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1. 发明授权

US6123027A Self-propelled vehicle within pipe 失效
标题翻译：自行车内管
公开(公告)号：US6123027A
公开(公告)日：2000-09-26
申请号：US212398
申请日：1998-12-16
申请人： Kiichi Suyama , Seiji Mizukami , Toshihide Kawabe , Yoshio Ido
发明人： Kiichi Suyama , Seiji Mizukami , Toshihide Kawabe , Yoshio Ido
IPC分类号： F16L55/00 , F16L55/16 , F16L55/28 , B61B13/10
CPC分类号： F16L55/28
摘要： A running apparatus within a pipe runs such that a center axis of a main body of the running apparatus is automatically coincided with a center axis of the pipe during running, and smoothly runs within a curved pipe. The running apparatus comprises two pairs of wheel supporting arms (3a, 3a', 3b, 3b') having an end rotatably fixed to an end portion of the main body (1) of the running apparatus, a wheel for driving the running (5) fixed to each of the other ends of two pairs of wheel supporting arms and rotated by a drive mechanism (a motor), an interlocking mechanism (a slider and a link) provided with a spring for urging two pairs of wheel supporting arms to which the wheels for driving the running are fixed in such a manner as to open around the one end of the main body of the running apparatus, a rotational potentiometer for measuring an angle of incline of each of two pairs of wheel supporting arms so as to output a data of an angle of incline and an attitude control portion (20) for returning an attitude of the main body of the running apparatus to a normal attitude state by controlling the drive mechanism on the basis of the data of the angle of incline with respect to each of two pairs of wheel supporting arms output from the rotational potentiometer.
摘要翻译：管道内的运行装置运行，使得运行装置的主体的中心轴线在运行期间自动与管道的中心轴线重合，并且在弯曲管道内平稳地运行。运行装置包括两对车轮支撑臂（3a，3a'，3b，3b'），其具有可旋转地固定到行驶装置的主体（1）的端部的端部，用于驱动行驶（5 ）固定到两对车轮支撑臂的每个另一端并由驱动机构（电动机），互锁机构（滑块和连杆）旋转的联锁机构（滑块和连杆），弹簧用于推动两对车轮支撑臂，用于驱动行驶的车轮以围绕运行装置的主体的一端打开的方式固定，用于测量两对车轮支撑臂中的每一个的倾斜角度的旋转电位计，以便输出倾斜角度的数据和姿态控制部分（20），用于通过基于倾斜角度的数据来控制驱动机构，使运行装置的主体的姿态恢复到正常姿势状态对于每对两对wh 鳗鱼支持从旋转电位器输出的臂。

2. 发明授权

US5963042A Method for inspecting the elements of piping systems by electromagnetic waves 失效
公开(公告)号：US5963042A
公开(公告)日：1999-10-05
申请号：US48002
申请日：1998-03-26
申请人： Kiichi Suyama , Takashi Imaoka
发明人： Kiichi Suyama , Takashi Imaoka
IPC分类号： G01N22/02 , G01R27/26
CPC分类号： G01N22/02
摘要： Electromagnetic waves are driven in the pipe to be inspected in the piping system by a transmitting antenna of a transmitter, to be propagated in the pipe; while a receiving antenna of a receiver is moved outside the pipe along the pipe, to receive leaking electromagnetic waves for inspecting elements of the piping system, and the location concerned of each element of the piping system to be inspected is detected in reference to the location of the receiving antenna where the level of electromagnetic waves received by the receiver becomes a peak. The locations to be inspected are the damaged portions such as holes formed by corrosion, cracks, etc. in the pipes, and the locations of joints, etc. It is also possible to move the transmitting antenna outside along the pipe, while arranging the receiving antenna at proper place in the pipe. Furthermore, it is also possible to move both the transmitting antenna and the receiving antenna in synchronization to effect the above inspection. When either the transmitting antenna or the receiving antenna is moved, the frequency of electromagnetic waves can be a frequency propagated in the pipe or can also be lower than the cut-off frequency. On the other hand, the antenna can be made long and kept in the pipe, to use a frequency lower than the cut-off frequency without moving the antenna

