JP6305794B2 - In-pipe confirmation device - Google Patents

Description

  The present invention relates to an in-pipe confirmation apparatus for confirming the inside of a water supply / drainage pipe or the like of an apartment house, and in particular, a pipe capable of observing the inside of a main pipe and a branch pipe from the inside of a branch pipe joining the main pipe. It relates to an internal confirmation device.

  2. Description of the Related Art Conventionally, as an in-pipe confirmation device for investigating the inside of a branch pipe that joins a main pipe such as a sewer, for example, a mounting pipe investigation device disclosed in Patent Document 1 is known. The attachment pipe investigation device described in the document includes a self-propelled vehicle that guides a camera cable with a camera head attached to the tip. A tail portion is mounted on the self-propelled vehicle, and a head portion is connected to the front side of the tail portion so as to be rotatable about 90 degrees. A cylindrical swinging member is supported on the head portion so as to be rotatable in the front-rear and left-right directions, and a camera cable is loosely inserted into the swinging member.

  With such a configuration, the self-propelled vehicle can be moved to the vicinity of the attachment pipe (branch pipe) and the camera member can be guided by rotating the swing member to direct the camera head in the connection direction of the attachment pipe. . Then, the camera cable can be sent into the inside of the attachment tube to investigate the inside of the attachment tube.

  As another example of the prior art, an in-pipe exploration device disclosed in Patent Document 2 is known. The in-pipe exploration device described in this document has a traveling body that moves forward and backward in a pipe while pulling a cable, and the traveling body includes a camera. Further, the in-pipe exploration device of the same document includes a guide device for carrying the traveling body into the pipe. The guide device descends a pothole such as a manhole in a state where the traveling body is placed on a mounting table.

  Also, for example, as described in Patent Document 3, in an apartment house or the like, in order to prevent leakage of water due to aging of the drainage pipes, the existing drainage pipes are lined with resin and repaired (rehabilitation) ) Is known to do.

  FIGS. 9A to 9C are cross-sectional views showing an example of a conventional pipe repairing process, in which a vertical cross section of a drainage pipe 300 such as a housing complex is omitted from the detailed structure of the pipe. As shown in FIG. 9A, first, a resin layer 304 is formed by lining the inner wall 301a of the main pipe 301 (vertical pipe) after cleaning using a lining apparatus or the like. Here, the resin layer 304 is also formed at the boundary between the main pipe 301 and the branch pipe 302 (horizontal pipe) joining the main pipe 301, and the branch pipe 302 is closed by the resin layer 304.

  Next, as shown in FIG. 9B, the resin layer 304 that closes the branch pipe 302 is cut out from the inside of the main pipe 301 by using a cutter 310 or the like of a lining apparatus (perforation apparatus). As a result, an opening 306 that connects the main pipe 301 to the branch pipe 302 is formed. A camera 313 is inserted into the main pipe 301, and the position of the cutter 310 is adjusted based on image information detected by the camera 313.

  Then, as shown in FIG. 9C, a resin layer 305 is formed by lining the inner wall 302a of the branch pipe 302 from the opening 306 using a lining tool 311 inserted into the main pipe 301 or the like.

  Specifically, for example, in the lining method described in Patent Document 3, as a lining tool 311, a flexible cylindrical body part and an extending pipe part connected to an outer side part thereof so as to be stretchable are provided. The provided tool is used. Then, a cloth member impregnated with a paint (resin) is attached to the outer peripheral portion of the extended pipe portion of the tool so that the front and back sides can be reversed. The tool is inserted into the vertical main pipe (main pipe 301), the cylinder body is expanded by air pressure, and the extension pipe is extended into the horizontal main pipe (branch pipe 302). As a result, the cloth member is reversed and pressed against the inner wall portion (inner wall 302a) of the horizontal main pipe so as to adhere as a paint layer (resin layer 305).

  9C, when forming the resin layer 305 in the branch pipe 302, the lining tool 311 is based on image information detected by the camera 314 inserted in the main pipe 301. The position of is adjusted.

Japanese Patent Laying-Open No. 2005-37250 (page 4-6, FIG. 4) JP 2006-52961 A (page 5-9, FIG. 1) Japanese Patent Laying-Open No. 2006-26632 (page 6-7, FIG. 3-9)

  In the repair of lining a resin or the like on the existing pipe described above, it is very important that the resin layer is properly formed. For example, if the resin layer formed inside the branch pipe is not properly joined to the inner wall of the branch pipe, sewage or the like may enter the gap between the resin layer and the inner wall of the branch pipe.

  Furthermore, if the lining construction is improper, the sewage that enters the gap between the resin layer inside the branch pipe and the inner wall of the branch pipe reaches between the resin layer formed on the main pipe and the inner wall of the main pipe. Intrusion is also assumed. If sewage enters between the resin layer and the inner wall, it will cause pipe corrosion and the like, and the effect of lining the inside of the pipe with resin will be diminished.

  Therefore, after performing lining repair, it is calculated | required to test | inspect that the resin layer is appropriately formed in the inside of piping. In particular, in order to confirm that the resin layer and the inner wall are joined with no gap at the end of the resin layer on the side of the branch pipe, it is desirable to observe the end of the resin layer from the inside of the branch pipe (FIG. 9). The end 307 shown in (C) is viewed in the direction of arrow X).

