JPH0832845A - Image pickup device for monitor traveling in pipe - Google Patents

Abstract

PURPOSE:To display a state in a pipe on a monitor television receiver or the like very simply and selecting optionally the front and the side direction of the state pickup. CONSTITUTION:An image pickup device 1 is mounted on a running truck R driven in a pipe P and a state in the pipe P is displayed on a television monitor or the like at the outside of the pipe P. The image pickup device 1 is provided with a camera box 10 connecting to the front part of the truck R, a television camera 20 arranged in the camera box 10 and directing a camera lens 22 in front so as to view directly the front visual field, a focus adjustment mechanism 30 adjusting the focus in the television camera 20 and a reflecting mirror mechanism rolling and rocking a mirror 50 making a side visual field onto the television camera 20 as a reflected mirror image and a reflecting mirror mechanism 40 turning the mirror around the television camera 20. The focus adjustment and the rolling and rocking of the mirror 50 are conducted by the drive control of motors 31, 42, 56 by remote control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention runs in these pipes to inspect for corrosion, damage and various other conditions in various pipes such as drainage pipes for agriculture, main pipes for public water and sewage. The present invention relates to an imaging device for a traveling monitor inside a pipe, which can be mounted on a traveling vehicle such as a pipe to photograph the inner peripheral surface of the pipe and monitor it on a monitor TV or the like prepared outside the pipe.

[0002]

2. Description of the Related Art Conventionally, in various types of piping equipment which is constructed by combining pipelines of various diameters, in order to perform an internal inspection for corrosion, damage, etc. on the inner peripheral surface of the piping, a small traveling carriage running inside the piping is required. An image pickup device such as a CCD camera, which is a TV camera of the above, is installed, and a situation image inside the pipe taken by controlling by a control device installed outside the pipe is viewed on a monitor TV or the like. For that purpose, it is required that the photographing device itself be downsized, that the lighting device be provided, and that the range of the field of view in the tube be increased by remote control of the photographing posture and the like.

[0003]

However, in spite of the above-mentioned requirements, it is extremely difficult to downsize the photographing apparatus of this type that has been conventionally proposed, and the photographing apparatus has a minimum diameter of about 300 mm. However, it cannot be applied to agricultural drainage pipes having a diameter of about 150 to 200 mm and main pipes for public water and sewerage. In particular, in order to monitor the inner peripheral surface of the conduit, the posture of the camera itself must be controlled by changing it to depression, elevation, etc., so the posture control mechanism becomes complicated and large, and the device itself can be downsized. It was extremely difficult.

Therefore, the present invention was created in view of the above existing circumstances, and the situation around the inside of the tube for monitoring the inside of the tube can be very easily displayed on a monitor TV or the like. Moreover, the situation can be photographed not only on the front side but also on both sides of the inner peripheral surface of the pipe wall, and the device itself can be downsized to enter a relatively small diameter conduit. An object of the present invention is to provide a photographing device for a traveling monitor in a pipe, which enables traveling and variously controls a photographing state by remote control.

[0005]