3. 发明授权

US5990690A Method for inspecting the elements of piping systems BT electromagnetic waves 失效
标题翻译：检查管道系统元素BT电磁波的方法
公开(公告)号：US5990690A
公开(公告)日：1999-11-23
申请号：US48115
申请日：1998-03-26
申请人： Kiichi Suyama , Takashi Imaoka
发明人： Kiichi Suyama , Takashi Imaoka
IPC分类号： G01N22/02 , G01R27/26
CPC分类号： G01N22/02
摘要： Electromagnetic waves are driven in the pipe to be inspected in the piping system by a transmitting antenna of a transmitter, to be propagated in the pipe; while a receiving antenna of a receiver is moved outside the pipe along the pipe, to receive leaking electromagnetic waves for inspecting elements of the piping system, and the location concerned of each element of the piping system to be inspected is detected in reference to the location of the receiving antenna where the level of electromagnetic waves received by the receiver becomes a peak. The locations to be inspected are the damaged portions such as holes formed by corrosion, cracks, etc. in the pipes, and the locations of joints, etc. It is also possible to move the transmitting antenna outside along the pipe, while arranging the receiving antenna at proper place in the pipe. Furthermore, it is also possible to move both the transmitting antenna and the receiving antenna in synchronization to effect the above inspection. When either the transmitting antenna or the receiving antenna is moved, the frequency of electromagnetic waves can be a frequency propagated in the pipe or can also be lower than the cut-off frequency. On the other hand, the antenna can be made long and kept in the pipe, to use a frequency lower than the cut-off frequency without moving the antenna.
摘要翻译：电磁波在管道系统中通过发射器的发射天线在管道中被驱动，以在管道中传播; 而接收器的接收天线沿着管道移动到管道外部，以接收用于检查管道系统的元件的泄漏的电磁波，并且参考所述位置来检测所检查的管道系统的每个元件的相关位置的接收天线接收到的电磁波水平成为峰值的接收天线。要检查的位置是管道中由腐蚀，裂缝等形成的孔以及接头等的损坏部分。还可以沿着管道将发射天线移动到外部，同时布置接收天线在管道正确的位置。此外，也可以同步地移动发射天线和接收天线，以实现上述检查。当发射天线或接收天线都移动时，电磁波的频率可以是在管道中传播的频率，或者也可以低于截止频率。另一方面，天线可以制造得很长并保持在管道中，使用的频率低于截止频率，而不会移动天线。

4. 发明授权

US5773984A Method of inspecting abnormality occurring inside pipe and apparatus for practicing the method 失效
标题翻译：管道内部异常检测方法及其实施方法
公开(公告)号：US5773984A
公开(公告)日：1998-06-30
申请号：US585979
申请日：1996-01-12
申请人： Kiichi Suyama , Hajime Furusawa , Yasuharu Hosohara , Takashi Kobori
发明人： Kiichi Suyama , Hajime Furusawa , Yasuharu Hosohara , Takashi Kobori
IPC分类号： G01B15/00 , G01B15/04 , G01N22/02 , G06T7/60 , G01R29/00
CPC分类号： G06T7/60 , G01B15/00 , G01B15/04 , G01N22/02
摘要： A method of inspecting an abnormality occurring inside a pipe to be inspected, and an apparatus for practicing the method, which includes the steps of transmitting an electric radio or radio frequency (RF) wave having a predetermined frequency from an antenna of a transmitter located at a predetermined position inside the pipe, receiving the transmitted RF wave by an antenna of a receiver located at a predetermined position inside the pipe, and discriminating a characteristic of the received RF wave. The characteristic of the received RF wave can be the intensity of the RF wave, and an attenuation amount is detected in a first example. Alternatively, the characteristic of the received RF wave may be the time required to reflect the transmitted RF wave and receive it with the receiver, and the time interval between transmission of the RF wave and reception of the reflected RF wave is measured in this alternative.
摘要翻译：一种检查在待检查的管道内发生的异常的方法，以及一种用于实施该方法的装置，包括以下步骤：从位于所述检测器的发射机的天线发射具有预定频率的电波或射频（RF）波在管道内的预定位置，通过位于管道内的预定位置处的接收器的天线接收发送的RF波，并且识别所接收的RF波的特性。所接收的RF波的特性可以是RF波的强度，并且在第一示例中检测到衰减量。或者，所接收的RF波的特性可以是反射所发射的RF波并且用接收机接收它所需的时间，并且在该替代方案中测量RF波的发射与反射RF波的接收之间的时间间隔。