  However, the above-described conventional apparatus for confirming a pipe has a problem in that the vicinity of the junction between the main pipe and the branch pipe cannot be observed from the inside of the branch pipe. That is, the prior art in-pipe confirmation device is not suitable for inspection performed after the lining repair work.

  In other words, in the attachment pipe inspection device disclosed in Patent Document 1, a camera head is attached to the tip of a camera cable fed from the main pipe into the attachment pipe. In the in-pipe exploration device disclosed in Patent Document 2, a camera is attached to the front surface of a traveling body that moves in the pipe. Therefore, in any conventional technique, a camera sent from the main pipe to the branch pipe can only photograph in front of the approach direction, and photographs the vicinity of the junction between the main pipe and the branch pipe from the inside of the branch pipe. I can't.

  In addition, in the prior art in-pipe confirmation device, even if the camera mounting direction is reversed so that the direction of the main pipe can be photographed from the inside of the branch pipe, the camera cable becomes a hindrance and the junction of the branch pipes The nearby inner wall cannot be observed over the entire circumference.

  Further, in the above-described conventional lining method, a camera is inserted into the main pipe, and the position of the lining tool is adjusted based on an image photographed by the camera. Therefore, it is difficult to directly view the opening connected to the branch pipe with the camera image, and it is difficult to adjust the position of the lining tool.

If the position of the lining tool is not appropriate, the resin layer cannot be formed at a predetermined position inside the branch pipe. When the resin layer is formed at an inappropriate position, it is necessary to scrape the formed resin layer and repeat the same process of forming the resin layer inside the branch pipe.
Here, when the resin layer is formed inside the branch pipe, if the position of the lining tool can be visually recognized from the inside of the branch pipe, the position adjustment of the lining tool becomes easy.

  However, since the above-described prior art in-pipe confirmation device must insert a camera cable inside the main pipe, it cannot be used during lining construction, and the lining tool must be photographed from the inside of the branch pipe. I can't.

  Further, in the lining method of the prior art, it is difficult to determine the position of the branch pipe when the resin layer formed on the main pipe is excised. That is, the position of the branch pipe blocked by the resin layer must be determined by slight unevenness on the inner surface of the resin layer appearing in the camera image taken from the inside of the main pipe. If a location that is out of the position of the branch pipe has been excised, it has been necessary to redo the process of forming the resin layer inside the main pipe.

  Furthermore, in apartment houses such as condominiums, there are many situations in which work from the indoor side upstream of the branch pipe cannot be performed, and piping can be efficiently performed only from the main side without entering each room. It is desirable to be able to inspect and repair.

  The present invention has been made in view of the above circumstances, and the object is to be able to be inserted from the main pipe side and to observe the vicinity of the junction of the main pipe and the branch pipe from the inside of the branch pipe. An object of the present invention is to provide an in-pipe confirmation device that can improve the workability of pipe repair work.

The in-pipe confirmation apparatus of the present invention is an in-pipe confirmation apparatus for observing the inside of the branch pipe that joins the main pipe,
A camera unit having a camera that captures the inside of the branch pipe, and a communication unit that transmits image information captured by the camera;
A storage unit in which the camera unit is stored, a feeding unit that sends the camera unit from the storage unit to the inside of the branch pipe, and a collection unit that recovers the camera unit from the inside of the branch pipe to the storage unit; A transport unit having
A communication unit that receives the image information transmitted from the communication unit,
The feeding unit and the collecting unit are configured to be separable from the camera unit.

  According to the in-pipe confirmation apparatus of the present invention, the transport unit includes a feeding unit that feeds the camera unit to the inside of the branch pipe, and a collecting unit that collects the camera unit from the inside of the branch pipe. The feeding unit and the collecting unit are configured to be detachable from the camera unit.

  Accordingly, the camera unit can be sent into the branch pipe through the main pipe by the transport unit and can be installed separately from the transport unit. Further, the camera unit arranged inside the branch pipe can be collected by the transport unit.

  Therefore, the inside of the branch pipe can be efficiently inspected only by the work from the main pipe side without performing the work from the indoor side upstream of the branch pipe. In addition, since the camera unit is separated from the transport unit and is disposed inside the branch pipe alone, the inside of the branch pipe is photographed without being obstructed by an operation wire or the like connecting the transport unit and the camera unit. be able to.

  The in-pipe confirmation device of the present invention further includes a communication unit that wirelessly transmits image information captured by the camera in the camera unit, and the image information transmitted from the communication unit in the camera unit is stored in the camera unit. A communication unit for receiving is provided separately from the camera unit.

  Thereby, the image information photographed by the camera unit can be received by the receiving unit outside the branch pipe and confirmed in real time. Further, since the communication cable for camera images connected to the camera unit can be eliminated, the inner wall of the branch pipe is not hidden by the communication cable, and the entire circumference of the inner wall of the branch pipe can be photographed. .

  In addition, when the camera unit is disposed inside the branch pipe, the camera can capture the direction of the main pipe. That is, the camera can be directed toward the junction of the main pipe and the branch pipe. Thereby, the formation condition of the resin layer lining the inside of the branch pipe can be inspected in detail from the inside of the branch pipe. In particular, it is possible to observe the joining condition near the end of the resin layer in the direction from the inside of the branch pipe to the main pipe without being obstructed by the communication cable. Can be done with precision.