In order to achieve the above object, in the present invention, a television monitor M mounted on a traveling carriage R traveling in a pipe P and arranged outside the pipe P.
A camera box 10 connected to the front portion of the traveling carriage R in the one in which the situation inside the pipe P is displayed on
And a television camera 20 installed in the camera box 10 and having a camera lens 22 directed forward,
A focus adjustment mechanism 30 for adjusting the focus in the TV camera 20, and a mirror 50 for oscillating and oscillating the mirror 50 that makes the side view incident on the TV camera 20 as a reflector image, and also a mirror for rotating the mirror 50 around the TV camera 20. And a mechanism 40. The camera box 10 includes a camera fixing cylinder 21 in which a TV camera 20 is fixed internally, and a storage case 11 having a substantially bottomed cylindrical shape having therein a fixing portion 13 for supporting and fixing the rear portion of the camera fixing cylinder 21, and this storage. It can be configured by including a transparent protective cover 15 connected to the front part of the case 11, and a donut-shaped chassis 25 interposed between the outer periphery of the camera fixing cylinder 21 and the inner periphery of the storage case 11. The focus adjustment mechanism 30 is a focus adjustment driven by the drive force of the focus motor 31 so that the focus motor 31 fixedly arranged in the camera box 10 and the focus adjustment lens housing 23 of the television camera 20 are both transmitted and rotated. The focus adjustment cylinder shaft 34 has a front portion projecting forward of the camera fixed barrel 21, and the projected focus adjustment cylinder shaft 34 front inner circumference and the focus adjustment lens housing 23. An O-ring-shaped interconnecting transmission ring 35 may be interposed between the outer periphery and the outer periphery. Reflection mirror mechanism 4
Reference numeral 0 denotes a mirror rotating means 41 for rotating a cylindrical shaft 45 for mirror rotation arranged on the outer periphery of the focus adjusting lens housing 23, retracts to the side of the focus adjusting lens housing 23 when lying down, and TV camera 20 when standing up.
The mirror 5 which projects forward from the camera lens 22 and makes the reflecting image of the side surroundings incident on the camera lens 22.
0 can be configured by including a mirror portion 46 in which 0 is supported by a mirror-rotating cylindrical shaft 45 so that the mirror can be oscillated and oscillated, and an oscillating means 55 for oscillating and oscillating the mirror 50. Then, the mirror rotating means 41 is a mirror rotating cylindrical shaft 45 rotatably fitted around the focus adjusting cylindrical shaft 34.
Can be driven to rotate by the driving force of the mirror rotation motor 42 fixedly arranged in the camera box 10. Further, in the mirror section 46, a mirror 50 is fixedly arranged at a symmetrical position on the opposite side of the support arm 48 centered on the camera lens 22 to a support arm 48 that is connected to the mirror rotation cylindrical shaft 45, and focus adjustment is performed. Approximately groove-shaped fixed mirror body 4 straddling the lens housing 23
9 can be supported so that the mirror fixing body 49 itself can swing. Furthermore, the undulating means 5
Reference numeral 5 denotes an undulating slider 59 that moves forward and backward by the rotational driving force of a mirror undulating motor 56 fixedly arranged in the camera box 10, and is integral with the undulating slider 59 and is arranged so as to surround the outer periphery of the camera fixing cylinder 21. The undulating / retracting ring 61 and a cylindrical undulating / cylindrical slide shaft 65 that is connected to the undulating / retracting ring 61 and is rotatably fitted around the mirror rotating cylindrical shaft 45.
And the mirror slide cylindrical slide shaft 65 and the mirror fixing body swinging arm 67 that is swingably connected between the mirror fixing bodies 49. Also,
A focus adjusting cylinder shaft 34 of the focus adjusting mechanism 30 is provided on the outer periphery of a camera fixing cylinder 21 in which the television camera 20 is fixed, and a mirror rotating cylinder of the mirror rotating means 41 of the reflection mirror mechanism 40 is provided on the outer periphery of the focus adjusting cylindrical shaft 34. The shaft 45 is provided on the outer periphery of the mirror rotation cylinder shaft 45, and the mirror undulation cylindrical slide shaft 65 of the undulation means 55.
Can be respectively rotatable and slidable and can be arranged as a triple cylinder structure.

[0006]

