JP2008286654A - In-pipe measuring device - Google Patents

Abstract

To provide an in-pipe measuring apparatus capable of correcting a self-position estimation result even in a pipe where GPS signals do not reach.
An in-pipe measuring apparatus U1 that measures required data in a pipe of a sewage pipe, and stores a gyro 22 that estimates a self-position based on its own initial position and movement amount, and a measurement value corresponding to the self-position. The gyro 22 and the memory 5 are housed in a water-resistant capsule 1 that can move with the water flow in the pipe, and the estimated value of the self-position based on the position information obtained at the manhole position. An in-pipe measuring apparatus characterized by correcting the above.
[Selection] Figure 1

Description

  The present invention relates to an in-pipe measuring apparatus that measures required data in a sewer pipe.

  2. Description of the Related Art Conventionally, an apparatus that uses an in-pipe self-propelled robot that travels in an embedded pipe is known as an instrument for inspecting the interior of a sewage pipe or surveying an embedded position (see, for example, Patent Document 1). In this prior art, the self-position of the robot is estimated from the movement amount of the robot moving in the pipe, and the pipe axis of the buried pipe is estimated based on the self-position information.

However, in the configuration disclosed in Patent Document 1, in addition to the operator M1 who holds the transmitter 70 and operates the robot 1 in the manhole, the pipe axis measuring device 81 is held and the pipe axis is changed on the ground. There is a problem that at least two workers M2 who perform the measurement are necessary, and the measurement of the tube axis is very troublesome and requires manual labor.
JP 7-239230 A

  In order to deal with such problems related to the prior art, a method of collecting data while detecting position information during movement by discharging a capsule or a buoy enclosing a sensor into a sewer flow can be considered. If such a method can be applied to the sewer pipe, the entire area of the pipe (including pipes between manholes that are normally inaccessible to the worker) can be obtained without requiring the worker to work in the manhole for a long time. Can be collected easily.

  When applying such a method to the sewer pipe, the manhole position of the sewer pipe can be precisely measured by a so-called GPS (Global Positioning System: Global Positioning System). In a pipe that does not reach, there is no way to correct this if there is a deviation in the estimated position information. Therefore, when the measurement range extends over a long distance, it is considered that a large error may occur in the self-position estimation result. Therefore, this method has a drawback that it can be applied only to a narrow range.

  The present invention has been made in view of such technical problems, and has as its basic object to provide an in-pipe measuring apparatus that can correct the self-position estimation result even in a pipe where GPS signals do not reach. It was made.

  For this reason, the in-pipe measuring apparatus according to the present invention is an in-pipe measuring apparatus for measuring required data in the pipe of the sewage pipe, and the self-position estimating means for estimating the self-position based on the initial position and the movement amount of the pipe. Storage means for storing a measurement value corresponding to the self-position, and the self-position estimation means and the storage means are accommodated in a water-resistant capsule that can move with the water flow in the pipe, and obtained at the manhole position. The estimated value of the self position is corrected based on the position information.

  According to the present invention, by correcting the estimated value of the self position based on the position information of the manhole, the estimated value of the self position of the in-pipe measuring device can be corrected in the sewer pipe where the GPS signal does not reach. In this case, there is no need for the operator to enter the manhole and perform measurement, which can greatly contribute to labor saving of in-pipe measurement.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is an explanatory view schematically showing a schematic configuration of the in-pipe measuring apparatus according to Embodiment 1 of the present invention, and FIG. 2 is a description schematically showing a part of a sewer pipe in which the in-pipe measuring apparatus is used. FIG.

  The in-pipe measuring device U1 (hereinafter, simply abbreviated as “device” as appropriate) is for measuring required data in the pipe of the sewage pipe L, and as shown in FIG. Various sensors including a gyro 2 (acceleration sensor, magnetic sensor) as a self-position estimating means for estimating the self-position based on the water quality, and a water quality sensor 3 as a water quality measuring means for measuring the quality of the sewage W in the pipe, A sensor circuit 4 for controlling the operation of the sensor and a memory 5 as a storage means for storing measurement data obtained by these sensors are provided. Further, in order to transfer data stored in the memory 5 to the outside, an antenna 6, a wireless module 7, a battery 8, and the like are provided as components for communication with the outside of the device U1. A microprocessor unit 9 (MPU) for controlling the operation of the above components is also mounted.