5. 发明授权

US6005396A Method for inspecting the elements of piping systems by electromagnetic waves 失效
标题翻译：通过电磁波检查管道系统的元件的方法
公开(公告)号：US6005396A
公开(公告)日：1999-12-21
申请号：US48117
申请日：1998-03-26
申请人： Kiichi Suyama , Takashi Imaoka
发明人： Kiichi Suyama , Takashi Imaoka
IPC分类号： G01N22/02 , G01R27/26
CPC分类号： G01N22/02
摘要： Electromagnetic waves are driven in the pipe to be inspected in the piping system by a transmitting antenna of a transmitter, to be propagated in the pipe; while a receiving antenna of a receiver is moved outside the pipe along the pipe, to receive leaking electromagnetic waves for inspecting elements of the piping system, and the location concerned of each element of the piping system to be inspected is detected in reference to the location of the receiving antenna where the level of electromagnetic waves received by the receiver becomes a peak. The locations to be inspected are the damaged portions such as holes formed by corrosion, cracks, etc. in the pipes, and the locations of joints, etc. It is also possible to move the transmitting antenna outside along the pipe, while arranging the receiving antenna at proper place in the pipe. Furthermore, it is also possible to move both the transmitting antenna and the receiving antenna in synchronization to effect the above inspection. When either the transmitting antenna or the receiving antenna is moved, the frequency of electromagnetic waves can be a frequency propagated in the pipe or can also be lower than the cut-off frequency. On the other hand, the antenna can be made long and kept in the pipe, to use a frequency lower than the cut-off frequency without moving the antenna
摘要翻译：电磁波在管道系统中通过发射器的发射天线在管道中被驱动，以在管道中传播; 而接收器的接收天线沿着管道移动到管道外部，以接收用于检查管道系统的元件的泄漏的电磁波，并且参考所述位置来检测所检查的管道系统的每个元件的相关位置的接收天线接收到的电磁波水平成为峰值的接收天线。要检查的位置是管道中由腐蚀，裂缝等形成的孔以及接头等的损坏部分。还可以沿着管道将发射天线移动到外部，同时布置接收天线在管道正确的位置。此外，也可以同步地移动发射天线和接收天线，以实现上述检查。当发射天线或接收天线都移动时，电磁波的频率可以是在管道中传播的频率，或者也可以低于截止频率。另一方面，天线可以做长并且保持在管道中，使用低于截止频率的频率而不移动天线

6. 发明授权

US5736821A Intrapipe work robot apparatus and method of measuring position of intrapipe work robot 失效
标题翻译： Intrapipe工作机器人装置及其测量位置的方法
公开(公告)号：US5736821A
公开(公告)日：1998-04-07
申请号：US430951
申请日：1995-04-28
申请人： Kiichi Suyama
发明人： Kiichi Suyama
IPC分类号： F16L55/26 , F16L55/32 , F16L55/48 , G01M3/00 , H04Q7/00
CPC分类号： F16L55/26 , F16L55/32 , F16L55/48 , G01M3/005 , F16L2101/30
摘要： An intrapipe work robot apparatus includes an intrapipe work robot and an operation unit. The intrapipe work robot is inserted into a pipe so as to perform a work while performing automotive traveling in the pipe. The operation unit designates travel and other actions of the robot externally of the pipe. The operation output signal is transmitted from at least the operation unit to the intrapipe work robot through a radio communicating device having special antenna units.
摘要翻译：一种嵌入式作业机器人装置，具备：插入式作业机器人和操作单元。将管内作业机器人插入管道中，以便在管道中进行汽车行驶时执行工作。操作单元指定机器人在管道外部的行进和其他动作。操作输出信号通过具有特殊天线单元的无线电通信装置从至少操作单元发送到带内作业机器人。

