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1. 发明公开

EP0831299A1 DEVICE FOR OBSERVING INNER WALL SURFACE OF CONDUIT 失效
标题翻译： VORRICHTUNG ZUM BEOBACHTEN DERINNENWANDOBERFLÄCHEEINES ROHRES
公开(公告)号：EP0831299A1
公开(公告)日：1998-03-25
申请号：EP96906950.9
申请日：1996-03-26
申请人： TOA GROUT KOGYO CO., LTD. , CORE CORP.
发明人： OOKA, Shinkichi , SANO, Sakae , MATSUMOTO, Yoshitaka , MURAKAMI, Osamu
IPC分类号： G01B11/30 , E21B47/00
CPC分类号： G01C7/06 , G01N21/954
摘要： A device for wholly and continuously observing inner wall surfaces, which are dark and difficult to observe, of a conduit, such as a water pipe, or a sewage pipe which runs vertically, horizontally, obliquely and meanderingly under the ground, with an accurate position measurement. A scanner is put into a conduit, and a travelling section of a moving device is driven under the instruction from a control device to move the scanner along the axis of the conduit. A distance sensor measures the distance of movement of the scanner based on the length of a cable paid out, and a posture sensor having a three-axis gyroscope measures the posture of the scanner using the roll angle, pitch angle and yaw angle. These distance data and posture data which vary with movement of the scanner are sequentially transmitted to the control device on the ground through the cable, and combined with the picture data outputted from the scanner to generate continuous developed picture of inner wall surface of the conduit.
摘要翻译：一种用于完全和连续地观察内壁表面的装置，它们是阴暗且难以观察的，其中管道如水管或在地下垂直，水平，倾斜和蜿蜒地运行的导管，测量。将扫描器放入管道中，并且在来自控制装置的指令下驱动移动装置的行进部分以沿着导管的轴线移动扫描仪。距离传感器基于所支付的电缆的长度来测量扫描仪的移动距离，并且具有三轴陀螺仪的姿势传感器使用滚动角，俯仰角和偏航角来测量扫描仪的姿势。随着扫描仪的移动而变化的这些距离数据和姿势数据通过电缆顺序发送到地面上的控制装置，并与从扫描仪输出的图像数据组合，以产生导管内壁表面的连续显影图像。

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