All of these components are formed of a water-resistant material such as a synthetic resin, and are enclosed in a capsule 1 that can move with the water flow W in the pipe.
The pipe measuring device U1 is preferably configured to have a specific gravity smaller than the specific gravity (usually about 1.0) of the sewage W in the pipe in a state where all of the above-described components are housed in the water-resistant capsule 1. Has been. For this reason, it can float on the sewage W in a pipe | tube, and it moves at the same speed as the water flow. Therefore, by obtaining the moving speed of the apparatus U1 based on the moving distance of the in-pipe measuring device U1 and the time required for moving, the flow rate of the sewage W in the pipe can be accurately determined without the need to provide a separate velocimeter or the like. I can know.

  More preferably, in order for the antenna 6 serving as a communication means to the outside of the in-pipe measuring device U1 to be located above the water level of the sewage W in the pipe (above the water surface), The center of gravity is set to be positioned below the antenna 6. Thereby, the disturbance at the time of transferring the data stored in the memory 5 to the outside can be suppressed.

A measurement system for required data in the pipe of the sewage pipe, which is performed using the pipe measuring device U1 configured as described above, will be described.
As shown in FIG. 2, the sewage pipe L is provided with a plurality of (two in the illustrated range of FIG. 2) manholes H1 and H2. The positions of these manholes H1 and H2 are preferably precisely determined in advance by a so-called GPS (global positioning system: global positioning system).

  The in-pipe measuring device U1 is introduced into the sewer pipe L from the upstream manhole H1. Then, when it floats in the sewage W and starts moving with the water flow (see the arrow in FIG. 2), the gyro 2 starts to estimate its own position from the position of the input manhole H1 as the starting point (initial position). A GPS receiver 11 for setting an initial position is installed in the vicinity of the entrance of the upstream manhole H1. In addition, the gyro 2 estimates the self position by the same method as that conventionally known.

In the present embodiment, a data relay station 12 capable of communicating with the in-pipe measuring device U1 is installed in advance in the manhole H2 on the downstream side. The location of the data relay station 12 is not limited to the manhole as long as the location is known and the worker can access the location.
The in-pipe measuring device U1 thrown in from the manhole H1 sends the data collected so far to the data relay station 12 when passing through the downstream manhole H2 which is flowed by the sewage flow W and where the data relay station 12 is installed. To do. The data relay station 12 transmits the data received from the in-pipe measuring device U1 to a sewage management center (not shown) by means such as so-called PHS or LAN.

In the in-pipe measuring apparatus U1, gyro data is stored in the memory 5 as time series data (in other words, as measurement data corresponding to its own position), and at a specific point such as a start point and an end point of the gyro data. Known position information can be marked. Therefore, if there is a deviation of the gyro data by data analysis at the management center, this is corrected.
That is, by correcting the estimated value of the self position based on the position information of the manholes H1 and H2, the estimated value of the self position of the in-pipe measuring device U1 can be corrected in the sewer pipe L where the GPS signal does not reach. In this case, there is no need for the operator to enter the manhole and perform measurement, which can greatly contribute to labor saving of in-pipe measurement.

  After that, since the measurement can be resumed with the position of the data relay station 12 as a new starting point (initial position), the previous data may be deleted, and the internal memory 5 of the in-pipe measuring apparatus U1 can be saved. That is, since the data stored in the memory 5 can be transmitted to the management center via the data relay station 12, it is not necessary to keep the measurement data for a long time, and the enlargement of the internal memory 5 can be suppressed. it can.

  When the pipe measuring device U1 arrives at the most downstream position of the sewage pipe to be measured, the device U1 is pulled up, and internal data is collected. If a data relay station is also installed at the lifting point, the data relay station may receive measurement data and notify that the device U1 has arrived, and then the device U1 may be lifted. .

  Since the measurement data corresponding to the self-position of the in-pipe measuring device U1 represents the movement trajectory of the device U1, the flow velocity of the sewage flow W in the pipe at each point can be calculated based on this measurement data. it can. Therefore, the sewage pipe L can be divided in advance for each area, and the flow velocity in the pipe for each divided area can be calculated. Since the measurement data is immediately transmitted to the analyst of the management center via the data relay station, the management center can know the distribution of the sewage inflow amount to the sewage pipe L over a wide area almost in real time. The processing capacity of the sewage plant can be switched based on this distribution information.

