公开(公告)号：US20050115337A1

公开(公告)日：2005-06-02

申请号：US10506607

申请日：2002-07-22

申请人： Minoru Tarumi

发明人： Minoru Tarumi

IPC分类号： G01M99/00 ,  F16L55/28 ,  F16L55/32 ,  G01N22/02 ,  G01S17/88 ,  G01M19/00

CPC分类号： F16L55/28 ,  F16L55/32 ,  F16L2101/30 ,  G01N22/02 ,  G01S17/88

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.

摘要翻译： 一种用于检查地下管线内部的装置，其可以在地下管的整个内周面上，即不仅在地下管的上方，还可以在地下管的外侧搜索空腔，而且还可以 朝向其两侧和向下，以不使用复合机构来获得管线内周面的详细图像，并且通过三维会聚图像在地下管的内周面上显示出裂纹和凹凸的图案。 该设备包括管线内部自推进车辆和地面控制单元，管线内部自行车辆设有雷达天线，配有鱼眼镜头的相机，陀螺仪，激光传感器， 和红外编码器。

公开(公告)号：US07131344B2

公开(公告)日：2006-11-07

申请号：US10506607

申请日：2002-07-22

申请人： Minoru Tarumi

发明人： Minoru Tarumi

IPC分类号： G01M19/00

CPC分类号： F16L55/28 ,  F16L55/32 ,  F16L2101/30 ,  G01N22/02 ,  G01S17/88

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.

摘要翻译： 一种用于检查地下管线内部的装置，其可以在地下管的整个内周面上，即不仅在地下管的上方，还可以在地下管的外侧搜索空腔，而且还可以 朝向其两侧和向下，以不使用复合机构来获得管线内周面的详细图像，并且通过三维会聚图像在地下管的内周面上显示出裂纹和凹凸的图案。 该设备包括管线内部自推进车辆和地面控制单元，管线内部自行车辆设有雷达天线，配有鱼眼镜头的相机，陀螺仪，激光传感器， 和红外编码器。