In the in-pipe travel monitor photographing apparatus according to the present invention, when the traveling carriage R is mounted on the traveling carriage R and travels in the predetermined pipe P, the focus adjustment in the television camera 20 is performed by the drive control in the focus adjustment mechanism 30. The lens housing 23 focuses on the photographing situation position in the pipe P to correspond it to the image on the television monitor M as appropriate. At this time, in the reflection mirror mechanism 40, the mirror 5 that makes the reflection mirror image of the ambient condition incident on the camera lens 22 in the television camera 20 is controlled by this control.
Side view in the TV camera 20 due to the undulation of 0,
The front view is selectively projected. Reflecting mirror mechanism 40
The undulating means 55 in FIG.
The rotational driving force is converted into the forward / backward movement of the up-and-down moving ring 61 and the mirror up-and-down cylindrical slide shaft 65, and thereby the mirror fixed body 49 is raised and lowered via the mirror fixed body swinging arm 67. When the mirror fixing body 49 is erected up and down by the undulating operation of the mirror fixing body 49, the television camera 20
In front of the camera lens 22 in, the side view is made to enter the camera lens 22 as a reflecting mirror image, and the side view is projected on the television monitor M. When the mirror fixing body 49 is still lying down, the camera lens 2
2 It is assumed that the camera is retracted from the front position to the side position, the front view is made incident on the camera lens 22 as it is, and the front view is projected on the television monitor M. On the other hand, the mirror rotating means 41 rotates the mirror fixing body 49 around the television camera 20 via the mirror rotating cylindrical shaft 45, and rotates the mirror fixing body 49 which is in a half-standing state, so that the situation around the TV camera 20 is increased. Is displayed on the television monitor M as a side view in the entire circumference. The rotatable and slidable triple-cylinder structure of each of the focus adjusting cylinder shaft 34, the mirror rotating cylinder shaft 45, and the mirror undulating cylinder slide shaft 65 is independently rotated and slid.
Focus adjustment, front and side field of view selection, and the like are performed independently of each other, and the required status of each position of the pipe P is displayed on the television monitor M.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In the drawings, reference numeral 1 indicates, for example, a drainage pipe for agriculture, a main pipe for public water supply and sewerage, and other various pipes P. Is a photographing device according to the present invention, which is mounted on a traveling carriage R in which a bottom has several rows of wheels for traveling so that a basic outer shell is formed in a long cylinder in the front-rear direction.
It is detachably mounted in a mounting recess F formed in the front part of the traveling carriage R. The imaging device 1 is fitted into the mounting recess F so as to project forward, and a camera box 10 formed so as to be connected, and the camera box 10.
A small TV camera 20 installed inside, a focus adjustment mechanism 30 for adjusting the focus in the TV camera 20, and a TV camera 20 with a side view as a reflecting mirror image.
The mirror 50 for inclining and oscillating the mirror 50, and the reflecting mirror mechanism 40 for rotating the mirror 50 are also provided. Then, the television camera 20 in the photographing apparatus 1
As shown in FIG. 5, the image photographed by the control unit B of the television monitor M in the control box B is connected via the cable C that connects the photographing apparatus 1 itself and the control box B arranged outside the pipe P. The focus adjustment mechanism 30, the reflection mirror mechanism 40, etc. are displayed remotely on the screen via the cable C via various control means S such as joystick type and dial type provided in the control box B. It has become. The cable C is designed so that the fully automatic cord reel machine D arranged near the entrance of the pipe P automatically feeds and winds the cable C as the traveling carriage R travels back and forth. The cable C is prevented from being loosened or otherwise.

As shown in FIG. 1, the camera box 10 has a cable insertion hole which is open at the front and has various cables C for remote control and television image transmission which are inserted at the bottom of the rear. 12 has a bottomed tubular shape and has a recessed fixing portion 13 for supporting and fixing a camera fixing tube 21 for the TV camera 20 which will be described later, and has a mounting recess F at an appropriate position on the outer peripheral surface. A storage case 11 having a connecting means 14 and a transparent bottomed tubular shape with a front portion closed, and a coupling 16 at an opening in front of the storage case 11.
It is formed of a protective cover 15 that is tightly connected via the like, and a chassis 25 that connects and positions the camera fixing cylinder 21 to the storage case 11 at a substantially central position thereof.

The television camera 20 is a known small CCD.
The camera is housed in a cylindrical camera fixing barrel 21 which is fitted and fixed in the fixing portion 13, and is rotated by a screw feed method at the front portion projecting to the front of the camera fixing barrel 21. A focus adjustment lens housing 23, which is movable back and forth and encloses the camera lens 22, is provided.

The camera fixed barrel 21 is a donut-shaped chassis 25 interposed between the outer circumference of the camera fixed barrel 21 and the inner circumference of the housing case 11 of the camera box 10.
Is firmly fixed in the storage case 11.
The chassis 25 itself is abutted on the inner peripheral surface of the storage case 11 and fixed by screwing or the like on the outer peripheral fixed cylinder portion 26 on the outer peripheral edge, and abutted on the outer peripheral surface of the camera fixed cylinder 21 by screwing or the like. The inner peripheral fixed cylinder portion 27 to be fixed is provided at each inner peripheral edge (see FIGS. 1 and 2).