Conventionally, since the flow measurement in the sewage pipe L has been dependent on manpower, it is impossible for the administrator to know the flow rate in real time, and the distribution data of the sewage inflow into the sewage pipe L over a wide area is obtained. It took a considerable amount of time to reflect on driving.
In this embodiment, the operation of the sewage plant can be quickly switched even in the case of heavy rain, etc., by utilizing the in-pipe measuring device U1.
In addition, by accumulating similar measurement results together with weather data, it becomes possible to predict the amount of sewage inflow into the sewage plant in various situations. The manager may predict the amount of inflow into the sewage treatment plant from the data accumulated so far, and may switch the operation (such as the number of sludge treatment lines) based on this prediction.

  Moreover, since the measurement data corresponding to the self-position of the in-pipe measurement device U1 represents a movement trajectory over the long distance of the device U1, a sewage pipe burying map is created by plotting this measurement data on a map. can do.

  Furthermore, water quality data for each region can be obtained from the water quality data collected by the water quality sensor 3. By plotting this on a map, water quality can be monitored for each region. The water quality data in the sewage pipe L and the flow velocity data of the sewage flow W can be obtained as continuous distribution data when the pipe measuring device U1 passes through the pipe. When monitoring the sewage pipe L for each region, the area of the sewage pipe L may be classified based on these distribution data.

  As described above, according to the present embodiment, continuous in-pipe measurement is possible without a long manhole operation. As a result, it is possible to accumulate detailed flow velocity distribution data and obtain detailed and appropriate operation guidelines for sewage plants that can handle torrential rains, etc. Useful information can be obtained. In addition, it is possible to specify the location where harmful substances are generated from water quality data for each region.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described.
In the following description, components having substantially the same configuration as in the first embodiment and having substantially the same function are denoted by the same reference numerals, and further description thereof is omitted.

FIG. 3 is an explanatory diagram schematically showing a partial area of the sewer pipe in the second embodiment.
In the second embodiment, a so-called RFID tag 22 (that is, an IC tag in which ID information is embedded) is used in place of the data relay station 12 in the first embodiment. Therefore, although the specific configuration of the in-pipe measuring device U2 of the second embodiment is not illustrated, an antenna for an RFID reader is provided. For this RFID reader antenna, the center of gravity of the in-pipe measuring device U2 is set so that the antenna is always above the water surface for the same reason as the antenna 6 in the first embodiment. In this case, the wireless module 7 used in the first embodiment may be excluded.

  The in-pipe measuring device U2 of the second embodiment is the same as that of the first embodiment except that the RFID reader antenna is incorporated and the wireless module 7 may be excluded as described above. The in-pipe measuring apparatus U1 is configured in substantially the same manner and performs substantially the same operation. Further, the positions of the manholes H1 and H2 are preferably precisely measured in advance by GPS.

In the present embodiment, an RFID tag 22 that can communicate with the in-pipe measuring device U2 is disposed in advance in the manhole H2 on the downstream side. The RFID tag 22 is not limited to a manhole as long as the position is known and the worker can access the RFID tag 22.
The in-pipe measuring device U2 introduced from the manhole H1 detects the position of the manhole H2 by the RFID reader antenna when passing through the downstream manhole H2 where the RFID tag 22 is disposed by being passed by the sewage flow W. Can do.

In the in-pipe measuring apparatus U2, the gyro data is stored in the memory 5 as time series data (in other words, as measurement data corresponding to the self position) as in the first embodiment, and the gyro data is stored on the gyro data. Accurate position information of the manholes H1 and H2 can be marked. Thereby, when there is a gap in the gyro data, it is corrected.
That is, the GPS signal does not reach by correcting the estimated value of the self position based on the position information of the manhole H1 as the initial position and the position information read from the RFID tag 22 previously disposed in the manhole H2. In the sewage pipe L, the estimated value of the self-position of the in-pipe measuring device U1 can be corrected, and it is not necessary for the operator to enter the manhole to perform the measurement, which can greatly contribute to labor saving of the in-pipe measurement. .

When the in-pipe measuring device U2 arrives at the most downstream position of the sewer pipe to be measured, the device U2 is pulled up, and the internal data is collected.
By analyzing this collected data, in the case of Embodiment 2 as well as in Embodiment 1 for pipe measurement, operation control of the sewage plant, creation of a precise map of the sewage pipe, creation of a water quality distribution map in the sewage pipe, etc. The same operational effects can be achieved.

