| 摘要 |
<p>An underground pipe line inside inspection device capable of searching for hollows on the outside of the underground pipe line not only in the upper direction but also in both side directions and lower direction, i.e., over all inner peripheral surfaces of the underground pipe line allowing the detail image of the inner peripheral surface of the underground pipe line to be provided without using a complicated mechanism, and capable of displaying the conditions of cracks and irregularities on the inner peripheral surface of the underground pipe line by a three-dimensional inner space displacement image, comprising a pipe line inside self-running vehicle and a ground control device, the pipe line inside self-running vehicle further comprising a radar antenna, a camera with fisheye lens, a gyro, a laser sensor, and an infrared encoder.</p> |