The focus adjusting mechanism 30 comprises a focus adjusting cylindrical shaft 34, which is driven and rotated by the driving force of the focus motor 31, and is connected to the focus adjusting lens housing 23. Focus motor 31
Is fixed to the rear side surface of the chassis 25 with its motor shaft protruding to the front surface of the chassis 25. The focus adjusting pinion 32 fixed to the motor shaft is attached to the rear end of the focus adjusting cylindrical shaft 34. The focus adjusting cylindrical shaft 34 itself can be rotated by appropriately decelerating the motor driving force by meshing with the fixed focus adjusting large gear 33. 21 This camera fixed cylinder 21 on the outer circumference
It is installed so that it can be rotatably fitted to. Further, the front part of the focus adjusting cylindrical shaft 34 projects toward the front of the camera fixing barrel 21, and the inner circumference of the front part of the focus adjusting cylindrical shaft 34 and the focus adjustment lens housing 23 that also projects toward the front of the camera fixing barrel 21. By interposing a transmission ring 35 made of an elastic material such as an O-ring between the outer circumference and the outer circumference, the rotation operation of the focus adjustment cylindrical shaft 34 is performed by the focus adjustment lens housing 2.
The focus adjustment lens housing 23 is rotated to advance and retreat in a screw feed manner so that the camera lens 22 can be moved back and forth to adjust the focal length.

The reflection mirror mechanism 40 includes a television camera 20.
Of the direct view type front view and indirect view type side view, and the side view of the television camera 20 is used to selectively control to capture an arbitrary position on the entire peripheral surface in the pipe P. Focus adjustment lens housing 2
The mirror 50, which is oscillated and oscillated in any of the three side positions or the front position, is swung around the focus adjustment lens housing 23. That is,
The mirror rotating means 41 for rotating the mirror rotating cylindrical shaft 45 arranged on the outer periphery of the focus adjusting lens housing 23, and the side of the focus adjusting lens housing 23 retracted when lying down (see FIG. 1), and the television camera when standing up. The camera lens 22 in 20 projects forward (see FIG.
), The mirror 50 that makes the side periphery incident on the camera lens 22 as a reflection mirror image is mounted on the mirror rotation cylindrical shaft 45.
In addition, the mirror section 46 which is supported by the undulation and oscillating, and the undulating means 55 for undulating and oscillating the mirror 50 are provided.

The mirror rotating means 41 is configured such that the mirror rotating cylinder shaft 45, which is rotatably fitted around the focus adjusting cylindrical shaft 34, is driven to rotate by the driving force of the mirror rotating motor 42. The cylindrical shaft 34 for rotation and the cylindrical shaft 45 for rotating the mirror are slidable relative to each other, and are arranged in a double cylinder inside and outside.
The mirror rotation motor 42 is fixed to the rear side surface of the chassis 25 with its motor shaft protruding toward the front surface of the chassis 25. The mirror rotation small gear 43 fixed to the motor shaft is attached to the mirror rotation cylinder. By engaging with a large mirror rotation gear 44 fixedly formed at the rear end of the shaft 45, the motor driving force can be appropriately reduced to rotate the mirror rotation cylindrical shaft 45.

Reference numeral 36 is a cylindrical shaft 4 for rotating the mirror.
5 is a guide portion for smoothly rotating, for example, a flange-shaped guide edge 37 projecting on the outer circumference of the mirror rotation cylindrical shaft 45 is supported by a support arm (not shown) connected to the chassis 25 or the like. The bearing structure is formed by being sandwiched by front and rear guide rollers 39 arranged on the inner circumference of the donut-shaped mirror rotation support ring 38.

The mirror section 46 includes a cylindrical shaft 45 for rotating the mirror.
Opposite the support arm 48 having the camera lens 22 as the center position, between the support arms 48 having side surfaces that are substantially V-shaped and continuously provided so as to extend rearward at appropriate positions of the flange-shaped support rib 47 provided at the front end. The mirror 50 is fixedly arranged at a symmetrical position on the side of the focus adjustment lens housing 2
Approximately groove-shaped mirror fixing body 49 straddling 3
Is supported via a mirror fixing body rotating base shaft 51 so that the mirror fixing body 49 itself can swing. The mirror fixing body 49 itself is seen from the front,
It has a substantially triangular shape having an inner bottom wall and left and right side walls, and when viewed from the side, the inner bottom wall portion that fixes the mirror 50 to the inner side surface is wide, and it follows the mirror fixed body rotation base shaft 51 side. The front edges of the left and right side walls are inclined so as to be gradually narrower, and have a substantially right-angled triangular shape. The front edge of the inner bottom wall is formed with a protective edge bent and extended to protect the mirror 50. .