  In addition, the camera unit of the present invention is independently arranged inside the branch pipe, can capture the vicinity of the junction of the main pipe and the branch pipe from the inside of the branch pipe, and can transmit the image information wirelessly. . Therefore, when lining the inside of the branch pipe in the pipe repair work, the lining tool can be photographed from the inside of the branch pipe and the image information can be used for position adjustment of the lining tool. Thereby, while being able to form a resin layer in an exact position, the work efficiency of lining construction can be improved.

  In addition, the camera unit has an illumination device that irradiates light toward the junction of the main pipe and the branch pipe. As a result, when removing the resin layer formed on the inner wall of the main pipe during pipe repair work, light is emitted from the camera unit placed inside the branch pipe in advance toward the main pipe and inserted into the main pipe. The light transmitted through the resin layer can be detected by the camera. As a result, the junction point of the branch pipe covered with the resin layer can be searched efficiently, and the position of the cutter for cutting the resin layer can be adjusted accurately.

  The camera unit may be provided with holding means for pressing the inner surface of the branch pipe to hold the camera unit at a predetermined position inside the branch pipe. Thereby, even if the inclination of the branch pipe is large, a desired image can be obtained by holding the camera unit at a predetermined position.

  In addition, the camera unit may be provided with a telescopic camera support portion in which a camera is attached to one end and the vicinity of the other end is fixed to the camera unit. Thereby, it becomes possible to adjust the position of the camera by expanding and contracting the camera support portion, and the inside of the branch pipe can be imaged in a wide range and with high accuracy.

  Also, as a feeding unit and a collecting unit of the transport unit, a wire or the like is wound around a winding rotor that is rotationally driven by a motor, and a connecting portion that is detachably abutted or engaged with the camera unit at the tip of the wire or the like It is also possible to adopt a configuration in which Thereby, a large sending (collecting) distance of the feeding means and the collecting means can be secured, and the components can be arranged compactly. In addition, delivery and collection can be easily controlled.

It is a figure which shows schematic structure of the in-pipe confirmation apparatus which concerns on embodiment of this invention. It is a figure of the state which contracted the (A) camera support part which shows schematic structure of the camera unit which concerns on embodiment of this invention, and the state which extended the (B) camera support part. It is a figure which shows the modification of the camera unit which concerns on embodiment of this invention. It is a perspective view which shows (A) expansion-contraction apparatus of the camera unit which concerns on embodiment of this invention, (B) The longitudinal cross-sectional view of a camera support part, (C) The longitudinal cross-sectional view which shows the other example of a camera support part. It is a figure which shows the operation | movement of (A) holding | maintenance apparatus of the camera unit which concerns on embodiment of this invention, (B) other examples of a holding device, and (C) other examples of a holding device. BRIEF DESCRIPTION OF THE DRAWINGS (A) The perspective view which shows the schematic structure of the installation collection apparatus of the conveyance unit which concerns on embodiment of this invention, (B) The longitudinal cross-sectional view of a wire and a connection part. It is sectional drawing of the state which (A) disengaged and (B) engaged state which show the other example of the connection part of the installation collection | recovery apparatus of the conveyance unit which concerns on embodiment of this invention. (A) Position adjustment of cutter, (B) Position adjustment of lining tool, (C) Vertical section of drainage pipe showing inspection after construction in pipe repair process using in-pipe confirmation apparatus according to embodiment of the present invention FIG. It is a longitudinal cross-sectional view of drainage piping which shows (A) lining to a main pipe and (B) cutting of the resin layer of a branch pipe confluence | merging part (C) lining to a branch pipe about the example of the piping repair process of a prior art.

Hereinafter, the in-pipe confirmation apparatus according to the embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of an in-pipe confirmation apparatus 1 according to an embodiment of the present invention. In addition, in FIG. 1, the drainage piping 300, such as an apartment house, is shown with the chain line as an example of piping.

  The in-pipe confirmation device 1 is for confirming the inside of a water supply pipe or a drain pipe of an apartment house such as an apartment or other buildings by photographing with a camera. In particular, the in-pipe confirmation apparatus 1 has a branch pipe in the vicinity of a junction (branch point) between a main pipe 301 arranged substantially vertically and a branch pipe 302 extending substantially horizontally and joining the main pipe 301. It is observed from inside 302.

  As shown in FIG. 1, the in-pipe confirmation apparatus 1 includes a camera unit 2 that is sent into the branch pipe 302 and images the inside of the branch pipe 302, a transport unit 3 that transports the camera unit 2, and a camera unit 2. And a communication unit 4 that receives the image information captured in (1).

  The camera unit 2 includes a camera 10 that captures the inside of the branch pipe 302, a communication unit 11 that transmits image information captured by the camera 10, and an LED light 12 as an illumination device.

  The camera 10 of the camera unit 2 is provided so that the direction of the main pipe 301 can be photographed in a state where the camera unit 2 is disposed inside the branch pipe 302. That is, the camera 10 is attached to the main unit 301 side of the camera unit 2 and can face the main unit 301.

  The camera 10 includes, for example, an image sensor such as a CCD and a CMOS, and a lens, and converts light brightness into an electrical signal (image information). The camera 10 is equipped with, for example, a wide-angle lens having an angle of view of 180 ° or more, so that the inner wall 302a of the branch pipe 302 can be imaged over a wide range.

  The LED light 12 is provided so that light can be emitted in the direction of the main pipe 301 in a state where the camera unit 2 is disposed inside the branch pipe 302. That is, the LED light 12 is attached to the main tube 301 side of the camera unit 2.

