pipe diameter and planned inspection distance of the pipe E to be inspected. The pipe diameter referred to here is the inner diameter of pipe E. Alternatively, the nominal diameter of pipe E may be used instead of the pipe diameter. Furthermore, the display prompting the user to input the pipe diameter on the display means 155 may, for example, display multiple pipe diameters in advance and allow the user to select from them.

[0076] Figure 12 shows an example of the display content shown on the display means 155 after the unit information and inspection information have been set. The inspection control means 174 performs processing to prompt the user to input the start or stop of the inspection. As shown in Figure 12, the inspection control means 174 displays buttons such as "Start Inspection" and "Stop Inspection" on the display means 155, for example, and prompts the user to input the start or stop of the inspection via the input means 154. When "Start Inspection" is input, power is supplied to the imaging means 17 and the illumination means 18, and the image acquired by the imaging means 17 is stored in the storage means 151. When "Stop Inspection" is input, power is stopped from being supplied to the imaging means 17 and the illumination means 18.

[0077] The motion selection means 180 executes a process to allow the user to select an action for the mobile body 2. Examples of actions for the mobile body 2 include forward or backward propulsion, or stopping. The operation selection means 180 can be configured to display words such as "Forward," "Reverse," or "Stop" as buttons (operation selection buttons) on the display means 155, and prompt the user to select a button via the input means 154.

[0078] The operation selection means 180 is configured to display on the display means 155, for example, by highlighting the button indicating "forward" when "forward" is selected, or the button indicating "reverse" when "reverse" is selected, so that the user can recognize the current operating state of the mobile body 2.

[0079] The operation selection means 180 should, for example, display on the display means 155 by coloring the button indicating "Stop" when "Stop" is selected, so that the user can recognize the current operating state of the mobile body 2.

[0080] The propulsion control means 182 functions when a propulsion operation of "forward" or "reverse" is selected by the operation selection means 180. The propulsion control means 182 reads a program for controlling propulsion (hereinafter referred to as the propulsion program) stored in the storage means 151, and based on this program, controls the output of signals for opening and closing the supply valve 116 and discharge valve 118 provided for each expansion and contraction unit 20 via the external IF 153, as well as the stopping of signals.

[0081] When the propulsion control means 182 inflates the expansion / contraction unit 20, it outputs a signal to the supply valve 116 via the external IF 153. At this time, the signal output to the discharge valve 118 is stopped. As a result, compressed air flows into the fluid chamber V of the expansion / contraction unit 20, causing the outer cylinder 22 to expand radially and contract axially.

[0082] Furthermore, when the propulsion control means 182 deflates the expansion / contraction unit 20, it outputs a signal to the discharge valve 118 via the external IF 153. At this time, the signal to the supply valve 116 is stopped. As a result, the compressed air in the fluid chamber V of the expansion / contraction unit 20 is released into the atmosphere via the exhaust valve 118, causing the outer cylinder 22 to contract radially and expand axially.

[0083] During the process of supplying compressed air to the fluid chamber V, the propulsion control means 182 outputs signals to the supply valve 116 and the discharge valve 118, or stops outputting signals, based on the flow rate and pressure values ​​input from the flow sensor 120 and the pressure sensor 122 via the external IF 153.

[0084] The propulsion program can be created, for example, based on the time chart described later. The time chart is configured to cause the propulsion force generation unit 8 to perform an action that mimics peristaltic motion.

[0085] Figure 13 shows an example of peristaltic motion when the mobile body 2 is moved forward by the control of the propulsion control means 182, and each step in the figure represents the requirements necessary for the peristaltic motion to propel the mobile body 2. As shown in Figure 13(a), the mobile body 2 is positioned inside the pipe E with all the expansion and contraction units 20A to 20D constituting the thrust generation unit 8 in a contracted state. In the peristaltic motion according to this embodiment, it is required that the process proceeds as follows: first, as shown in step 1 of Figure 13(b), the expansion / contraction unit 20A is in a gripping state and the expansion / contraction units 20B;20C;20D are in a contracted state; then, as shown in step 2 of Figure 13(c), all expansion / contraction units 20A to 20D are in a gripping state; then, as shown in step 3 of Figure 13(d), the expansion / contraction units 20A;20B;20C are in a contracted state and the expansion / contraction unit 20D is in a gripping state; and finally, as shown in step 4 of Figure 13(e), the expansion / contraction units 20A;20D are in a gripping state and the expansion / contraction units 20B;20C are in a contracted state. As described above, the process shown in Figures 13(b) to 13(e) can be repeated in the order of Figure 13(b) → Figure 13(c) → Figure 13(d) → Figure 13(e) → Figure 13(b) to complete one cycle, thereby allowing the mobile body 2 to move forward inside pipe E. Furthermore, the mobile body 2 can move backward by repeating the process in the reverse order of forward movement.

[0086] Figure 14 is an example of a timing chart that enables the execution of the peristaltic motion cycle shown in Figure 13. The time chart shown in Figure 14 is set so that, as shown in Figure 13, the expansion and contraction of the expansion and contraction units 20A to 20D in each step is completed immediately before moving to the next step. In other words, the operation of the expansion and contraction units 20 is defined by the timing chart.

[0087] Figure 15 shows another example of a timing chart. The transition from one process to the next does not necessarily have to occur after the expansion and contraction of the expansion and contraction units 20A to 20D in each process is completed, as shown in the timing chart in Figure 14. The timing chart shown in Figure 15 is an example that modifies the timing chart in Figure 14 and enables a higher speed of movement of the moving body 2.

[0088] Let's consider shortening the transition time from process 1 to process 2. In the transition from process 1 to process 2, while maintaining the gripping state of expansion / contraction unit 20A, the expansion / contraction units 20B;20C;20D, which are in the contracted state, should be brought into a gripping state.