That is, continuous in-pipe measurement is possible without long manhole work. As a result, it is possible to accumulate detailed flow velocity distribution data and obtain detailed and appropriate operation guidelines for sewage plants that can handle torrential rains, etc. Useful information can be obtained. In addition, it is possible to specify the location where harmful substances are generated from water quality data for each region.
Moreover, in this case, as compared with the case where the data relay station 12 is used as in the first embodiment, the estimated value of the self-position of the in-pipe measuring device U2 can be corrected using the inexpensive RFID tag 22, This can contribute to cost reduction of the measurement system.

Embodiment 3 FIG.
Next, a third embodiment of the present invention will be described.
FIG. 4 is an explanatory diagram schematically showing a partial area of the sewer pipe in the third embodiment.
In the third embodiment, in-pipe measurement is performed without the need to install special equipment such as the data relay station 12 (first embodiment) or the RFID tag 22 (second embodiment) in the downstream manhole H2. It is what I do.

  Although the specific configuration of the in-pipe measuring apparatus U3 according to the third embodiment is not illustrated, the in-pipe measuring apparatus U3 includes an acoustic oscillator and a sound collecting microphone as acoustic characteristic detecting means for detecting changes in surrounding acoustic characteristics. The center of gravity of the in-pipe measuring apparatus U3 is set so that these components for detecting acoustic characteristics are always above the water surface for the same reason as the antenna 6 in the first embodiment. Also in this case, the wireless module 7 used in the first embodiment may be excluded.

  The in-pipe measuring apparatus U3 of the third embodiment is used in the first embodiment except that the acoustic oscillator and the microphone are incorporated and the wireless module 7 may be excluded as described above. The in-pipe measuring apparatus U1 is configured in substantially the same manner and performs substantially the same operation. Further, the positions of the manholes H1 and H2 are preferably precisely measured in advance by GPS.

The in-pipe measuring device U3 introduced from the upstream manhole H1 detects an acoustic change based on the acoustic data collected by the microphone when flowing through the downstream manhole H2 by being passed by the sewage flow W, Estimate that it is a position.
Here, as a method for detecting an acoustic change, there is an active method for obtaining a response to an acoustic signal (for example, an ultrasonic wave or an impulse sound) transmitted from the apparatus U3, and nothing is transmitted from the apparatus U3. In addition, a passive method for detecting an acoustic change from surrounding sounds such as water sound or reverberation sound caused by the tube wall surface of water sound can be considered. When the passive method is adopted, the acoustic oscillator may be excluded from the configuration of the apparatus U3.

This device can mark accurate position information on gyro data collected as time-series data depending on how many manholes have passed. Thereby, the deviation of the gyro data can be corrected.
When the device arrives downstream of the sewage pipe to be measured, the device is pulled up to collect internal data.

In the in-pipe measuring apparatus U3, as in the case of the first embodiment, gyro data is stored in the memory 5 as time series data (in other words, as measurement data corresponding to its own position). In addition, accurate position information of the manholes H1 and H2 can be marked. Thereby, when there is a gap in the gyro data, it is corrected.
That is, the in-pipe measuring device in the sewer pipe L where the GPS signal does not reach by correcting the estimated value of the self-position based on the position information of the manhole H1 as the initial position and the position information when passing through the manhole H2. The estimated value of the self-position of U3 can be corrected, and it is not necessary for the operator to enter the manhole to perform measurement, which can greatly contribute to labor saving of in-pipe measurement.

When the in-pipe measuring device U2 arrives at the most downstream position of the sewer pipe to be measured, the device U2 is pulled up, and the internal data is collected.
By analyzing this collected data, the third embodiment is also the same as in the first embodiment with respect to in-pipe measurement, operation control of the sewage plant, creation of a precise map of the sewage pipe, creation of a water quality distribution map in the sewage pipe, etc. The same operational effects can be achieved.

That is, continuous in-pipe measurement is possible without long manhole work. As a result, it is possible to accumulate detailed flow velocity distribution data and obtain detailed and appropriate operation guidelines for sewage plants that can cope with torrential rains, etc. Useful information can be obtained. In addition, it is possible to specify the location where harmful substances are generated from water quality data for each region.
In addition, in this case, it is possible to perform in-pipe measurement without using special equipment such as the data relay station 12 (Embodiment 1) and the RFID tag 22 (Embodiment 2) in the downstream manhole H2, thereby reducing the cost. Since the estimated value of the self-position of the in-pipe measuring apparatus U3 can be corrected with a simple configuration, it can contribute to the realization of a lower cost measuring system.

