In-pipe traveling vehicle

Abstract

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

Description

Vehicles traveling within the jurisdiction

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

[0002] One known method for inspecting sewer pipes is for inspectors to visually inspect the pipe while moving through it. However, this method poses a risk to the inspector due to toxic gases generated within the pipe and rising water levels during rainfall. Furthermore, if the diameter of the pipe is small, it is difficult for the inspector to enter the pipe. For this reason, a method has been proposed in recent years in which an inspection is performed by a device that moves through the pipe instead of an inspector.

[0003] Patent Document 1 proposes a vehicle that travels inside a pipe. This vehicle has a motor that receives power from a battery, and the motor rotates the wheels to travel.

[0004] The vehicle described in Patent Document 1 is also equipped with an obstacle sensor. The obstacle sensor is configured to detect the current supplied from the battery to the motor. If this current exceeds a threshold, the vehicle is deemed to have come into contact with an obstacle inside the pipe and to be unable to move forward.

[0005] JP 2016-91283 A

[0006] In addition to obstacles such as stones, sewer pipes contain many obstacles that can impede vehicle travel, such as unevenness at the joints of the sewer pipes and mud accumulated at the bottom of the pipes. The current supplied from the battery to the motor can momentarily become excessive if the wheels get caught on such unevenness or mud. Therefore, when detecting contact between the vehicle and an obstacle based on the current supplied to the motor and a threshold value, as in the vehicle described in Patent Document 1, it is not easy to appropriately set the threshold value.

[0007] The present inventors have investigated ways to improve the accuracy of detecting a collision between a vehicle and an obstacle by using a switch that is pressed when the vehicle hits an obstacle, instead of the method proposed in Patent Document 1. The present inventors then manufactured a vehicle with this switch on its outer surface and conducted a test in which the vehicle was actually driven through a sewer pipe. However, because obstacles can exist in various positions within a sewer pipe, new problems arose in the test, such as the switch not being able to hit an obstacle that was in a predetermined position, or the switch not being pressed properly even when the vehicle hit an obstacle.

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

[0009] In order to achieve the above-mentioned objectives, the vehicle for traveling within a pipe comprises a main body, a traveling device attached to the main body for moving the main body, and a detection device attached to one end of the main body in the longitudinal direction of the main body for detecting when the vehicle for traveling within the pipe comes into contact with an obstacle inside the pipe, the detection device having a bumper that is displaced when it comes into contact with the obstacle and a switch that is pressed by the displaced bumper, and the bumper is displaced by rotating around an axis.

[0010] In the above-described in-pipe traveling vehicle, the switch may be offset from the axis when viewed along the longitudinal direction of the main body.

[0011] In the above-mentioned in-pipe traveling vehicle, the axis may extend along a width direction intersecting with a longitudinal direction of the main body.

[0012] In the vehicle traveling within the above-mentioned pipe, the bumper may have a lower bumper member and an upper bumper member arranged above the lower bumper member, and the switch may have a lower switch that is pressed by the displaced lower bumper member and an upper switch that is pressed by the displaced upper bumper member.

[0013] In the above-mentioned vehicle for running within a pipe, when viewed along the longitudinal direction of the main body, the upper bumper member has a pair of arc-shaped upper edges and an upper end edge located between the pair of upper edges and forming the upper end of the upper bumper member, and the upper end edge may be located below an imaginary line extending upward along the pair of upper edges.

[0014] In the above-mentioned vehicle for running within a pipe, when viewed along the longitudinal direction of the main body, the lower bumper member has a pair of arc-shaped lower edges and a lower edge located between the pair of lower edges and forming the lower end of the lower bumper member, and the lower edge may be located above an imaginary line extending downward along the pair of lower edges.

[0015] In the vehicle running within the pipe, a through hole penetrating in the width direction may be formed in each of the upper bumper member and the lower bumper member, and the upper bumper member and the lower bumper member may be configured to rotate around an axis member that passes through both the through hole of the upper bumper member and the through hole of the lower bumper member.

[0016] In the in-pipe vehicle, a cutout for exposing one end of the main body may be formed in at least one of the upper bumper member and the lower bumper member.

[0017] According to the present invention, it is possible to provide an in-pipe traveling vehicle that is capable of detecting contact with an obstacle with high accuracy.

