Buried duct in concrete degradation inspection method and method thereof, and buried duct within the test equipment

摘要

Not only the upper direction of the buried pipe, cavity search outside and also is possible over the entire inner peripheral surface of the lower direction or both sides direction of the buried pipe, Detailed conduit circumference without using a complicated mechanism images of the surface is obtained, further, can be displayed in the inner space displacement images of three-dimensional state of irregularities or cracks of the inner peripheral surface of the buried pipe, and one that is an object of the present invention is to provide a buried pipe in the inspection apparatus , consists of a ground control unit and conduit self-propelled vehicle, the conduit self-propelled vehicle, a camera equipped with a radar antenna, a fisheye lens, gyro, laser sensors, infrared encoder is provided.