7. 发明授权

US6008657A Method for inspecting the elements of piping systems by electromagnetic waves 失效
标题翻译：通过电磁波检查管道系统的元件的方法
公开(公告)号：US6008657A
公开(公告)日：1999-12-28
申请号：US687450
申请日：1996-08-15
申请人： Kiichi Suyama , Takashi Imaoka
发明人： Kiichi Suyama , Takashi Imaoka
IPC分类号： G01N22/02 , G01R27/26
CPC分类号： G01N22/02
摘要： Electromagnetic waves are driven in the pipe to be inspected in the piping system by a transmitting antenna of a transmitter, to be propagated in the pipe; while a receiving antenna of a receiver is moved outside the pipe along the pipe, to receive leaking electromagnetic waves for inspecting elements of the piping system, and the location concerned of each element of the piping system to be inspected is detected in reference to the location of the receiving antenna where the level of electromagnetic waves received by the receiver becomes a peak. The locations to be inspected are the damaged portions such as holes formed by corrosion, cracks, etc. in the pipes, and the locations of joints, etc. It is also possible to move the transmitting antenna outside along the pipe, while arranging the receiving antenna at proper place in the pipe. Furthermore, it is also possible to move both the transmitting antenna and the receiving antenna in synchronization to effect the above inspection. When either the transmitting antenna or the receiving antenna is moved, the frequency of electromagnetic waves can be a frequency propagated in the pipe or can also be lower than the cut-off frequency. On the other hand, the antenna can be made long and kept in the pipe, to use a frequency lower than the cut-off frequency without moving the antenna.
摘要翻译： PCT No.PCT / JP95 / 02604 Sec。 371日期：1996年8月15日 102（e）日期1996年8月15日PCT 1995年12月18日PCT PCT。公开号WO96 / 18884 日期1996年6月20日电磁波通过发射机的发射天线在管道系统中被驱动，在管道中传播; 而接收器的接收天线沿着管道移动到管道外部，以接收用于检查管道系统的元件的泄漏的电磁波，并且参考所述位置来检测所检查的管道系统的每个元件的相关位置的接收天线接收到的电磁波水平成为峰值的接收天线。要检查的位置是管道中由腐蚀，裂缝等形成的孔以及接头等的损坏部分。还可以沿着管道将发射天线移动到外部，同时布置接收天线在管道正确的位置。此外，也可以同步地移动发射天线和接收天线，以实现上述检查。当发射天线或接收天线都移动时，电磁波的频率可以是在管道中传播的频率，或者也可以低于截止频率。另一方面，天线可以制造得很长并保持在管道中，使用的频率低于截止频率，而不会移动天线。

8. 发明授权

US5966016A Method for inspecting the elements of piping systems by electromagnetic waves 失效
标题翻译：通过电磁波检查管道系统的元件的方法
公开(公告)号：US5966016A
公开(公告)日：1999-10-12
申请号：US48116
申请日：1998-03-26
申请人： Kiichi Suyama , Takashi Imaoka
发明人： Kiichi Suyama , Takashi Imaoka
IPC分类号： G01N22/02 , G01R27/26
CPC分类号： G01N22/02
摘要： Electromagnetic waves are driven in the pipe to be inspected in the piping system by a transmitting antenna of a transmitter, to be propagated in the pipe; while a receiving antenna of a receiver is moved outside the pipe along the pipe, to receive leaking electromagnetic waves for inspecting elements of the piping system, and the location concerned of each element of the piping system to be inspected is detected in reference to the location of the receiving antenna where the level of electromagnetic waves received by the receiver becomes a peak. The locations to be inspected are the damaged portions such as holes formed by corrosion, cracks, etc. in the pipes, and the locations of joints, etc. It is also possible to move the transmitting antenna outside along the pipe, while arranging the receiving antenna at proper place in the pipe. Furthermore, it is also possible to move both the transmitting antenna and the receiving antenna in synchronization to effect the above inspection. When either the transmitting antenna or the receiving antenna is moved, the frequency of electromagnetic waves can be a frequency propagated in the pipe or can also be lower than the cut-off frequency. On the other hand, the antenna can be made long and kept in the pipe, to use a frequency lower than the cut-off frequency without moving the antenna.
摘要翻译：电磁波在管道系统中通过发射器的发射天线在管道中被驱动，以在管道中传播; 而接收器的接收天线沿着管道移动到管道外部，以接收用于检查管道系统的元件的泄漏的电磁波，并且参考所述位置来检测所检查的管道系统的每个元件的相关位置的接收天线接收到的电磁波水平成为峰值的接收天线。要检查的位置是管道中由腐蚀，裂缝等形成的孔以及接头等的损坏部分。还可以沿着管道将发射天线移动到外部，同时布置接收天线在管道正确的位置。此外，也可以同步地移动发射天线和接收天线，以实现上述检查。当发射天线或接收天线都移动时，电磁波的频率可以是在管道中传播的频率，或者也可以低于截止频率。另一方面，天线可以制造得很长并保持在管道中，使用的频率低于截止频率，而不会移动天线。

