| 摘要 |
<p>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.</p> |