  The communication unit 11 of the camera unit 2 wirelessly transmits image information captured by the camera 10. The transmitted image information can be received and used by the communication unit 31 of the communication unit 4 described later.

  The communication unit 11 has not only a transmission function but also a reception function. That is, the communication unit 11 of the camera unit 2 and the communication unit 31 of the communication unit 4 are configured to be capable of wireless communication in both directions. Thereby, the camera 10 etc. of the camera unit 2 can be operated from the communication unit 4.

  The transport unit 3 is for mounting the camera unit 2 to move inside the main pipe 301 and sending the camera unit 2 into the branch pipe 302 for installation. The transport unit 3 also has a function of collecting the camera unit 2 from the inside of the branch pipe 302. In the present invention, the camera unit 2 and the transport unit 3 are configured to be separable.

  The transport unit 3 includes a storage unit 20 that stores the camera unit 2, and an installation collection device 21 that serves as a feeding unit that sends the camera unit 2 into the branch pipe 302. The installation collection device 21 is also a collection unit that collects the camera unit 2 from the inside of the branch pipe 302.

  Further, the transport unit 3 is suspended from the upper side of the main pipe 301 by the cable 57, and the position and orientation thereof are adjusted. Note that a cable or the like (not shown) may be connected to the lower part of the transport unit 3 and the transport unit may be operated from below the main pipe 301.

  The storage unit 20 is a space for storing the camera unit 2, and is provided inside the transport unit 3. When the camera unit 2 is stored in the storage unit 20, the side on which the camera 10 is attached is the back side of the storage unit 20, and the opposite side of the camera 10 faces the outlet (not shown) of the storage unit 20. Is done. Thereby, it becomes easy to arrange the camera unit 2 inside the branch pipe 302 so that the camera 10 faces the main pipe 301.

  In addition, the orientation of the camera unit 2 disposed inside the storage unit 20 may be any of vertical, horizontal, and diagonal, but it is desirable to form the storage unit 20 so that the camera unit 2 is disposed diagonally. Generally, the branch pipe 302 is inclined obliquely downward toward the main pipe 301 in the vicinity of the connection point with the main pipe 301, so that the camera unit 2 is attached to the branch pipe 302 by forming the storage portion 20 diagonally. It becomes easy to insert.

  Moreover, you may provide the cover which is not shown in figure in the taking-out opening of the accommodating part 20 so that this taking-out opening can be opened and closed freely. Thereby, when the camera unit 2 is transported, it is possible to prevent problems such as the camera unit 2 jumping out of the storage unit 20.

  Furthermore, it is good also as a structure which pivotally supports the lower part (lower side) of the lid | cover provided in the extraction opening of the accommodating part 20, and can open and close an upper part. Then, the camera unit 2 may be inclined obliquely along the opened lid. Thereby, the camera unit 2 can be inserted into the branch pipe 302 more efficiently.

  The lid may be opened and closed by using a driving force of a motor (not shown) or by using an operation wire (not shown) connected to the outside of the main pipe 301 from above or below the transport unit 3. It may be.

  As described above, the installation / recovery device 21 is a feeding unit that feeds the camera unit 2 from the inside of the storage unit 20 to the inside of the branch pipe 302, and collects the camera unit 2 from the inside of the branch pipe 302 to the storage unit 20. It is also a means.

  The installation / collection device 21 moves the camera unit 2 connected to the connection portion 26 of the wire 25 by sending out or pulling back the wire 25. The connection unit 26 is detachably connected to the camera unit 2. In the present embodiment, an electromagnet is used for the connection portion 26. That is, the connection part 26 attracts the camera unit 2 by the magnetic force of the electromagnet.

  The transport unit 3 has an operation unit 23 placed outside the main pipe 301, and the operation unit 23 can be used to operate the installation / recovery device 21 and the like. The wiring connected to the operation unit 23 may be taken out from the lower part of the transport unit 3 to the lower side of the main pipe 301.

  The transport unit 3 may be provided with driving means for adjusting the position of the transport unit 3 in the vertical direction and the direction around the axis. As the driving means, for example, a roller that rotates by a driving force of a motor or the like and contacts the inner wall 301a of the main pipe 301 can be used. By providing driving means for rotating the transport unit 3 with respect to the axis of the main pipe 301, the direction of the transport unit 3 can be adjusted and the outlet of the transport unit 3 can be directed toward the branch pipe 302. Thereby, installation of the camera unit 2 becomes easy.

  The communication unit 4 performs two-way wireless communication with the camera unit 2, uses image information captured by the camera 10, and operates the camera unit 2. The communication unit 4 includes a communication unit 31 that communicates with the communication unit 11 of the camera unit 2, a display 32 that displays image information captured by the camera 10, and an operation unit 33 that operates the camera unit 2. .

  Further, the communication unit 4 includes an antenna 30 that can be pulled out from the housing of the communication unit 4 and inserted into the main pipe 301. The antenna 30 emits a communication signal of the communication unit 31 and receives a radio signal emitted from the communication unit 11 of the camera unit 2. As described above, by configuring the antenna 30 so that it can be inserted into the main 301, communication between the camera unit 2 and the communication unit 4 can be performed satisfactorily.

  Although FIG. 1 shows an example in which the antenna 30 is attached to the transport unit 3, the antenna 30 can be inserted into the main pipe 301 alone. It is also possible to send the antenna 30 into the main pipe 301 by attaching it to a drilling device or a lining tool used for pipe repair work.