[0018] Fig. 2 is a perspective view showing an intrapipe traveling vehicle. Fig. 3 is a perspective view showing the intrapipe traveling vehicle of Fig. 1. Fig. 4 is a side view showing the intrapipe traveling vehicle of Fig. 1. Fig. 5 is a front view showing the intrapipe traveling vehicle of Fig. 1. Fig. 6 is an exploded perspective view showing the intrapipe traveling vehicle of Fig. 1. Fig. 7 is an enlarged view showing a part of the intrapipe traveling vehicle of Fig. 1. Fig. 8 is an explanatory view showing the intrapipe traveling vehicle of Fig. 1 in motion.

[0019] <Configuration of intra-pipe traveling vehicle> The configuration of an intra-pipe traveling vehicle 1 (hereinafter referred to as "vehicle 1") according to an embodiment will be described with reference to Figures 1 to 4. Vehicle 1 is used to acquire information about a sewer pipe P (see Figure 4). Sewer pipe P is an example of a "pipe." Figures 1 and 2 are perspective views showing vehicle 1. Figure 1 shows the front of vehicle 1, and Figure 2 shows the rear of vehicle 1. Figure 3 is a side view showing vehicle 1, and Figure 4 is a front view showing vehicle 1.

[0020] The main body 2, which will be described later, has a vertically elongated shape with the longitudinal direction being the front-to-rear direction so that it can easily move along the direction in which the sewer pipe P extends. In this specification, the left and right sides of the vehicle 1 placed on a horizontal surface when facing forward are referred to as "left" and "right," respectively. The left-to-right direction coincides with the width direction of the main body 2. Furthermore, the upper side in the vertical direction is referred to as "top," and the lower side in the vertical direction is referred to as "bottom."

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

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

[0023] As shown in Fig. 4, the two traveling devices 3 are spaced apart from each other in the left-right direction and are provided below the main body 2. As shown in Figs. 1 to 3, each traveling device 3 has a casing 31 and crawlers 32. The casing 31 is made of, for example, carbon fiber reinforced plastic or a lightweight metal material. An accommodation space (not shown) is formed inside the casing 31. The crawlers 32 are band-shaped, annular members made of, for example, a rubber material, and are arranged to cover the periphery of the casing 31. The accommodation space of the casing 31 accommodates mechanisms for rotating the crawlers 32 around the casing 31, such as a motor and a reducer.

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

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

[0026] <Configuration of Inspection Device> Next, the configuration of the detection device 5 will be described with reference to Fig. 5. Fig. 5 is an exploded perspective view showing the vehicle 1, and particularly shows the detection device 5 in an exploded state.

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

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

[0029] A semicircular notch 62c is formed in the edge of the plate 62 facing the upper edge 62e. A pair of arms 63 are provided on the back surface 62b of the plate 62 and are arranged to face each other with the notch 62c in between. Each arm 63 is formed with a through-hole 63a.

[0030] A pair of retaining members 56 are provided at the front end 2a of the main body 2. The upper switch 71 and two upper tensioners 81 are provided at a portion of the front end 2a above the retaining members 56. The upper switch 71 has an input portion 71a at its front end. The input portion 71a is configured to move backward when subjected to a rearward external force and to return forward when the external force is released. The upper switch 71 is configured to send a detection signal to the control device of the main body 2 when the input portion 71a is pressed. The upper tensioner 81 is biased forward by an elastic member (not shown) located within the front end 2a of the main body 2. The upper tensioner 81 is also configured to move backward when subjected to a rearward external force of a predetermined value (e.g., 13 Newtons) and to return forward when the external force is released.

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

[0032] The lower bumper member 65 has a plate 66 and a pair of arms 67. The plate 66 has a pair of lower edges 66d and a lower edge 66e. The pair of lower edges 66d are arc-shaped with a predetermined radius of curvature. The lower edge 66e is located between the pair of lower edges 66d. Figure 5 shows an imaginary line V2 extending downward along the pair of lower edges 66d. In other words, the imaginary line V2 is curved, and its radius of curvature is the same as the radius of curvature of the pair of lower edges 66d. The lower edge 66e is located above this imaginary line V2.

[0033] A semicircular notch 66c is formed in the edge of the plate 66 facing the lower edge 66e. A pair of arms 67 are provided on the back surface 66b of the plate 66 and are arranged to face each other with the notch 66c in between. Each arm 67 is formed with a through-hole 67a.

[0034] The lower switch 72 and the two lower tensioners 82 are provided at a location below the retaining member 56 on the front end 2a of the main body 2. The lower switch 72 has an input portion 72a at its front end. The input portion 72a is configured to move backward when subjected to a rearward external force and to return forward when the external force is released. The lower switch 72 is configured to send a detection signal to the control device of the main body 2 when the input portion 72a is pressed. The lower tensioners 82 are biased forward by an elastic member (not shown) located within the front end 2a of the main body 2. The lower tensioners 82 are also configured to move backward when subjected to a rearward external force of a predetermined value (e.g., 13 Newtons) and to return forward when the external force is released.