Further, the hoisting means 55 swings the mirror fixing body 49 through a mirror hoisting cylindrical slide shaft 65 which moves forward and backward by a motor drive and a mirror fixing body swinging arm 67 which swings to move sideways. The condition of the inner peripheral surface of the pipe P, which is the field of view, is reflected by the mirror 50 as a mirror image, is incident on the camera lens 22, and can be obtained as an image by the television camera 20. Therefore, the undulating means 55, as shown in FIGS.
An oscillating slider 59 that is screw-fed by being rotated by the driving force of the mirror oscillating motor 56, an undulating ring 61 that is integral with the undulating slider 59 and surrounds the outer periphery of the camera fixing barrel 21, and the undulating ring. 6
1. The mirror slide cylindrical slide shaft 65, which is linked to the mirror slide rotary unit 1 and is rotatably fitted around the mirror rotation cylinder shaft 45, and the mirror slide cylindrical slide shaft 65 and the mirror fixing body 49 swing together. And a mirror fixed body swinging arm 67 that is freely connected.

The mirror hoisting motor 56 is mounted on the chassis 2 with its motor shaft projecting to the front of the chassis 25.
5 is fixed to the rear side surface. Then, on the mirror up-and-down drive screw 57 having a male screw fixedly connected to the motor shaft,
For example, an undulating slider 59 having a female screw adapted to be guided and slid by a rod-shaped guide portion 58 supported and formed on the outer edge side of the chassis 25 is screw-coupled, and the rotational driving force of the mirror undulating motor 56 is Is for smoothly moving the up-and-down slider 59 back and forth.

The undulating / retracting ring 61 is, as shown in the drawing,
It is connected to the hoisting slider 59 via a ring advancing / retreating arm 62. This hoisting advancing / retreating ring 61 is fixed to the inner peripheral surface of the hoisting slider 59 at the outer peripheral surface of its rear portion, and the cylindrical slide shaft for hoisting the mirror at its inner peripheral surface. It is connected to 65 via a guide portion 63, which will be described later, in a fitting manner.

The mirror undulating cylinder slide shaft 65 is slidable and rotatable around the mirror rotating cylinder shaft 45 of the reflection mirror mechanism 40, and is located forward of the mirror fixed member rotating base shaft 51 of the mirror fixed member 49. As shown in the drawing, they are fitted together to form a triple-cylinder structure with the focus adjusting cylindrical shaft 34, the mirror rotating cylindrical shaft 45, and the like arranged on the outer periphery of the camera fixed barrel 21. A flange-shaped guide edge 64 protruding from the outer periphery of the rear edge of the mirror slide cylindrical slide shaft 65 is supported by a guide portion 63 having a bearing structure formed on the inner peripheral surface of the undulating / retracting ring 61 at appropriate intervals. As a result, the hoisting / retracting ring 61 moves back and forth, and the mirror hoisting cylindrical slide shaft 65 itself is smoothly rotated on the inner circumference of the hoisting / retracting ring 61.

The mirror fixed body swinging arm 67 is arranged on the outer peripheral surface of the mirror undulating cylindrical slide shaft 65 on the mirror fixed body rotating base shaft 51 side of the mirror fixed body 49, and the rear end thereof is a mirror undulating cylindrical slide. The bearing portion formed on the outer peripheral surface of the shaft 65 is provided with a mirror slide cylindrical slide shaft 65 via a swing arm base shaft 66, and its front end is located on the front edge side of the mirror fixed body 49 via a mirror fixed body swing shaft 68. Each is connected to the fixed body 49 (see FIG. 2). That is, as shown in FIG. 1, when the mirror sliding cylindrical slide shaft 65 is in the retracted position, the mirror fixed body swing arm 67 pulls the mirror fixed body 49 to move the mirror 50 to the side of the camera lens 22. In the retracted state, the camera is positioned horizontally and the front view is directly incident on the camera lens 22.
On the contrary, as shown in FIG. 2, when the mirror undulating cylindrical slide shaft 65 is in the forward position, the mirror fixed body swinging arm 67 presses the mirror fixed body 49 to move the mirror 50 forward of the camera lens 22. It is arranged so as to be inclined in the protruding state, and the side view is reflected by the mirror 50 and indirectly incident as a mirror image.