[0089] Considering that in step 4, the step preceding step 1, the expansion and contraction units 20A and 20D are in a gripping state and the expansion and contraction units 20B and 20C are in a fully contracted state, it is not necessarily required that the expansion and contraction units 20B and 20C be in a fully contracted state as shown in Figure 13(b) during step 1. In other words, considering that process 1 is a transition from process 4 to process 2, for example, the contracted state of the expansion / contraction units 20B;20C in process 1 can be the state of the expansion process. In this embodiment, as shown in Figure 12, the timing was changed so that the expansion / contraction units 20B;20C begin to expand at the same time that the expansion / contraction unit 20D begins to contract in process 4, and the expansion process is completed in process 1.

[0090] Furthermore, considering the contraction state of the expansion / contraction unit 20D in process 1 in the same way as for the expansion / contraction units 20B and 20C, given that the expansion / contraction unit 20D is in a gripping state in process 4, the contraction state of the expansion / contraction unit 20D in process 1 does not necessarily have to be a completely contracted state as shown in Figure 13(b).

[0091] Since the expansion / contraction unit 20D is in a gripping state in stroke 4 and again in stroke 2, the contraction state in stroke 1 can be either the contraction process from stroke 4 or the expansion process toward stroke 2. In this embodiment, corresponding to the operation of the aforementioned expansion / contraction units 20B and 20C, the contraction state of the expansion / contraction unit 20D in stroke 1 is made to be the transition point from the contraction process to the expansion process. This shortens the transition time from stroke 1 to stroke 2.

[0092] Since stroke 2 is a stroke for moving the rear end forward in the peristaltic motion of the thrust generating unit 8, it is preferable that each expansion / contraction unit 20B;20C;20D expands sufficiently and smoothly. When multiple expansion / contraction units 20B;20C;20D are brought into a gripping state in one stroke as shown in stroke 2, it is preferable to start the expansion with a time difference rather than simultaneously as shown in Figure 12. Preferably, the expansion should start sequentially from the leading side (the side of the expansion / contraction unit 20A that is in the expanded state).

[0093] For example, when inflating and contracting units 20B, 20C, and 20D are simultaneously in a gripping state, if, due to individual differences, an inflating and contracting unit located behind the unit located in the forward direction of travel reaches the gripping state before the other units, it may hinder the sufficient expansion of the other units, potentially shortening the distance the rear end of the mobile body 2 is pulled forward. Therefore, by inflating the units 20B, 20C, and 20D in that order with a predetermined time difference, the distance the rear end of the mobile body 2 is pulled forward can be maximized.

[0094] The transition from step 2 to step 3 is as follows: In step 2, all expansion and contraction units 20A to 20D are in a gripping state. Therefore, after all expansion and contraction units 20A to 20D are in a gripping state, the contraction of expansion and contraction units 20A, 20B, and 20C, which are in a gripping state, should be started while maintaining the gripping state of expansion and contraction unit 20D.

[0095] Note that while the timing chart in Figure 15 shows the expansion / contraction units 20A;20B;20C contracting simultaneously, this is not the only option. When multiple expansion / contraction units 20A;20B;20C are contracted within a single process, such as in the transition from process 2 to process 3, it is preferable to initiate expansion with a time difference, for example. More preferably, contraction should be initiated sequentially from the leading end (the side opposite to the expansion / contraction unit 20D which is in the expanded state).

[0096] Stroke 3 is the stroke for moving the front end forward in the peristaltic motion of the thrust generating unit 8. On the other hand, considering that the expansion / contraction unit 20A is in a gripping state in stroke 4, the expansion / contraction units 20A;20B;20C do not necessarily need to be in a fully contracted state as shown in Figure 13(d) in stroke 3.

[0097] For example, in step 3, the contraction state of the expansion / contraction units 20A;20B;20C can be defined as the transition point from the contraction process to the expansion process for expansion / contraction unit 20A, and the contraction process for expansion / contraction units 20B;20C, as shown in Figure 15.

[0098] Then, in step 4, the expansion / contraction unit 20A should be in an expanded state and the expansion / contraction units 20B and 20C should be in a completely contracted state. Preferably, the timing of the contraction of expansion / contraction units 20B and 20C and the start of expansion of expansion / contraction unit 20A should be set so that the expansion / contraction unit 20A enters an expanded state with a time delay after the expansion / contraction units 20B and 20C have reached complete contraction.

[0099] The transition from step 4 to step 1 should be configured such that the expansion / contraction unit 20D begins to contract simultaneously with the expansion / contraction unit 20A reaching the gripping state. By configuring the timing chart in this way, the movement speed of the mobile body 2 can be improved. Based on this timing chart, a propulsion program can be created to propel the mobile unit 2.

[0100] [Regarding the operation of the propulsion control means] The operation of the propulsion control means 182 will be explained using the timing chart shown in Figure 15. For example, when "forward" is input, the propulsion control means 182 reads the propulsion program from the storage means 151, along with a standard judgment value and a contraction judgment value corresponding to the pipe diameter input from the input means 154 (in this case, the standard pipe diameter is assumed to be input).

[0101] [Step 1] The propulsion control means 182 first outputs a signal to the supply valve 116 corresponding to the expansion / contraction unit 20A. This initiates the expansion of the expansion / contraction unit 20A. Then, when the flow rate measured by the flow sensor 120 corresponding to the expansion / contraction unit 20A reaches half of the standard judgment value, a signal is output to the supply valve 116 corresponding to each expansion / contraction unit 20B;20C;20D. This starts the expansion of the expansion / contraction units 20B;20C;20D. When the flow rate measured by the flow sensor 120 corresponding to the expansion / contraction unit 20A reaches a standard threshold value, the signal output to the supply valve 116 corresponding to the expansion / contraction unit 20A is stopped. This maintains the gripping state of the expansion / contraction unit 20A.

