Device and method for inspecting inside of underground pipe line and method of inspecting concrete on inside of underground pipe line for deterioration

摘要

A device for inspecting the inside of an underground pipe line which makes it possible to search for cavities on the outside of the underground pipe over the entire internal peripheral surface of the underground pipe, that is, not only upward of the underground pipe, but also toward both sides and downward thereof, to obtain detailed images of the inner peripheral surface of the pipe line without using a complex mechanism, and to display patterns of cracks and irregularities on the inner peripheral surface of the underground pipe by three-dimensional convergence images. The device comprises a pipe line internal self-propelled vehicle and an on-ground control unit, and the pipe line internal self-propelled vehicle is provided with a radar antenna, a camera equipped with a fisheye lens, a gyro, a laser sensor, and an infrared encoder.