9. 发明授权

US5612625A Method of measuring inner diameter of pipe 失效
标题翻译：测量管内径的方法
公开(公告)号：US5612625A
公开(公告)日：1997-03-18
申请号：US544898
申请日：1995-10-18
申请人： Kiichi Suyama , Hajime Furusawa , Yasuharu Hosohara , Takashi Kobori
发明人： Kiichi Suyama , Hajime Furusawa , Yasuharu Hosohara , Takashi Kobori
IPC分类号： G01B15/00 , G01N22/02 , G01V3/12 , G01R29/00
CPC分类号： G01B15/00 , G01N22/02
摘要： A method of measuring the inner diameter of a pipe includes the steps of continuously transmitting RF waves of a predetermined frequency band from an antenna of a transmitter located inside of the pipe to be inspected, receiving the RF waves with an antenna of a receiver located inside the pipe, the antenna of the receiver being spaced apart from the antenna of the transmitter by a predetermined distance, detecting a frequency at a change point where an intensity of the received RF wave changes greatly, and substituting the frequency at the change point into a formula: d=c/1.706f (wherein d is the inner diameter of the pipe, c is the velocity of light, and f is the frequency at the change point) which shows the relation between the inner diameter of the pipe and the frequency to obtain a minimum inner diameter of the pipe.
摘要翻译：一种测量管道内径的方法包括以下步骤：从位于被检测管内部的发射器的天线连续地发送预定频带的RF波，接收位于内部的接收器的天线的RF波所述接收器的天线与所述发射机的天线间隔预定距离，检测在所接收的RF波的强度变化很大的变化点处的频率，并将所述变化点处的频率代入到公式：d = c / 1.706f（其中d是管的内径，c是光的速度，f是变化点的频率），其示出了管的内径与频率之间的关系以获得管的最小内径。

10. 发明授权

US06895681B2 Method and instrument for measuring inside diameter of conduit 失效
标题翻译：用于测量管道内径的方法和仪器
公开(公告)号：US06895681B2
公开(公告)日：2005-05-24
申请号：US10473717
申请日：2002-03-28
申请人： Yasushi Yonemura , Kiichi Suyama , Ryuji Sakasai
发明人： Yasushi Yonemura , Kiichi Suyama , Ryuji Sakasai
IPC分类号： B08B9/04 , G01B7/13 , G01B7/287 , G01B7/293 , G01B5/20
CPC分类号： B08B9/0557 , G01B7/13 , G01B7/287 , G01B7/293 , Y10S33/13
摘要： An apparatus for measuring an inner diameter of a pipeline is incorporated into a passage pig for checking passableness through the pipeline or a cleaning pig for cleaning within the pipeline, the passage pig and the cleaning pig including at least one seal cup sealably sliding along an interior surface of the pipeline. The apparatus includes a travel distance measuring unit for measuring a travel distance of the passage pig or the cleaning pig within the pipeline, a swing angle detector for detecting a swing angle of a pig body during the travel distance measurement, a displacement detector for individually detecting a radial displacement of the peripheral portion of the seal cup at a number of points along an entire circumference during the travel distance measurement, a computing unit for computing an output from each of said means, and a recording means for recording an output from the computing unit.
摘要翻译：用于测量管道内径的装置被并入到通过管道的通行猪中，以便通过管道或用于在管道内进行清洁的清洁猪，通道猪和清洁猪包括至少一个沿着内部可密封地滑动的密封杯管道表面。该装置包括用于测量管道内的通道猪或清洁猪的行进距离的行进距离测量单元，用于在行驶距离测量期间检测猪体的摆动角度的摆动角度检测器，用于单独检测的位移检测器在行进距离测量期间沿着整个圆周的多个点处的密封杯的周边部分的径向位移，用于计算每个所述装置的输出的计算单元和用于记录来自计算机的输出的记录装置单元。

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