[0102] [Step 2] Next, the propulsion control means 182 stops outputting signals to the supply valves 116 corresponding to each expansion / contraction unit 20B;20C;20D when the flow rate measured by the flow sensor 120 corresponding to each expansion / contraction unit 20B;20C;20D reaches a standard judgment value. As a result, all expansion / contraction units 20A to 20D are placed in a gripping state.

[0103] [Step 3] Next, the propulsion control means 182 outputs a signal to the discharge valve 118 corresponding to each of the expansion and contraction units 20A, 20B, and 20C when all of the expansion and contraction units 20A to 20D are in a gripping state (when the flow rate measured by the flow rate sensor 120 corresponding to each of the expansion and contraction units 20B, 20C, and 20D reaches a standard judgment value). As a result, the contraction of each of the expansion and contraction units 20A, 20B, and 20C begins while maintaining the gripping state of the expansion and contraction unit 20D. Then, when the pressure value measured by the pressure sensor 122 corresponding to the expansion / contraction unit 20A reaches the pressure value when half the standard judgment value of compressed air is supplied to the expansion / contraction unit, the output of a signal to the discharge valve 118 corresponding to the expansion / contraction unit 20A is stopped, and the output of a signal to the supply valve 116 is started. At the same time, the output of a signal to the discharge valve 118 corresponding to the expansion / contraction unit 20D is started.

[0104] [Step 4] Next, when the pressure value measured and detected by the pressure sensor 122 corresponding to the expansion / contraction unit 20D reaches the pressure value when 3 / 4 of the standard judgment value of compressed air is supplied to the expansion / contraction unit, the propulsion control means 182 stops outputting a signal to the discharge valve 118 corresponding to the expansion / contraction unit 20D and starts outputting a signal to the supply valve 116. Then, when the flow rate measured by the flow sensor 120 corresponding to each expansion / contraction unit 20A;20D reaches a standard threshold value, the output of a signal to the supply valve 116 corresponding to each expansion / contraction unit 20A;20D is stopped, and the output of a signal to the discharge valve 118 corresponding to each expansion / contraction unit 20D is started. Furthermore, when the pressure value measured by the pressure sensor 122 corresponding to each expansion / contraction unit 20B;20C reaches the contraction judgment value, the output of a signal to the discharge valve 118 corresponding to each expansion / contraction unit 20B;20C is stopped, and the output of a signal to the supply valve 116 corresponding to each expansion / contraction unit 20B;20C is started.

[0105] The propulsion control means 182 moves forward inside pipe E by repeating strokes 1 to 4 while "forward" is selected.

[0106] Although the operation of the propulsion control means 182 was described assuming that the mobile body 2 moves along a standard pipe, the mobile body 2 can be efficiently propelled even along small-diameter or large-diameter pipes by reading small-diameter or large-diameter judgment values ​​instead of standard judgment values ​​and executing the propulsion program.

[0107] Figure 16 shows the expansion diagrams when the expansion / contraction unit 20 is supplied with an amount of air corresponding to the standard judgment value (standard expansion air amount) in a standard pipe, a small-diameter pipe, and a large-diameter pipe, with Figure 16(a) corresponding to a small-diameter pipe, Figure 16(b) to a standard pipe, and Figure 16(c) to a large-diameter pipe. As shown in Figure 16, when the expansion / contraction unit 20 is supplied with a standard amount of expansion air and expanded inside the pipe, a band-shaped contact region (shown by the shaded area in the figure) is formed where the outer peripheral surface 22a of the outer cylinder 22 of the expansion / contraction unit 20 contacts the inner wall of the pipe.

[0108] The size of the contact area represents the magnitude of the friction (gripping force) between the pipe and the expansion / contraction unit 20. For example, if the size of the contact area in the standard pipe shown in Figure 16(b) represents a gripping state, i.e., the necessary friction is obtained, then the size of the contact area in the small-diameter pipe shown in Figure 16(a) represents a state where more friction than necessary is obtained. Conversely, in the contact area of ​​the large-diameter pipe shown in Figure 16(c), the friction obtained is less than the required friction.

[0109] Furthermore, in the case of the small-diameter pipe shown in Figure 16(a), supplying the standard amount of expanding air to the expansion / contraction unit 20 provides friction greater than required, but the outer diameter during expansion becomes smaller than when the expansion / contraction unit expands in a standard pipe due to the constraint of the small-diameter pipe. As a result, the amount of axial contraction decreases, and the travel distance per cycle becomes shorter. In addition, because compressed air is supplied even though the required friction has been obtained, it can be said that unnecessary waiting time is created when transitioning from one stroke to the next. Furthermore, in the case of the large-diameter pipe shown in Figure 16(c), there is a risk that the required friction may not be obtained even if the standard amount of expanding air is supplied to the expansion / contraction unit 20.

[0110] Therefore, when using the movable body 2, which is designed for standard pipes, in a small-diameter pipe, it is preferable to set the amount of compressed air supplied when the required friction is obtained to a small-diameter determination value that determines that a gripping state has been reached, and then operate the thrust generating unit 8 according to a time chart used when moving the movable body 2 inside a standard pipe using this small-diameter determination value.

[0111] The small diameter judgment value is less compressed air supplied to the expansion / contraction unit than the standard judgment value. Therefore, even when operating the thrust generation unit 8 according to the same time chart, the cycle time can be shortened compared to when operating the thrust generation unit 8 in a standard pipe. Cycle time refers to the time required per cycle. Therefore, even if the mobile body 2, which is designed for standard pipes, is used in a small-diameter pipe, the cycle time will be increased to counteract the reduction in the travel distance per cycle, thereby suppressing the decrease in the movement speed of the mobile body 2 inside the small-diameter pipe.