By the way, the mirror rotating means 4 in the focus adjusting mechanism 30 and the reflecting mirror mechanism 40 as described above.
1. The focus motor 31, the mirror rotation motor 42, and the mirror hoisting motor 56, which are the driving sources in the hoisting means 55 and the like, are fixedly arranged on the rear side surface of the chassis 25 at equal intervals, so that a weight balance can be obtained. Has been done. Further, each of these motors 31, 42, 56 is rotationally driven in forward and reverse directions, and the cable C is operated by each operation of the control means S in the control box B installed at the remote control position outside the pipe P. It is designed to be operated remotely via. It should be noted that, when performing a remote operation, it is preferable that the control means S be capable of appropriately determining the turning position of the mirror fixed body 49, its rotation angle, the undulating posture, and the like. ,

On the outer surface of both side walls of the mirror fixing body 49, an illumination lamp 7 for illuminating the front of the camera lens 22 is provided.
0 is attached. Since the illuminating lamp 70 is fixed to both outer side surfaces of the mirror fixing body 49, the mirror fixing body 49 can be obtained regardless of whether the front view or the side view is obtained due to the ups and downs of the mirror fixing body 49. It is possible to illuminate both the front and the side in response to the ups and downs. The illuminating means is not limited to this, and may be attached to the front surface of the traveling carriage R, and it is possible to select the illuminating means in parallel with the illuminating lamp 70, or to arrange either one of them.

Next, an example of the use of the photographing device 1 of the present invention will be described. As shown in FIG. 5, the photographing device 1 of the present invention is placed in various pipes P such as a sewer pipe whose condition inside the pipe should be monitored. While the traveling carriage R mounted is arranged so as to enter, the traveling carriage R and the photographing device 1 are remotely controlled via the cable C by being operated by each control means S in the control box B. That is, in the case of monitoring the entire front situation in the pipe P accompanying the traveling of the traveling vehicle R while illuminating with the illumination lamp 70, as shown in FIG. The camera lens 22 of the television camera 20 directly looks forward to obtain a forward field of view, which is displayed as an image on the television monitor M. Further, when monitoring the condition of the inside of the pipe P, that is, the inner peripheral surface of the peripheral wall of the pipe P, as shown in FIG. 2, the undulating means 55 of the reflection mirror mechanism 40 is used to position the mirror 50 in front of the camera lens 22. By raising it halfway, the reflection mirror image of the inner peripheral surface of the peripheral wall of the pipe P on the side of the position of the photographing device 1 is incident on the television camera 20 via the camera lens 22, and the mirror rotating means 4 is further provided.
When the mirror 50 is rotated by 1, the entire area of the inner peripheral surface of the peripheral wall is successively incident on the television camera 20 as a reflection mirror image, which is displayed as an image on the television monitor M in the control box B.

As described above, as the traveling carriage R travels forward and backward, the front and side conditions inside the pipe P due to the ups and downs and rotations of the reflection mirror mechanism 40 are monitored. It can be projected on.

[0025]

The present invention is configured as described above.
Therefore, in order to monitor the inside of the pipes of various predetermined pipes P, the situation inside the pipes can be very easily displayed on the monitor TV M or the like, and the situation can be photographed not only at the front but also at the side. Since any of the inner peripheral surfaces of the pipe wall can be selectively and arbitrarily performed, and the device itself can be downsized, it is possible to enter into a relatively small-diameter pipe passage and to perform various remote operations. It is possible to control the state of the situation photographing by the operation.

That is, according to the present invention, the camera box 10 connected to the traveling carriage R traveling in the pipe P, the television camera 20 arranged in the camera box 10, and the focus adjusting mechanism 30 for adjusting the focus in the television camera 20. This is because the reflection mirror mechanism 40 that oscillates and oscillates the mirror 50 that makes the side view incident as a reflection mirror image and that swings around the TV camera 20 is provided. The pipe P is controlled by the focus adjustment control on the target, the undulation angle control of the mirror 50 in the reflection mirror mechanism 40, the turning control, and the like.
It is possible to accurately display the inside and the entire surroundings of the peripheral wall on the TV monitor M outside the pipe P.

Further, the camera box 10 mounted on the front part of the traveling carriage R is firmly built in and fixed in the camera fixing tube 21 supported by the fixing part 13 and the chassis 25, and is protected by the transparent protective cover 15 on the front part. The TV camera 20 is reliably protected from various obstacles and the like inside the pipe P that accompany traveling. Moreover, it can be formed in a shape that does not cause a large business trip as compared with the outer shape of the traveling carriage R, which helps to reduce the size of the entire apparatus and facilitates the use in the pipe P having a small diameter.