Next, the camera unit 2 of the in-pipe confirmation apparatus 1 will be described in detail with reference to FIGS.
2A and 2B are diagrams showing a schematic configuration of the camera unit 2. FIG. 2A shows a state in which the camera support unit 13 is contracted, and FIG. This represents the stretched state.

  As shown in FIG. 2A, the camera unit 2 has a waterproof case 19, and the components such as the communication unit 11, the telescopic device 14, and the battery 16 are arranged inside the case 19. The shape of the case 19 is, for example, a substantially cylindrical shape or a substantially polygonal column shape.

  The camera unit 2 also includes a holding device 17 as a holding unit for holding the camera unit 2 at a predetermined position inside the branch pipe 302. The holding device 17 is provided so that a part of the stopper 18 can protrude outside the case 19.

  In addition, since the camera unit 2 includes the battery 16 inside the case 19, it is possible to perform photographing independently without supplying power from the outside. Thereby, the inside of the branch pipe 302 can be photographed without being disturbed by the power supply wiring.

  As shown in FIGS. 2A and 2B, the camera 10 and the LED light 12 are supported by an extendable camera support portion 13. That is, the camera 10 and the LED light 12 are attached to one end portion of the camera support portion 13 extended in a substantially rod shape, and the vicinity of the other end portion of the camera support portion 13 is fixed inside the case 19 of the camera unit 2.

  In other words, one end portion of the camera support portion 13 to which the camera 10 and the LED light 12 are attached is configured to protrude from the case 19. That is, the camera 10 and the LED light 12 can be protruded outside the case 19 and the positions thereof can be changed. Thereby, the inside of the branch pipe 302 can be imaged in a wide range and with high accuracy.

  FIG. 3 is a diagram illustrating a modification of the camera unit 2. As shown in FIG. 3, the camera 10 and the LED light 12 may be configured to enter the inside of the case 19 in a state where the camera support portion 13 is shortened to the shortest. And the opening part 36 for inserting the camera support part 13 formed in the case 19 may be closed with a shielding plate 35 that can be freely opened and closed.

  Thus, by providing the openable / closable shielding plate 35 that covers the lens of the camera 10, it is possible to prevent the lens of the camera 10 from being soiled by dirty water remaining in the pipe or resin that scatters during lining repair. . Thereby, a favorable image can be obtained.

  4A is a perspective view showing a schematic configuration of the telescopic device 14 of the camera unit 2, FIG. 4B is a longitudinal sectional view showing a schematic configuration of the camera support portion 13, and FIG. It is a longitudinal cross-sectional view which shows the camera support part 113 as a modification.

  As shown in FIG. 3A, the telescopic device 14 for expanding and contracting the camera support unit 13 includes a motor 41, a winding rotor 42 that is rotationally driven by the motor 41, and one end fixed to the winding rotor 42. The wire 15 to be wound and the case 43 covering the winding rotor 42 are provided.

  As the wire 15, for example, a flexible synthetic resin twisted wire or the like can be used. The distal end portion of the wire 15 (the end portion not fixed to the winding rotor 42) is pulled out from the case 43, and as shown in FIG. 4B, the camera support portion to which the camera 10 and the LED light 12 are attached. 13 is fixed to the tip (the one end).

  In such a configuration, by driving the motor 41 and rotating the take-up rotor 42, the wire 15 can be fed and unwound, and a camera support portion having one end connected to the tip of the wire 15. 13 can be expanded and contracted.

  In addition, by adopting a method in which the wire 15 is wound around the winding rotor 42, a large expansion / contraction length can be secured, and the expansion / contraction device 14 can be made compact. As a result, the camera unit 2 can be reduced in size. In addition, since the position of the camera 10 can be adjusted only by driving the motor 41, it is possible to capture a desired location with a simple control method.

  As shown in FIG. 4B, the camera support unit 13 includes a protective tube 40 through which the wiring 44 of the camera 10, the wiring 45 of the LED light 12, and the wire 15 are inserted. The protective tube 40 has a function of protecting the wirings 44 and 45 and the wire 15, and also has a function as a structure that supports the camera 10 and the LED light 12.

  The protective tube 40 is configured by sequentially fitting a plurality of different diameter tubes 40a to 40d having different diameters in a slidable manner. Specifically, for example, a small-diameter deformed tube 40c is inserted into the large-diameter deformed tube 40d so that the diameter gradually decreases toward the tip of the camera support portion 13, and the small-diameter deformed tube 40c is inserted into the small-diameter deformed tube 40c. Further, a small diameter different diameter tube 40b is inserted.

  As the protective tube 40, for example, a metal tube or a flexible synthetic resin tube can be used. By adopting a flexible tube as the protective tube 40, the camera support portion 13 can be bent (bent), and a wide photographing range by the camera 10 can be secured. In particular, the inside of the branch pipe 302 (see FIG. 1) bent downward in the vicinity of the junction with the main pipe 301 (see FIG. 1) can be suitably photographed.

  Moreover, you may employ | adopt the pipe | tube bent with the same curvature as the different diameter pipes 40a-40d, respectively. Thereby, the camera support part 13 can be extended so that it may bend in a predetermined direction. Also by such a method, it is possible to facilitate photographing near the junction of the main pipe 301 and the branch pipe 302.

  In this way, by adopting the protective tube 40 in which the deformed tubes 40a to 40d are combined, the wires 44 and 45 and the wire 15 are appropriately protected while ensuring a large expansion / contraction length of the camera support portion 13, and the camera. 10 and the LED light 12 can be suitably supported.