[0112] Furthermore, when using the movable body 2, which is designed for standard pipes, in a large-diameter pipe, it is preferable to set the amount of compressed air supplied when the required friction is obtained to a large-diameter determination value that determines that a gripping state has been reached, and then operate the thrust generating unit 8 according to a time chart used when moving the movable body 2 inside the standard pipe using this large-diameter determination value.

[0113] The large-diameter judgment value results in a larger amount of compressed air supplied to the expansion / contraction unit than the standard judgment value, and when the thrust generating unit 8 is operated according to the same time chart, the cycle time becomes longer than when the thrust generating unit 8 is operated in a standard pipe. On the other hand, the large-diameter judgment value, by increasing the amount of compressed air supplied to the expansion / contraction unit, allows the amount of axial contraction when the expansion / contraction unit 20 is in a gripping state in a large-diameter pipe to be greater than the amount of axial contraction when the expansion / contraction unit 20 is in a gripping state in a standard pipe. Therefore, by using the mobile body 2, which is designed for standard pipes, in large-diameter pipes, and increasing the travel distance per cycle to counteract the slower cycle time, it is possible to suppress the decrease in the movement speed of the mobile body 2 within the large-diameter pipe.

[0114] In other words, a change in cycle time alters the timing of peristaltic movement, making it possible to change the timing of peristaltic movement based on the inner diameter of the tube. Therefore, when using a thrust generating unit 8, which is configured by connecting multiple expansion / contraction units 20 designed in advance to correspond to a specific pipe diameter, as shown in this embodiment, on pipes with a smaller or larger diameter than the specific pipe, it can be used for both small-diameter and large-diameter pipes by using a determination value set according to each pipe diameter to determine the gripping state.

[0115] In the above-described embodiment, the thrust generating unit 8, which was designed to be optimal for a standard pipe, is used in small-diameter and large-diameter pipes. However, the invention is described as being usable in small-diameter and large-diameter pipes other than standard pipes by sharing the time chart used when operating the thrust generating unit 8 in a standard pipe and using judgment values ​​according to the pipe diameter (standard judgment value, judgment value for small diameter, judgment value for large diameter, etc.) for determining the gripping state. However, the invention is not limited to this.

[0116] For example, specialized time charts (propulsion programs) for small-diameter and large-diameter pipes can be created and stored in the memory means 151. A specialized time chart means one that shares the time chart used when operating the propulsion force generation unit 8 in a standard pipe, and is configured so as not to impair the advantages obtained when using judgment values ​​according to the pipe diameter (standard judgment value, judgment value for small diameter, judgment value for large diameter, etc.) for determining the gripping state, or to obtain advantages that exceed those advantages.

[0117] Furthermore, in the above-described embodiment, the flow rate measured by the flow sensor 120 is used to determine the gripping state, the pressure value measured by the pressure sensor 122 is used to determine complete contraction, and the flow rate measured by the flow sensor 120 and the pressure value measured by the pressure sensor 122 are used to determine the timing of the transition from the contraction process to the expansion process. However, the embodiment is not limited to this and may be modified as appropriate.

[0118] For example, instead of using the flow rate measured by the flow sensor 120 to determine the gripping state, the internal pressure value of the fluid chamber V measured by the pressure sensor 122 may be used. Alternatively, a sensor that detects the force exerted by the outer cylinder 22 pressing against the inner wall of the pipe when it comes into contact with the inner wall due to expansion may be attached to the outer cylinder 22 of the expansion / contraction unit 20 to detect the gripping state. Furthermore, a displacement sensor may be provided on the expansion / contraction unit to detect the gripping state and complete contraction using the displacement sensor. Furthermore, these can be combined to configure the system for determining the gripping state or complete contraction.

[0119] Although the inspection information setting means 172 has been described as prompting the user to input the diameter of the pipe E to be inspected by the mobile unit 2 and storing the input pipe diameter in the storage means 151, it is not limited to this. The inspection information setting means 172 may also be configured to automatically acquire the pipe diameter using, for example, the inspection unit 10.

[0120] To automatically acquire the pipe diameter, for example, the mobile body 2 can be positioned in a standard pipe, a small-diameter pipe, and a large-diameter pipe, and images of the inside of the pipe can be captured by the camera (imaging means 17) of the inspection unit 10. These images can then be acquired in advance as a master image for the standard pipe, a master image for the small-diameter pipe, a master image for the large-diameter pipe, etc., and stored in the storage means 151 as a group of master images. Then, when the mobile body 2 is actually placed inside the pipe E to be inspected, the image acquired from the inspection unit 10 is compared (matched) with the master image group, and the pipe diameter corresponding to the master image for which a predetermined matching rate is obtained is stored in the storage means 151 as the pipe diameter to be inspected.

[0121] Furthermore, as explained above, when the inspection information setting means 172 automatically acquires the pipe diameter, it is preferable, for example, when the pipe diameter changes in the middle of the piping. In the piping to be inspected, the pipe diameter may change in the middle, for example, from a standard pipe to a small diameter pipe, or from a standard pipe to a large diameter pipe. In such cases, if the mobile body 2 is moved into the small diameter pipe while being moved with a propulsion operation suitable for a standard pipe, there is a risk that the movement speed will decrease. Also, if the mobile body 2 is moved into the large diameter pipe while being moved with a propulsion operation suitable for a standard pipe, there is a risk that it will not be able to move.

[0122] In such cases, it is preferable that the control device 150 be configured to include a pipe diameter monitoring means for monitoring the pipe diameter while the mobile body 2 is moving. By monitoring the pipe diameter inside the pipe while the mobile body 2 is moving based on images of the inside of the pipe taken during the movement, it becomes possible to, for example, perform a propulsion operation suitable for the movement of a small-diameter pipe when the pipe diameter changes from a standard pipe to a small-diameter pipe, and a propulsion operation suitable for the movement of a large-diameter pipe when the pipe diameter changes from a standard pipe to a large-diameter pipe.