[0035] The upper bumper member 61 and the lower bumper member 65 are attached to the retaining member 56 using bolts 57 and nuts 58. The bolts 57 are an example of the "shaft member" of the present invention. The bolts 57 are inserted through a through-hole 67a of the lower bumper member 65, a through-hole 63a of the upper bumper member 61, a hole 56a of the retaining member 56, and a washer 59, and are threadedly engaged with the nut 58, and are held by the retaining member 56. This allows the upper bumper member 61 and the lower bumper member 65 to rotate about the shafts 57a of the bolts 57 and displace in the front-rear direction. The shafts 57a extend in the left-right direction. The upper switch 71 is offset upward from the shafts 57a, and the lower switch 72 is offset downward from the shafts 57a.

[0036] 3, the upper bumper member 61 has a plate 62 with its front surface 62a facing forward and its back surface 62b supported by the upper tensioner 81 (see FIG. 5). The back surface 62b, which is supported by the upper tensioner 81 and is not subjected to external force, is disposed at a distance from the input portion 71a of the upper switch 71 (see FIG. 5).

[0037] In the lower bumper member 65, the front surface 66a of the plate 66 faces forward, and the back surface 66b is supported by the lower tensioner 82 (see FIG. 5). The back surface 66b, which is supported by the lower tensioner 82 and is not subjected to external force, is disposed at a distance from the input portion 72a of the lower switch 72 (see FIG. 5).

[0038] 4, the notch 62c of the upper bumper member 61 and the notch 66c of the lower bumper member 65 are arranged to face each other in the vertical direction. These notches 62c, 66c form a substantially circular opening 53 that exposes the front end portion 2a of the main body 2. The front camera 41 provided at the front end portion 2a of the main body 2 is exposed through this opening 53.

[0039] <Detection by Detector> Next, detection by the detector 5 will be described with reference to Fig. 6. Fig. 6 is an enlarged view showing a part of the vehicle 1, and particularly shows the detector 5 in an enlarged manner.

[0040] If the surface 66a of the plate 66 of the lower bumper member 65 abuts against an obstacle in the sewer pipe P (see FIG. 4) while the vehicle 1 is moving forward, the lower bumper member 65 receives a force from the obstacle in the direction indicated by arrow F in FIG. 6. As described above, the lower bumper member 65 is rotatable about the shaft 57a of the bolt 57, but the back surface 66b of the plate 66 is supported by the lower tensioner 82. Therefore, if the magnitude of the force received by the obstacle on the lower bumper member 65 is less than a predetermined value (e.g., 13 N), the lower tensioner 82 does not retract, and the lower bumper member 65 does not rotate. At this time, the lower bumper member 65 does not press the input portion 72a of the lower switch 72.

[0041] On the other hand, if the magnitude of the force that the lower bumper member 65 receives from an obstacle exceeds a predetermined value, the lower tensioner 82 moves backward. Accordingly, the lower bumper member 65 rotates about the shaft 57a. When the lower bumper member 65 rotates by an angle θ or more, the back surface 66b of the plate 66 presses the input portion 72a of the lower switch 72. This causes the lower switch 72 to transmit a detection signal, and the control device receiving the detection signal detects that the vehicle 1 has come into contact with an obstacle. The same process is carried out when the upper bumper member 61 is used to detect that the vehicle 1 has come into contact with an obstacle.

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

[0043] First, an inspector places two radio wave transmitting devices (not shown) inside the sewer pipe P to be inspected. Specifically, one radio wave transmitting device is placed at each of two locations (e.g., 100 meters apart) in the direction in which the sewer pipe P extends.

[0044] The vehicle 1 receives radio waves in the communication module and autonomously moves forward in the sewer pipe P, with one of the two radio wave transmitters as the starting point and the other as the destination. A control device housed inside the main body 2 drives the traveling device 3 and rotates the crawler 32 around the casing 31, thereby moving the vehicle 1 forward.

[0045] The control device moves the vehicle 1 forward a predetermined distance (e.g., 10 centimeters) and then stops the traveling device 3. The control device then operates the rear camera 42 (see FIG. 2 ) to capture an image of the area behind the vehicle 1. The image data obtained by this capture is temporarily stored in a memory included in the control device and is used to confirm the condition of the sewer pipe P after the inspection is completed. After the image is captured by the rear camera 42, the control device again drives the traveling device 3 to move the vehicle 1 forward a predetermined distance. If the forward movement of the vehicle 1 is not hindered by an obstacle, the vehicle 1 repeats moving forward a predetermined distance and capturing an image with the rear camera 42 until it reaches the target point.