  In addition, as shown in FIG. 4C, an expandable / contractible bellows-like protective tube 140 may be employed. Moreover, it can replace with the protective tube 140, and can employ | adopt various tubular bodies, such as a hose which has a stretching property, as a protective tube.

  Furthermore, a cable in which the wires 44 and 45 and the wire 15 are covered and integrated with a reinforcing material or resin is used as the camera support portion 13, and the integrated cable is used as the winding rotor 42 (see FIG. 4A). You may employ | adopt the structure wound around.

  FIG. 5A is a diagram showing the operation of the holding device 17 of the camera unit 2, FIG. 5B shows the holding device 117 as another example, and FIG. 5C shows still another example. It is a figure which shows the holding | maintenance apparatus 217 as.

  As shown in FIG. 5A, the stopper 18 of the holding device 17 is provided so that a part of the stopper 18 can protrude to the outside of the case 19 from the side surface of the case 19, that is, the surface facing the inner wall 302 a of the branch pipe 302. That is, the stopper 18 is provided so as to be movable in the radial direction of the branch pipe 302.

  The holding device 17 includes a motor (not shown) operated from the communication unit 4 (see FIG. 1), and a cam 46 that is rotated by the motor and contacts the stopper 18. By rotating the cam 46 by the motor, the stopper 18 is pressed by the cam 46 and pushed out from the case 19 to the outside.

  The stopper 18 contacts the inner wall 302a of the branch pipe 302 and presses the inner wall 302a. Thereby, the camera unit 2 is held at a predetermined position inside the branch pipe 302. For example, the camera unit 2 can be fixed inside the branch pipe 302 even at a location where the inclination of the branch pipe 302 is large, and a desired inspection image can be obtained.

  Further, as a holding device 117 shown in FIG. 5B, a link mechanism in which a stopper 118 and a rotating plate 146 are rotatably connected via a pin 149 may be configured as holding means. Even with such a configuration, the stopper 118 is pressed against the inner wall 302a (see FIG. 5A) of the branch pipe 302 (see FIG. 5A) by rotating the rotating plate 146 with a motor (not shown). The camera unit 2 can be held.

  In particular, by connecting the stopper 118 and the rotating plate 146 using the pin 149, when releasing the holding by the stopper 118, the stopper 118 can be pulled back by reversing the motor. Thereby, the stopper 118 and the inner wall 302a can be easily separated.

  The link mechanism that drives the stopper 118 may be any mechanism that converts the rotational movement of the motor into a substantially linear movement toward the inner wall 302a of the branch pipe 302, and various other mechanisms can be employed.

In addition, as shown in FIG. 5C, a holding device 217 using air pressure may be employed as the holding means. Specifically, the holding device 217 includes a hollow stopper 218 that is swellable outside the case 19, a cylinder 246 that stores high-pressure air, and a pipe that connects the cylinder 246 and the hollow portion of the stopper 218. 249 and a valve 247 provided in the pipe 249.
The stopper 218 is made of an elastic material, for example, a rubber material made of synthetic resin such as silicon.

  The holding device 217 includes a valve 248 for discharging air from the inside of the pipe 249. The valves 247 and 248 are electromagnetic open / close valves, for example, and are opened / closed according to instructions from the communication unit 4 (see FIG. 1).

  In such a configuration, by opening the valve 247, air is supplied from the cylinder 246 to the inside of the stopper 218, and the stopper 218 bulges outside the case 19. Then, the stopper 218 presses the inner wall 302a (see FIG. 5A) of the branch pipe 302 (see FIG. 5A), and the camera unit 2 is held inside the branch pipe 302.

  Further, by opening the valve 248 provided in the pipe connecting the pipe 249 and the outside, the air inside the stopper 218 is discharged to the outside, and the holding of the camera unit 2 by the stopper 218 is released.

  The stopper 18 (refer to FIG. 5A), the stopper 118 (refer to FIG. 5B), and the stopper 218 (refer to FIG. 5C) are pressed onto the surface that presses the branch pipe 302. A tape or the like may be attached. Thereby, the holding capability of the holding means can be further enhanced.

  Further, when the branch pipe 302 is a pipe made of a magnetic material such as a cast iron pipe, for example, instead of the holding devices 17, 117, and 217 that press the inner wall 302 a of the branch pipe 302, as a holding means, An electromagnet may be used. That is, the camera unit 2 can be attracted and held on the branch pipe 302 by the magnetic force of the electromagnet. As described above, the method using the electromagnet does not require a mechanical drive component, and thus is excellent in that the structure of the holding device can be simplified and problems such as operation failure can be suppressed.

  Furthermore, for example, a suction pump may be used as the holding means. That is, the camera unit 2 may be held by generating a negative pressure with a suction pump or the like and sucking the inner wall 302a of the branch pipe 302.

Next, with reference to FIG.6 and FIG.7, the installation collection | recovery apparatus 21 of the conveyance unit 3 is demonstrated in detail.
FIG. 6A is a perspective view showing a schematic configuration of the installation / recovery device 21, and FIG. 6B is a longitudinal sectional view of the wire 25 and the connecting portion 26.

  As described above, the installation / recovery device 21 is a feeding unit and a recovery unit. Thus, by serving as the feeding means and the collecting means, the number of parts of the transport unit 3 can be reduced to increase the productivity and downsizing.