[0123] The stop control means 184 executes control to stop the moving body 2 inside the pipe E when the user operates the input means 154 and selects "Stop" displayed on the display means 155. Stopping means stopping the movement of the moving body 2 inside the pipe E and bringing it to a standstill inside the pipe E. In other words, when "Stop" is selected, the stop control means 184 stops the propulsion operation by the thrust generation unit 8 and prevents the moving body 2 from moving inside the pipe E.

[0124] When a "stop" command is input, the stop control means 184 stops the propulsion operation of the thrust generation unit 8 and controls it so that all the expansion and contraction units 20A to 20D are in a gripping state, for example, as shown in step 2 of Figure 13(c).

[0125] In other words, the stop control by the stop control means 184 is performed as an interruption to the propulsion control by the propulsion control means 182. The stop control means 184 maintains the gripping state of the expansion / contraction unit when it is in a gripping state during the propulsion operation, switches from a contraction operation to an expansion operation when it is in a contraction process, expands it until it reaches a gripping state and maintains that state, expands it until it reaches a gripping state and maintains that state when it is in an expansion process, and expands it until it reaches a gripping state and maintains that state when it is in a fully contracted state.

[0126] Furthermore, the stop control means 184 should control the propulsion operation when a "stop" command is input, so as shown in Figure 13(c), if all the expansion and contraction units 20A to 20D are already in a gripping state, then maintain that state.

[0127] In this way, by gripping all the expansion and contraction units 20A to 20D and maintaining this state, the mobile body 2 can be reliably kept stationary on the pipe E. Furthermore, when propelling the mobile body 2 from a "stopped" state, the propulsion control means 182 should be configured to start the propulsion operation from stroke 2.

[0128] Furthermore, the stop control means 184 is not limited to stopping the mobile body 2 by maintaining a gripping state for all expansion and contraction units 20A to 20D. For the stopping operation, it is sufficient that at least one expansion and contraction unit 20 is in a gripping state. Alternatively, multiple stopping operation patterns may be stored in the storage means 151, allowing the user to select a stopping operation.

[0129] Alternatively, for example, the timing at which a "stop" command is input during the propulsion control of the thrust generation unit 8 may be used to execute a process to keep the moving body 2 stationary inside the pipe E. As shown in the timing chart in Figure 11, during the propulsion operation, at least one of the expansion / contraction units 20A to 20D is in a gripping state. Therefore, the stop control means 184 may control the expansion / contraction units 20A to 20D to maintain the stroke at the timing when "stop" is input.

[0130] In other words, the stop control means 184 should maintain the gripped state of the expansion / contraction unit, stop the contraction operation if it is in the contraction process (stop outputting a signal to the discharge valve 118), stop the expansion operation if it is in the expansion process (stop outputting a signal to the supply valve 116), and maintain the fully contracted state if it is in the complete contraction state.

[0131] In this way, by utilizing the propulsion movement sequence when a "stop" command is input, the mobile body 2 can be stopped in place, and after stopping, for example, by inputting a "forward" command, it is easy to return from the sequence in which the stopped state was input to the propulsion movement.

[0132] Furthermore, when using propulsion to bring the moving body 2 to a stop, for example, when "stop" is input, the inflatable / contractable unit 20 that is in the gripping state may be kept in that gripping state, while the remaining inflatable / contractable units 20 may be completely deflated.

[0133] In other words, during the stopping operation, at least one of the expansion / contraction units 20 constituting the thrust generating unit 8 expands to grip the inner wall of the pipe, and maintaining this state is preferable so that the moving body 2 is fixed to the pipe E. More preferably, when the mobile body 2 moves along the vertically extending pipe E, the number of expansion / contraction units 20 that grip the inner wall of the pipe should be set so that it does not fall due to its own weight or the like.

[0134] The aforementioned stopping operation was described as one that brings something to a standstill using a single specific action, but it is not limited to this. The stop control means 184 may be configured, for example, to change the stopping operation according to the gradient of the piping. The gradient of the piping can be detected, for example, through the attitude of the moving body 2. That is, an attitude detection means, such as a gyro sensor, can be provided on the moving body 2.

[0135] In this case, for example, an attitude detection means such as a gyro sensor can be mounted on the moving body 2, and a stopping operation corresponding to the attitude detected by the attitude detection means can be stored in the storage means 151. This allows the detection means to select a stopping operation that is suitable for the current attitude of the moving body 2.

[0136] Furthermore, an IMU may be used instead of a gyro sensor for attitude detection. By using an IMU, for example, the stopping action can be changed based on the attitude of the moving body 2 when it moves along the pipe E, or the distance it has moved. In this case, in addition to the attitude of the mobile body 2, the distance traveled by the mobile body 2 can be detected based on the history of position changes detected by the IMU. This allows the system to select a stopping action corresponding to the distance traveled by the mobile body 2, based on the attitude detected by the IMU and the history of position changes.

[0137] Then, multiple stopping operation patterns can be associated with the gradient and travel distance of the pipe E and stored in the memory means 151. For example, when a stop command is issued, if the moving body 2 is substantially in a horizontal section, compressed air may be discharged from the fluid chambers V of all the expansion / contraction units 20 to stop it; if it is in a vertical section, all the expansion / contraction units 20 may be inflated to stop it; or if it is in an inclined section, the number of expansion / contraction units 20 to be inflated may be changed according to the gradient of the incline. As explained above, by stopping the mobile body 2 inside the pipe E, the mobile body 2 can be kept stationary inside the pipe E, and for example, the conditions inside the pipe E can be visually checked in detail through the display means 155 during the inspection.