[0046] When the detection device 5 detects that the vehicle 1 has come into contact with an obstacle in the sewer pipe P while moving forward, it transmits a detection signal. When the control device receives this detection signal, it rotates the crawlers 32 of the traveling device 3 in the opposite direction to that used when moving forward, causing the vehicle 1 to move backward. Then, after the vehicle 1 has moved backward a predetermined distance (e.g., 10 centimeters), the control device stops the traveling device 3. Thereafter, the control device moves the vehicle 1 forward again. The vehicle 1 repeats this forward and backward movement, and if the control device receives a detection signal from the detection device 5 three times as a result, it determines that an obstacle preventing the vehicle 1 from moving forward is present in the sewer pipe P.

[0047] If an obstacle that prevents the vehicle 1 from moving forward is present in the sewer pipe P, the control device causes the vehicle 1 to back up a predetermined distance (e.g., 30 centimeters) from the location of the obstacle, and then stops the traveling device 3. Next, the control device causes the front camera 41 to photograph the obstacle present in front of the vehicle 1. Image data obtained by this photograph is also temporarily stored in a memory included in the control device and is used to confirm the obstacle after the inspection is completed. Once the photographing by the front camera 41 is completed, the control device causes the vehicle 1 to back up to the starting point, where one of the two radio wave transmitters is located.

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

[0049] Furthermore, the sewer pipe P may be deformed, for example, by external forces from earth and sand underground. Figure 4 shows the inner wall surface P2 of the sewer pipe P after deformation. As described above, the upper edge 62e of the plate 62 of the upper bumper member 61 is located below the imaginary line V1 extending upward along the pair of upper edges 62d (see Figure 5). Therefore, even when the sewer pipe P is deformed and the top surface PT is displaced downward, a gap is formed between the upper edge 62e and the top surface PT.

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

[0051] 7, when the vehicle 1 runs over an obstacle 9 present on the bottom surface PB of the sewer pipe P, the vehicle 1 may tilt, causing the upper bumper member 61 to approach the top surface PT. In this case, too, the upper edge 62e of the plate 62 of the upper bumper member 61 is positioned below the imaginary line V1 (see FIG. 5), so that a gap is maintained between the upper edge 62e and the top surface PT.

[0052] Furthermore, when the vehicle 1 climbs over the obstacle 9 and returns to the bottom surface PB of the sewer pipe P, the vehicle 1 may tilt, causing the lower bumper member 65 to approach the bottom surface PB. In this case, too, the lower edge 66e of the plate 66 of the lower bumper member 65 is positioned above the imaginary line V2 (see FIG. 5), so that a gap is maintained between the lower edge 66e and the bottom surface PB.

[0053] <Operations and Effects> Next, operations and effects based on the vehicle 1 will be described.

[0054] For example, in a configuration having a bumper that moves horizontally and a switch is pressed by the displaced bumper, if the bumper receives a force from an obstacle that tilts it from the horizontal direction, the bumper may not be able to displace appropriately, which may result in low accuracy in detecting contact between the vehicle 1 and the obstacle.

[0055] In contrast, in the configuration of the vehicle 1, the upper bumper member 61 and the lower bumper member 65 are displaced by rotating about the shaft 57a, and the upper switch 71 and the lower switch 72 are pressed down by the displaced upper bumper member 61 or lower bumper member 65. With this configuration, when the vehicle 1 comes into contact with an obstacle, the upper bumper member 61 or the lower bumper member 65 can be reliably displaced, and the upper switch 71 or the lower switch 72 can be pressed down. As a result, it is possible to detect with high accuracy the contact between the vehicle 1 and an obstacle.

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

[0057] According to this configuration, the upper switch 71 or the lower switch 72 can be reliably pressed down by rotating the upper bumper member 61 or the lower bumper member 65 about the shaft 57a.

[0058] The shaft 57a extends in the left-right direction (i.e., the width direction of the main body 2) that intersects with the front-rear direction.

[0059] With this configuration, when the upper bumper member 61 or the lower bumper member 65 of the moving vehicle 1 comes into contact with an obstacle, the upper bumper member 61 or the lower bumper member 65 is pushed rearward by the obstacle. Therefore, the contact between the vehicle 1 and the obstacle smoothly displaces the upper bumper member 61 or the lower bumper member 65, making it possible to reliably press down the upper switch 71 or the lower switch 72.