Since the focus adjustment mechanism 30 drives the focus motor 31 to rotate the focus adjustment lens housing 23 of the television camera 20,
The camera lens 22 contained in the focus adjustment lens housing 23 can be moved back and forth, and the pipe P to be monitored
It is possible to match the focus with a predetermined situation position inside by remote control and appropriately display it on the television monitor M.

The reflection mirror mechanism 40 includes a mirror portion 46 having a mirror fixing body 49 to which the mirror 50 is fixedly arranged, a mirror rotating means 41 for rotating the mirror portion 46, and an undulating means 55 for undulating and swinging the mirror fixing body 49. Therefore, when the mirror portion 46 is retracted to the side of the camera lens 22, the front field of view is directly incident on the TV camera 20, and when it is projected to the front of the camera lens 22, the side field of view is provided. Can be made incident on the television camera 20 as a reflecting mirror image, and particularly, in the side view, the television camera 2
Since it can be obtained without changing the attitude of 0 itself, it is mechanically simple and has few failures.

The mirror rotating means 41 in the reflecting mirror mechanism 40 is rotatably fitted around the focus adjusting cylindrical shaft 34, and the mirror rotating cylindrical shaft 45 supporting the mirror portion 46 is rotated by the mirror rotating motor 42. Since it is driven to rotate by the motor, the turning position can be adjusted by driving the motor by remote control, and the surrounding state as well as the erected posture of the mirror fixing body 49 by the undulating means 55 can be accurately projected as a reflecting mirror image.

In addition, the focus adjusting cylindrical shaft 34 and the reflecting mirror mechanism 4 in the focus adjusting mechanism 30.
Mirror rotation cylindrical shaft 4 in 0 mirror rotation means 41
5. Similarly, each of the mirror undulating cylindrical slide shafts 65 of the undulating means 55 has a triple cylinder structure in which they are sequentially fitted to the outer periphery of the camera fixed cylinder 21 and are rotatable and slidable with respect to each other. 65 can be independently rotated and slid, and the adjustment of focus and the selection of the front and side fields of view can be performed independently of each other, and the situation of each position of the pipe P required can be surely confirmed on the TV monitor M. Can be projected on. Moreover, these operations can be performed easily by remote control by various control means S in the control box B arranged outside the pipe P, and the monitor image displayed on the TV monitor M can be appropriately monitored. .

[Brief description of drawings]

FIG. 1 is a side sectional view of an embodiment of the present invention.

[Fig. 2] Similarly, swinging the mirror part of the reflection mirror mechanism,
It is a sectional side view when obtaining a side view.

FIG. 3 is a front view of the same.

FIG. 4 is a plan view of the same.

FIG. 5 is a schematic side view of the same usage state.

[Explanation of symbols]

B ... Control box C ... Cable D ... Fully automatic cord reel machine F ... Mounting recess M ... TV monitor P ... Piping R ... Traveling vehicle S ... Control means 1 ... Imaging device 10 ... Camera box 11 ... Storage case 12 ... Cable insertion hole 13 ... Fixing part 14 ... Connection means 15 ... Protective cover 16 ... Coupling 20 ... TV camera 21 ... Camera fixing barrel 22 ... Camera lens 23 ... Focus adjustment lens housing
25 ... Chassis 26 ... Outer peripheral fixed cylinder part 27 ... Inner peripheral fixed cylinder part 30 ... Focus adjustment mechanism 31 ... Focus motor 32 ... Focus adjustment small gear 33 ... Focus adjustment large gear 34 ... Focus adjustment cylindrical shaft 35 ... Connection transmission Ring 36 ... Guide part 37 ... Guide edge 38 ... Mirror rotation support ring 40 ... Reflection mirror mechanism 41 ... Mirror rotation means 42 ... Mirror rotation motor 43 ... Mirror rotation small gear 44 ... Mirror rotation large gear 45 ... Mirror rotation cylinder Shaft 46 ... Mirror portion 47 ... Support rib 48 ... Support arm 49 ... Mirror fixed body 50 ... Mirror 51 ... Mirror fixed body rotation base shaft 55 ... Elevating means 56 ... Mirror up / down motor 57 ... Mirror up / down drive screw 58 ... Guide portion 59 ... Up / down Slider 61 ... Ridge advance / retreat ring 62 ... Ring advance / retreat arm 63 ... Guide part 4 ... guide edge 65 ... mirror pivoting cylindrical slide shaft 66 ... swinging arm base shaft 67 ... mirror fixing member swing arm 68 ... mirror fixing member pivot shaft 70 ... lamp