[0138] In the above explanation, the stop control means 184 was described as keeping the moving body 2 stationary inside the pipe E by maintaining the gripping state of a specific expansion / contraction unit 20, but the explanation is not limited to this. For example, the thrust generating unit 8 may be made to perform a stationary motion that prevents the moving body 2 from moving. That is, the stop control means 184 may be made to perform a stationary motion (a stepping motion) that does not move forward or backward, even though the expansion and contraction units 20A to 20D constituting the thrust generating unit 8 are performing predetermined expansion and contraction operations in cooperation with each other.

[0139] For static motion, for example, the propulsion cycle of steps 1 to 4 shown in Figures 10(b) to (e) can be used. For example, if a "stop" command is input during the transition from step 4 to step 1, a stepping motion can be made by repeating steps 1 and 2 until a propulsion input is received. Furthermore, if a "stop" command is entered during the transition from process 1 to process 2, the system can be made to perform a stepping motion by repeating processes 2 and 3 until a propulsion command is received.

[0140] In this way, the stop control means 184 uses the propulsion cycle to cause the mobile body 2 to stop moving, thereby reusing the propulsion program and eliminating the need to prepare a new program to control the stationary motion. It goes without saying that static motion is not limited to those mentioned above and may be set as appropriate.

[0141] Furthermore, although the stop control means 184 has been described as operating in response to user input, it is not limited to this. For example, the stop control means 184 may be configured to operate automatically when an abnormality occurs in the inflation / contraction unit 20. In this case, the control device 150 may be configured to include a fault detection means 186 for detecting a failure in the inflation / contraction unit 20.

[0142] The fault detection means 186 can be configured to detect a fault in the expansion / contraction unit 20 based, for example, on the flow rate measured by the flow sensor 120 and the pressure value measured by the pressure sensor 122. The main causes of failure in the expansion / contraction unit 20 are, for example, fatigue of the elastic bodies of the outer cylinder 22 and inner cylinder 21 due to repeated expansion and contraction operations, or air leakage due to wear or cracks in the crimped portion with the end member.

[0143] When an air leak occurs in the expansion / contraction unit 20, more compressed air will be supplied than the standard judgment value, the small diameter judgment value, or the large diameter judgment value when it is expanded into a gripping position. Therefore, the fault detection means can detect a fault when the flow rate measured by the flow sensor 120 reaches a standard judgment value, a judgment value for small diameters, a judgment value for large diameters, etc., and the pressure value measured by the pressure sensor 122 has not reached a fault detection pressure value corresponding to the flow rate value corresponding to the standard judgment value, a judgment value for small diameters, or a judgment value for large diameters.

[0144] The aforementioned fault detection pressure values ​​can be stored in the storage means 151 in advance as standard fault detection pressure values, small-diameter fault detection pressure values, large-diameter fault detection pressure values, etc., so that they correspond to standard judgment values, small-diameter judgment values, and large-diameter judgment values.

[0145] Furthermore, the stop control means 184 may be configured to operate not only when manually or due to an abnormality (malfunction) of the expansion / contraction unit 20, but also when an obstacle is detected inside the pipe. Alternatively, it may be configured to set a predetermined travel distance and stop when that distance has been reached. In this case, the notification means 212 may be configured to display the fact that the machine has stopped on the display means 155, announce it by voice, or notify a mobile phone.

[0146] The operation history acquisition means 202, replacement timing determination means 204, movable distance estimation means 208, pre-confirmation means 210, and notification means 212 function as a management device for managing the expansion and contraction unit 20.

[0147] The operation history acquisition means 202 is a means for acquiring the operation history of the expansion / contraction unit 20. In this embodiment, the operation history acquisition means 202 is described as acquiring the operation history of the expansion / contraction unit 20 based on the flow rate value measured by the flow rate sensor 120. The operation history of the expansion / contraction unit 20 may be acquired, for example, by acquiring the history of changes in flow rate values ​​and pressure values ​​measured by the flow rate sensor 120 and the pressure sensor 122, or the history of signals output to the supply valve 116 and the discharge valve 118 to expand and contract the expansion / contraction unit 20, or by acquiring a combination of these.

[0148] For example, if the propulsion operation of the thrust generating unit 8 is based on the time chart shown in Figure 14, the number of times the expansion / contraction unit 20 has expanded and contracted can be used as the operation history from the history of changes in flow rate and pressure values ​​measured by the flow rate sensor 120 and pressure sensor 122. The number of expansion / contraction cycles can be counted, for example, by counting one cycle when the expansion / contraction unit 20 transitions from a fully contracted state to a gripping state and then returns to a fully contracted state.

[0149] Furthermore, if the propulsion operation of the thrust generation unit 8 is based on the time chart shown in Figure 15, it is difficult to use the number of times the expansion / contraction unit 20 expands and contracts as a simple operation history.

[0150] The lifespan of the expansion / contraction unit 20, like the failures mentioned above, depends on the expansion and contraction operation of the expansion / contraction unit 20. Specifically, it is often due to changes in strain that occur in the inner cylinder 21 and outer cylinder 22 due to the expansion and contraction operation of the expansion / contraction unit 20, which is made of elastic material, and wear due to friction with the end members 23. Among these, the failure of the outer cylinder 22 is considered to be the main factor in the lifespan of the expansion / contraction unit 20.

[0151] The change in strain can be considered to change, for example, according to the flow rate supplied to the fluid chamber V of the expansion / contraction unit 20. That is, the sloping line segments in the time chart shown in Figure 15 indicate the parts where the strain is changing. Therefore, the operation history acquisition means 202 acquires the operation history by processing the flow rate measured by the flow sensor 120 as follows.

[0152] As mentioned above, the operation of the expansion / contraction unit 20 is controlled based on the flow rate. Therefore, when the unit is moved from the fully expanded / contracted state to the gripping state, the flow rate measured by the flow rate sensor 120 matches the control value, which is the standard judgment value, the judgment value for small diameters, or the judgment value for large diameters.