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

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

[0062] With this configuration, it is possible to detect the contact between the vehicle 1 and an obstacle present on the bottom surface PB or top surface PT of the sewer pipe P by the lower bumper member 65 and the upper bumper member 61, respectively. In other words, by using members corresponding to each position where an obstacle may be present, it is possible to detect the contact between the vehicle 1 and an obstacle with high accuracy.

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

[0064] According to this configuration, when the vehicle 1 is placed on the bottom surface PB of the sewer pipe P, the upper edge 62d is positioned so as to generally follow the inner wall surface P1 (see FIG. 4). As a result, a gap is formed between the upper edge 62d and the inner wall surface P1 in the circumferential direction of the arc. Furthermore, even if the top surface PT is displaced downward due to deformation of the sewer pipe P, a gap is formed between the upper edge 62e and the inner wall surface P2. As a result, interference between the upper bumper member 61 and the sewer pipe P while the vehicle 1 is traveling can be suppressed.

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

[0066] According to this configuration, when the vehicle 1 is placed on the bottom surface PB of the sewer pipe P, the lower edge 66d is positioned so as to generally follow the inner wall surface P1 (see FIG. 4). As a result, a gap is formed between the lower edge 66d and the inner wall surface P1 in the circumferential direction of the arc. Furthermore, even if mud or the like has accumulated on the bottom surface PB of the sewer pipe P, a gap is formed between the lower end edge 66e and the mud. As a result, interference between the lower bumper member 65 and the sewer pipe P or the mud while the vehicle 1 is traveling can be suppressed.

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

[0068] According to this configuration, the upper bumper member 61 and the lower bumper member 65 can be rotated using a small number of parts.

[0069] Furthermore, notches 62c, 66c that expose the front end portion 2a of the main body 2 are formed in the upper bumper member 61 and the lower bumper member 65. Note that it is sufficient that such notches are formed in at least one of the upper bumper member 61 and the lower bumper member 65.

[0070] With this configuration, the detection device 5 is provided at the front end 2a of the main body 2, and the opening 53 is formed by the cutouts 62c and 66c, so that the front end 2a can be exposed. Therefore, the front camera 41 provided at the front end 2a can be exposed, and the front camera 41 can capture an image of the area ahead of the vehicle 1 through this opening 53.

[0071] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangement, materials, conditions, shapes, sizes, etc., are not limited to those exemplified and may be modified as appropriate.

[0072] The present invention can be used in water pipes, sewer pipes, drainage pipes, tunnels, ducts, pipe shafts, gas pipes, and the like.

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

Claims

1. An intra-pipe traveling vehicle that travels inside a pipe, comprising: a main body; a traveling device provided on the main body for moving the main body; and a detection device provided at one end of the main body in the longitudinal direction of the main body for detecting when the intra-pipe traveling vehicle comes into contact with an obstacle inside the pipe, the detection device having a bumper that is displaced when it comes into contact with an obstacle, and a switch that is pressed by the displaced bumper, and the bumper is displaced by rotating around an axis.

2. The in-pipe vehicle according to claim 1, wherein the switch is offset from the axis when viewed along the longitudinal direction of the body.

3. The in-pipe vehicle according to claim 2, wherein the axis extends along a width direction intersecting with a longitudinal direction of the main body.

4. A vehicle running within a pipe as described in claim 3, wherein the bumper has a lower bumper member and an upper bumper member arranged above the lower bumper member, and the switch has a lower switch that is pressed down by the displaced lower bumper member and an upper switch that is pressed down by the displaced upper bumper member.

5. A vehicle for running within a pipe as described in claim 4, wherein, when viewed along the longitudinal direction of the main body, the upper bumper member has a pair of arc-shaped upper edges and an upper end edge located between the pair of upper edges and forming the upper end of the upper bumper member, and the upper end edge is located below an imaginary line extending upward along the pair of upper edges.

6. A vehicle for running within a pipe as described in claim 4, wherein, when viewed along the longitudinal direction of the main body, the lower bumper member has a pair of arc-shaped lower edges and a lower edge located between the pair of lower edges and forming the lower end of the lower bumper member, and the lower edge is located above an imaginary line extending downward along the pair of lower edges.

7. A vehicle for running within a pipe as described in claim 4, wherein a through hole penetrating in the width direction is formed in each of the upper bumper member and the lower bumper member, and the upper bumper member and the lower bumper member are configured to rotate about an axis member that passes through both the through hole of the upper bumper member and the through hole of the lower bumper member.

8. The in-pipe vehicle according to claim 4, wherein a cutout for exposing one end of said main body is formed in at least one of said upper bumper member and said lower bumper member.

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