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G02B 7/28 G03B 13/36 15/00 L 37/00

Claims (9)

[Claims] 1. An in-pipe traveling monitor photographing device which is mounted on a traveling truck that travels in a pipe, and which displays a situation inside the pipe on a television monitor or the like arranged outside the pipe, is connected to a front portion of the traveling truck. Camera box, a television camera mounted in the camera box and having a camera lens facing forward, a focus adjustment mechanism for adjusting the focus of the television camera, and a side view to the television camera as a reflector image. An imaging device for a traveling monitor inside a pipe, comprising a reflecting mirror mechanism for wobbling and oscillating a mirror to be incident, and also rotating the mirror around a television camera. 2. The camera box includes a camera fixing tube for internally fixing a television camera, a substantially bottomed cylindrical storage case having a fixing portion for supporting and fixing a rear portion of the camera fixing tube, and the storage case. 2. The in-pipe travel monitor photographing apparatus according to claim 1, further comprising a transparent protective cover connected to a front portion, a donut-shaped chassis interposed between the outer circumference of the camera fixed cylinder and the inner circumference of the storage case. 3. The focus adjusting mechanism is a focus adjusting cylinder which is driven and rotated by a driving force of the focus motor so as to transmit and rotate both the focus motor fixedly arranged in the camera box and the focus adjusting lens housing in the television camera. An imaging device for a traveling monitor in a pipe according to claim 1, which comprises a shaft. 4. The focus adjustment cylinder shaft has a front portion projecting forward of the camera fixing cylinder, and an O-ring shape is formed between the projected inner circumference of the focus adjustment cylinder shaft front portion and the outer circumference of the focus adjustment lens housing. The imaging device for a traveling monitor in a pipe according to claim 3, wherein a communication transmission ring is interposed. 5. The reflection mirror mechanism comprises: a mirror rotating means for rotating a mirror-rotating cylindrical shaft arranged on the outer periphery of the focus adjusting lens housing in the television camera 20; and a retracting mechanism retracting to the side of the focus adjusting lens housing when lying down. When standing up, the mirror that projects forward of the camera lens in the TV camera and makes the reflecting mirror image of the side around the camera lens incident on the mirror rotation cylindrical shaft is swingably supported, and the mirror is lifted. The imaging device for a traveling monitor in a pipe according to claim 1, further comprising undulating means for rocking. 6. The mirror rotating means rotates a mirror rotating cylinder shaft rotatably fitted around a focus adjusting cylinder shaft by a driving force of a mirror rotating motor fixedly arranged in a camera box. An imaging device for a traveling monitor in a pipe according to claim 5. 7. The mirror section has a focus adjustment lens housing, wherein a mirror is fixedly mounted on a support arm continuous with a cylindrical shaft for rotating the mirror, at a symmetrical position opposite to the support arm centered on the camera lens. 7. The in-pipe travel monitor photographing apparatus according to claim 5, wherein a substantially groove-shaped mirror fixing body that straddles is supported so that the mirror fixing body itself can swing. 8. The undulation means is an undulation slider that moves forward and backward by a rotational driving force of a mirror undulation motor fixedly arranged in the camera box, and is integral with the undulation slider and surrounds the outer periphery of the camera fixing cylinder. An undulating reciprocating ring arranged, a mirror undulating cylindrical slide shaft connected to the undulating reciprocating ring and rotatably fitted around the mirror rotating cylinder axis, and the mirror undulating cylindrical slide shaft, 8. The in-pipe travel monitor photographing apparatus according to claim 5, further comprising a mirror fixed body swinging arm that is swingably connected to each other. 9. A focus adjustment cylindrical shaft in a focus adjustment mechanism is provided on the outer circumference of a camera fixed cylinder having a television camera fixed therein, and a mirror rotation cylindrical shaft of a mirror rotation means of a reflection mirror mechanism is provided on the outer circumference of this focus adjustment cylindrical shaft. 9. The in-pipe traveling monitor photographing apparatus according to claim 8, wherein the mirror undulating cylindrical slide shaft of the undulating means is arranged so as to be rotatable and slidable around the outer circumference of the mirror rotating cylindrical shaft as a triple cylinder structure.