SELF-PROPELLED INSIDE-OF-TUBE INSPECTION ROBOT FOR EGG-SHAPED PIPE

摘要

PROBLEM TO BE SOLVED: To provide a self-propelled inside-of-tube inspection robot for egg-shaped pipes that can autonomously travel in a sewer pipe formed in an inverse-egg shape stably, dispenses with an exclusive operator and large facilities, has improved handling properties, can travel toward an exit reliably along a pipe even if not only there are irregularities, collapses, positioning deviations of joints, and an opening of branch arm piping in the pipe but also the pipe is inclined or bent, can photograph the surface of an inner wall quickly and efficiently, and is reliable in inspection work and has improved efficiency.;SOLUTION: The self-propelled inside-of-tube inspection robot comprises a frame; right and left endless tracks that are arranged in a truncated chevron shape at a lower portion of the frame and is in contact with the sidewall section of the egg-shaped pipe; a camera arranged at the tip of a side in the traveling direction of the frame; an illumination section for lighting the traveling direction; a storage section for storing an image photographed by the camera; a drive motor for driving the endless tracks; and a battery for supplying power to the drive motor. The battery and/or weight sections are arranged at a lower center between the right and left endless tracks.;COPYRIGHT: (C)2009,JPO&INPIT