  As shown in FIG. 6A, the installation and recovery device 21 includes a motor 51 operated by the operation unit 23, a winding rotor 52 that is rotationally driven by the motor 51, a case 53 that covers the winding rotor 52, A wire 25 wound around the winding rotor 52 and wound and sent out by driving of the motor 51, and a connection portion 26 provided at the tip of the wire 25 and detachably connected to the camera unit 2.

  The wire 25 is, for example, a flexible synthetic resin twisted wire or the like. And the front-end | tip part (end part which is not fixed to the winding rotor 52) of the wire 25 is pulled out from the case 53 outside. The connection part 26 attached to the tip part of the wire 25 includes an electromagnet as described above.

  In such a configuration, the connection unit 26 can suck or release the camera unit 2 according to an instruction from the operation unit 23. Further, by driving the motor 51 and rotating the take-up rotor 52, the wire 25 can be sent out and rewound, and the camera unit 2 connected to the connecting portion 26 can be moved.

  In this way, by adopting a method of winding the wire 25 around the winding rotor 52, a large sending (collecting) distance of the feeding means and the collecting means can be secured, and the installation collecting device 21 can be downsized. Further, the camera unit 2 can be easily sent out and collected by the energization control of the electromagnet of the connecting portion 26 and the drive control of the motor 51.

  Further, in order to protect the wire 25 and the wiring 54 of the connection portion 26, as shown in FIG. 6B, a stretchable protective tube 50 covering the wire 25 and the wiring 54 may be provided. As the protective tube 50, a configuration in which the different diameter tubes 50a to 50d are sequentially fitted may be employed. This is a configuration similar to the protective tube 40 (see FIG. 4B) of the camera support portion 13 (see FIG. 2) of the camera unit 2 (see FIG. 2).

  In addition, as with the protective tube 140 of the camera support portion 113 of the camera unit 2 described with reference to FIG. 4C, a protective tube having a substantially bellows-like stretchability can be adopted. Moreover, you may employ | adopt the cable etc. which coat | covered the wire 25 and the wiring 54 with the reinforcing material or resin.

  Further, when the feeding unit and the collecting unit are separately provided, the connecting portion 26 of the installation apparatus having only the feeding function may only be in contact with the camera unit 2. That is, the connecting part 26 only needs to be able to press the camera unit 2, and the electromagnetic valve of the connecting part 26 can be eliminated. In addition, in an installation apparatus that does not include an electromagnetic valve or the like, the wiring 54 is unnecessary, and therefore, only the wire 25 may be used without using the protective tube 50 or the like.

  FIGS. 7A and 7B are cross-sectional views showing a connection portion 126 as another example of the connection portion of the installation / recovery device 21, and FIG. 7A shows the disengagement with the camera unit 2. FIG. 4B is a cross-sectional view of the camera unit 2 engaged with the camera unit 2.

  As shown in FIG. 7A, the connection portion 126 has an engagement portion 127 that extends in the radial direction of the wire 25. A part of the engaging portion 127 is rotatably supported in the vicinity of the distal end portion of the connecting portion 126 using, for example, a pin or the like as an axis. The engaging portion 127 is formed with a substantially hook-shaped engaging protrusion that protrudes outward in the radial direction of the wire 25 as the engaging portion 127 rotates.

  Instead of using a pin or the like to rotatably support the engaging portion 127, the engaging portion 127 is formed integrally with the connecting portion 126, and expanded using the elastic deformation of the engaging portion 127. You may employ | adopt the method to make it diameter.

  Further, the connecting portion 126 includes a pressing member 128 that expands the diameter of the engaging portion 127. The pressing member 128 is, for example, a pin-shaped member that is driven by a solenoid or the like. Note that an operation cable or the like may be connected to the pressing member 128, and the pressing member 128 may be operated by the cable.

  The camera unit 2 has an engagement receiving portion 129 that engages with the engagement portion 127. The engagement receiving portion 129 is, for example, a recess into which the engagement portion 127 can enter, and the vicinity of the entrance of the recess is formed narrower than the back side of the recess so that the engagement protrusion of the engagement portion 127 engages. ing. Alternatively, a protrusion that engages with the engaging portion 127 may be formed in the vicinity of the entrance of the concave portion as the engaging receiving portion 129.

  As shown in FIG. 7A, when the engaging portion 127 is inserted into the engaging receiving portion 129 of the camera unit 2 and a solenoid (not shown) or the like is energized by an instruction from the communication unit 4 (see FIG. 1), FIG. ), The pressing member 128 moves. If it does so, it will be pushed by the press member 128 and the engaging part 127 will rotate, and the engaging part 127 and the engagement receiving part 129 will engage. By rewinding the wire 25 in this state, the camera unit 2 can be pulled back and collected.

Next, with reference to FIG. 8, the utilization method of the in-pipe confirmation apparatus 1 in pipe repair work is demonstrated.
FIGS. 8A to 8C are longitudinal sectional views of a drainage pipe 300 showing a pipe repairing process using the in-pipe confirmation device 1, and FIG. 8A shows the position adjustment of the cutter 310, FIG. B) shows the position adjustment of the lining tool 311, and FIG. 10C shows the inspection after construction.

  As described above, the camera unit 2 of the in-pipe confirmation apparatus 1 can be separated from the transport unit 3 (see FIG. 1). Therefore, as shown in FIG. 8A, the resin layer 304 can be formed on the inner wall 301a of the main pipe 301 in a state where the camera unit 2 is previously disposed inside the branch pipe 302.