[0153] Furthermore, as shown in the time chart in Figure 15, when the expansion process begins midway through the contraction process, as in the expansion / contraction units 20A and 20D, the flow rate measured by the flow sensor 120 is less than the standard judgment value, the judgment value for small diameter, and the judgment value for large diameter. Therefore, it is preferable to express the flow rate required to go from the fully expanded / contracted state to the gripping state (corresponding to the standard judgment value, the judgment value for small diameters, and the judgment value for large diameters) as an operating unit, operating value 1, etc., and to express the flow rate measured by the flow sensor 120 when the process transitions to the expansion state midway through the contraction process using an operating unit (in this case, a value less than 1). Specifically, the flow rate measured by the flow sensor 120 when the process transitions to the expansion state midway through the contraction process should be divided by the flow rate required to go from the fully expanded / contracted state to the gripping state.

[0154] Furthermore, as shown in Figure 15, immediately before compressed air is supplied, the same amount of compressed air as the flow rate measured by the flow sensor 120 is discharged from the fluid chamber V. Therefore, for example, the set operating value can be doubled each time a flow rate is input from the flow sensor 120 and accumulated sequentially to obtain the operation history (number of inflation / contraction operations) information. In other words, the operation history acquisition means 202 functions as an accumulation means for accumulating the number of inflation / contraction operations. The operation history information is processed for each inflation / contraction unit 20.

[0155] The replacement timing determination means 204, for example, notifies each expansion / contraction unit 20 of information regarding the timing of replacement based on its operation history. The replacement timing determination means 204, for example, compares the updated operation history information with a threshold value related to the replacement timing each time the operation history information is updated, and determines that the corresponding expansion / contraction unit 20 has reached its replacement time when the threshold value is reached.

[0156] It is advisable to set multiple thresholds for replacement timing, rather than just one. For example, one could be a threshold that informs the user of the remaining lifespan until the replacement time is reached (remaining lifespan threshold), and another that notifies the user when the expansion / contraction unit 20 has reached its replacement time (replacement notification threshold).

[0157] The replacement timing can be determined, for example, based on information obtained by actually conducting durability tests on the expansion and contraction unit. One method of durability testing is to repeatedly expand and contract the expansion and contraction unit 20 from a fully contracted state to a gripping state and obtain the number of times it breaks. One cycle is defined as fully contracted → gripping state → fully contracted. By conducting multiple such durability tests and averaging the number of times it breaks, the number of times it breaks is obtained and defined as the usage limit cycle (expansion and contraction limit cycle), which can then be converted to the aforementioned operating value. If the usage limit cycle is N, the aforementioned operating value will be 2, so the operating value that breaks will be 2N. Furthermore, for safety reasons, it is advisable to set a usage limit by multiplying this by a coefficient of 1 or less.

[0158] The remaining life threshold and the replacement notification threshold can be set, for example, based on the usage limit value. The remaining life threshold can be set to, for example, 50% (half) of the usage limit value to ensure sufficient safety before the expansion / contraction unit 20 fails, thereby informing the user that the lifespan of the expansion / contraction unit 20 has been reduced by half.

[0159] Furthermore, it is advisable to set multiple remaining life thresholds. That is, the remaining life thresholds can be set to inform the user of the remaining life in stages. For example, multiple remaining life thresholds can be set, such as 50% of the usage limit as the first stage, 75% as the second stage, and 90% as the third stage. Then, 100% of the usage limit should be set as the threshold for notifying that replacement is needed.

[0160] Furthermore, when each threshold (remaining life threshold, replacement notification threshold) is reached, the replacement timing determination means 204 displays information regarding the lifespan, such as the percentage (operating rate) set as the remaining lifespan threshold, on the display means 155 and notifies the user, thereby allowing them to recognize the usage status of the expansion and contraction unit 20 and the need for replacement. In other words, the replacement timing determination means 204 functions as a remaining lifespan calculation means that calculates the remaining lifespan of the expansion and contraction unit 20.

[0161] Furthermore, when the replacement threshold is reached, the system may be configured not only to make the user aware of the need to replace the expansion / contraction unit 20 by displaying a message on the display means 155 indicating that it should be replaced, but also to automatically stop the operation of the expansion / contraction unit 20 by outputting a signal to the stop control means 184, for example. This automatically prevents failure of the expansion / contraction unit 20 inside the pipe E, and prevents damage to the pipe E.

[0162] In the above embodiment, the control device 150 was described as notifying the user of the timing and necessity of replacing the expansion and contraction unit 20 based on the operating rate of the expansion and contraction unit 20, but it is not limited to this. That is, the lifespan of the expansion and contraction unit 20 constituting the thrust generation unit 8 may be notified, for example, by distance instead of the operating rate, or by the operating rate along with the distance.

[0163] For example, the control device 150 may be configured to include a means 208 for estimating the range of movement of the mobile body 2. The range of movement refers to the distance that the mobile body 2 is allowed to travel based on, for example, the expansion and contraction unit 20 that reaches the end of its lifespan first among the expansion and contraction units 20 that constitute the thrust generation unit 8 of the mobile body 2. The range of movement can be estimated, for example, based on a usage limit value.

[0164] Furthermore, the mobile unit 2 will be described as moving forward by repeating the cycle shown in Figure 13 according to the time chart shown in Figure 15. In other words, the mobile unit 2 is assumed to move forward by a distance F (see arrow in Figure 13) in each cycle (here, one cycle is described as the period from step 2 to the next step 2).