  Then, when the resin layer 304 formed on the inner wall 301 a of the main pipe 301 is cut off, light is emitted toward the main pipe 301 from the LED light 12 of the camera unit 2 arranged in advance in the branch pipe 302.

  Accordingly, the light transmitted through the resin layer 304 can be detected by the camera 313 inserted into the main pipe 301. As a result, the junction point of the branch pipe 302 covered with the resin layer 304 can be searched efficiently, and the position of the cutter 310 for cutting off the resin layer 304 can be adjusted accurately.

  Next, as shown in FIG. 8B, when lining the inside of the branch pipe 302, the lining tool 311 is photographed from the inside of the branch pipe 302, and the image information is used to adjust the position of the lining tool 311. Can be used.

  Here, by inserting the antenna 30 of the communication unit 4 into the main pipe 301 together with the lining tool 311, image information from the camera unit 2 can be received well. Accordingly, the resin layer 305 (see FIG. 8C) can be formed at an accurate position, and the work efficiency of the lining construction can be improved.

  Then, as shown in FIG. 8C, after the lining repair is completed, the formation state of the resin layer 305 formed inside the branch pipe 302 is checked by the camera 10 of the camera unit 2 inside the branch pipe 302. Can be inspected in detail.

In particular, it is possible to observe the joining state in the vicinity of the end portion 307 of the resin layer 305 over the entire circumference without being obstructed by the communication cable or the operation cable and in the direction from the inside of the branch pipe 302 toward the main pipe 301. it can. Thus, inspection after lining construction can be performed efficiently and with high accuracy.
In this case as well, image information from the camera unit 2 can be received well by inserting the antenna 30 of the communication unit 4 into the main pipe 301.

As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment.
For example, air pressure can also be used as a collecting means for collecting the camera unit 2 from the inside of the branch pipe 302. Specifically, the camera unit 2 can be pulled out from the inside of the branch pipe 302 by sucking air from the inside of the main pipe 301. In this case, as a connecting portion of the installation device for sending the camera unit 2 into the branch pipe 302, a method of simply abutting and pressing the camera unit 2 can be employed.

  Further, the camera unit 2 may be provided with a self-propelled device having a drive motor and a drive roller driven by the drive motor so that the camera unit 2 can be self-propelled. The self-propelled device may be a collecting unit that collects the camera unit 2 from the inside of the branch pipe 302. In this case, an installation device having only a function of feeding the camera unit 2 into the branch pipe 302 may be adopted as the transport unit 3.

In addition, as an example of using the in-pipe confirmation apparatus 1, repair work for lining the inside of the drain pipe 300 with the resin layers 304 and 305 has been shown, but the present invention is limited to the above-described lining repair work. It is not a thing. For example, as the resin layers 304 and 305, various synthetic resin materials including fiber reinforced resin (FRP) and various other materials can be used. Also, various other construction methods can be adopted as a method for forming the resin layers 304 and 305. In addition, for example, the in-pipe confirmation apparatus 1 according to the present invention may be used in order to confirm the inside of the pipe and to observe the inside of the pipe for other purposes.
In addition, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 In-pipe confirmation apparatus 2 Camera unit 3 Conveyance unit 4 Communication unit 10 Camera 11 Communication part 12 LED light 13 Camera support part 14 Telescopic device 15 Wire 17 Holding apparatus 18 Stopper 20 Storage part 21 Installation collection | recovery apparatus 25 Wire 26 Connection part 40 Protection Tube 41 Motor 42 Winding rotor 50 Protection tube 51 Motor 52 Winding rotor 113 Camera support portion 117 Holding device 126 Connection portion 217 Holding device 301 Main tube 302 Branch tube 304 Resin layer 305 Resin layer

Claims (6)

In-pipe confirmation device for observing the inside of the branch pipe that joins the main pipe,
A camera unit having a camera that captures the inside of the branch pipe, and a communication unit that transmits image information captured by the camera;
A storage unit in which the camera unit is stored, a feeding unit that sends the camera unit from the storage unit to the inside of the branch pipe, and a collection unit that recovers the camera unit from the inside of the branch pipe to the storage unit; A transport unit having
A communication unit that receives the image information transmitted from the communication unit,
The in-pipe confirmation apparatus, wherein the feeding unit and the collecting unit are configured to be separable from the camera unit.   The in-pipe confirmation apparatus according to claim 1, wherein the camera photographs the direction of the main pipe when the camera unit is disposed inside the branch pipe.   The in-pipe confirmation apparatus according to claim 1 or 2, wherein the camera unit includes an illuminating device that emits light toward a junction between the main pipe and the branch pipe.   The said camera unit has a holding means which presses the inner surface of the said branch pipe and hold | maintains the said camera unit in the predetermined position inside the said branch pipe, The any one of Claim 1 to 3 characterized by the above-mentioned. The piping confirmation device according to item 1.   5. The camera unit according to claim 1, wherein the camera unit includes a telescopic camera support unit that has the camera attached to one end and the vicinity of the other end fixed to the camera unit. The piping confirmation device according to item 1.   At least one of the feeding means and the collecting means includes a motor, a winding rotor that is rotationally driven by the motor, a wire that is wound around the winding rotor and is wound and delivered by driving the motor, 6. The in-pipe confirmation according to claim 1, further comprising: a connecting portion provided at a tip of the wire and detachably contacting or engaging with the camera unit. apparatus.

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