[0165] In this case, it is advisable to pre-set the operating values ​​for each expansion / contraction unit 20A to 20D per cycle, i.e., when the mobile body 2 moves forward by a distance F. The operating values ​​for expansion / contraction units 20A and 20D are 1 [- / cycle], and for expansion / contraction units 20B and 20C, the operating values ​​for expansion / contraction units 20B and 20C are 2 [- / cycle], with the operating value for expansion / contraction unit 20B and 20C being the largest. Hereafter, this will be referred to as the maximum operating value [- / cycle], and it is advisable to store it in the storage means 151 along with the operating values ​​per cycle for each expansion / contraction unit 20A to 20D.

[0166] The movable distance estimation means 208 can estimate the movable distance of the mobile body 2 by using the maximum operating value [- / cycle]. First, the maximum usable distance Lmax of the mobile body 2 can be calculated by reading the usage limit value and the maximum operating value from the storage means 151, dividing the usage limit value by the maximum operating value, and multiplying the result by the distance F.

[0167] Next, the remaining lifespan can be calculated by multiplying the operation history recorded by the operation history acquisition means 202 by the distance F and subtracting it from the maximum possible movement distance Lmax. The calculated distance that can be moved should then be displayed on the display means 155 (see Figure 12). The calculated distance that can be moved should also be stored in the storage means 151.

[0168] This allows the user to compare the length of the pipe E to be inspected with the movable distance displayed on the display means 155. If the movable distance is shorter than the length of the pipe to be inspected, the user can either replace the expansion / contraction unit 20, which may reach the end of its lifespan during the inspection, before the inspection begins, or change the inspection distance to prevent failure of the expansion / contraction unit 20 inside the pipe E.

[0169] Furthermore, the control device 150 may also be configured to include a pre-verification means 210. The pre-checking means 210 compares the length of the piping, which has been input as inspection information into the storage means 151, with the movable distance stored in the storage means 151. Furthermore, if there is an expansion / contraction unit 20 that needs to be replaced during the process, that fact should be indicated on the display means 155, and if there is no expansion / contraction unit 20 that needs to be replaced, that fact should be indicated on the display means 155.

[0170] In the above embodiment, the control device 150 was described as a notebook computer that includes a storage means 151, an arithmetic processing means 152, an external IF 153, an input means 154, a display means 155, a communication means 156, etc., all integrated into one unit. However, the embodiment is not limited to this. For example, the storage means 151 may consist of multiple components. For instance, it may be combined with the storage device of a server located on the Internet network in addition to the storage means provided by the notebook computer, or it may be combined with the storage means of the RFID when RFID is used as the individual identification means described above.

[0171] In the above embodiment, information regarding malfunctions, remaining lifespan, and replacement was described as being displayed on a display means 155 as one of the notification means for informing the user. However, the display means 155 is not limited to being connected to (equipped with) a single computer as exemplified by the control device 150 in the above description. It may also be configured to include a notification means 212 that notifies the display means of a portable terminal such as a smartphone or tablet computer by using a wireless communication device such as Wi-Fi as the communication means 156.

[0172] Furthermore, the means described in the above embodiments are not limited to the combinations described above, and may be configured by selectively combining them.

[0173] Although the control device 150 has been described as being composed of a single computer, it may also be composed of separate computers. [Explanation of symbols]

[0174] 1 Pipe-mounted mobile robot, 2 Mobile body, 8 Propulsion generation unit, 10 Inspection unit, 20 expansion / contraction units, 40 connecting units, 110 fluid control mechanisms, 112 Compressor, 114 Regulator, 116 Supply valve, 118 Discharge valve, 120 Flow sensor, 122 Pressure sensor, 150 Control device, 151 Storage means, 152 Arithmetic processing means, 153 External input / output interface (external IF), 154 Input means, 155 Display means, 156 Communication means, 170 Unit registration means, 172 Inspection information setting means, 174 Inspection control means, 180 Operation selection means, 182 Propulsion control means, 184 Stop control means, 186 Fault detection means, 202 Means for acquiring operation history, 204 Means for determining replacement timing, 208 Means for estimating the distance that can be moved, 210 Means for prior confirmation, 212 Means for notification, E tube, V fluid chamber.

Claims

1. An outer cylinder made of an elastic material, An inner cylinder located inside the outer cylinder, The outer cylinder and inner cylinder are provided at their respective axial ends, and end members are provided to form a closed space together with the inner circumference of the outer cylinder and the outer circumference of the inner cylinder. It is constructed by connecting multiple expansion / contraction units via connecting means, which contract axially and expand radially when fluid is supplied to a closed space, and extend axially and contract radially when fluid is discharged from the closed space, and a movable body provided inside a pipe, A fluid control device that uses multiple interconnected expansion and contraction units to simulate peristaltic motion within a pipe, thereby generating propulsion for a moving object, A pipe-mobile robot equipped with, The aforementioned fluid control device is A means for obtaining the inner diameter of a pipe, A propulsion control means configured to change the timing of peristaltic motion based on the inner diameter of the aforementioned pipe, A pipe-operated mobile robot characterized by being equipped with the following features.

2. The in-pipe mobile robot according to claim 1, characterized in that the propulsion control means changes the timing of peristaltic motion by changing the flow rate of the fluid supplied to the closed space.

3. The pipe-in-route robot according to claim 1, characterized in that the pipe inner diameter acquisition means acquires the inner diameter of the pipe based on user input.

4. The aforementioned mobile body is equipped with a camera at its front, The pipe-in-route robot according to claim 1, characterized in that the pipe-in-route acquisition means acquires the pipe-in-route based on an image of the inside of the pipe acquired by the camera.

5. The propulsion control means uses the cycle time set for the peristaltic motion when the moving body moves, based on the standard pipe used in the design of the moving body. In the case of a pipe with a smaller diameter than the standard pipe, a cycle time shorter than the cycle time is required. The pipe-in-pipe mobile robot according to claim 2, characterized in that, in the case of a pipe with a larger diameter than the standard pipe, the timing of the peristaltic motion is changed to a cycle time longer than the cycle time.

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