Embodiment 4 FIG.
Next, a fourth embodiment of the present invention will be described.
FIG. 5 is an explanatory diagram schematically showing a partial area of the sewer pipe in the fourth embodiment.
The fourth embodiment is a combination of the methods described in the first, second and third embodiments.
Although the specific configuration of the in-pipe measurement device U4 of the fourth embodiment is not illustrated, in addition to the constituent elements of the in-pipe measurement device U1 of the first embodiment, the RFID reader antenna and the surrounding acoustic characteristic changes An acoustic oscillator and a sound collecting microphone are provided as acoustic characteristic detecting means for detecting. The center of gravity of the in-pipe measuring device U3 is set so that the RFID reader antenna, the acoustic oscillator, and the sound collecting microphone are always above the water surface for the same reason as the antenna 6 in the first embodiment. Also in this case, the positions of the manholes H1, H2, H3, and H4 are preferably precisely measured in advance by GPS.

  In the present embodiment, no equipment is installed in the next manhole H2 (second manhole) on the downstream side of the manhole H1 (first manhole) corresponding to the initial position, and the downstream side of the second manhole H2. The RFID tag 22 that can communicate with the in-pipe measuring device U4 is provided in advance in the next manhole H3 (third manhole). Further, a data relay station 12 capable of communicating with the in-pipe measuring device U4 is installed in advance in the next manhole H4 (fourth manhole) on the downstream side of the third manhole H3. The location of the data relay station 12 and the RFID tag 22 is not limited to the manhole as long as the location is known and the worker can access the location.

  The in-pipe measuring device U4 introduced from the first manhole H1 starts to estimate its own position while being flown by the sewage flow W, and when passing through the second manhole H2, the gyro data is obtained by the method described in the third embodiment. The correct position is marked on the top, and if there is a gap in the gyro data, it will be corrected. Thereafter, when passing through the third manhole H3 in which the RFID tag 22 is disposed, the accurate position is marked on the gyro data by the method described in the second embodiment, and there is a deviation of the gyro data. Will be corrected. After that, when passing through the fourth manhole H4 in which the data relay station 12 is installed, as described in the first embodiment, an accurate position is marked on the gyro data, and the gyro data is shifted. In some cases, the data is corrected, and the data accumulated so far is transmitted to the management center (not shown) via the data relay station 12, and the measurement is resumed with the position of the data relay station 12 as a new starting point (initial position). To do.

  In this case, all possible actions in the first, second, and third embodiments can be performed, and each of the downstream manholes H2, H3, and H4 has an appropriate device configuration according to its position. Thus, it is possible to suppress the installation cost of devices such as the data relay station 12 and the RFID tag 22 and perform in-pipe measurement for the long-distance sewer pipe L at a relatively low cost.

Embodiment 5. FIG.
Next, a fifth embodiment of the present invention will be described.
In the first to fourth embodiments described above, the in-pipe measuring apparatuses U1 to U4 are all configured to be inserted into the sewer pipe L from the manhole H1 corresponding to the initial position, for example, by the operator's hand. Instead, in-pipe measurement can be automatically started when the water level in the sewer pipe L rises and exceeds a predetermined threshold value. This method is particularly effective when the purpose of in-pipe measurement is inflow prediction of a sewage plant such as during heavy rain as described in the first embodiment.

FIG. 6 is an explanatory view schematically showing the arrangement of the in-pipe measuring apparatus in the sewer pipe according to Embodiment 5 of the present invention.
As shown in this figure, in the present embodiment, a position corresponding to the initial position of the in-pipe measurement of the sewer pipe L is set to a predetermined height position higher than the normal water level K1 in the sewer pipe L by a certain distance or more. A holder J is attached. The holder J is formed in a substantially dish shape so that the lower surface of the in-pipe measuring device U can be placed thereon.

  The in-pipe measuring device U may be any type of the first to fourth embodiments described above, and is placed and held on the holder J in advance. In a state where the water level in the sewage pipe L does not reach the holder J, the discharge of the pipe measuring device U is not started. At this time, the power supply of the device U is maintained in the OFF state.

  When the water level in the sewer pipe L rises due to heavy rain and exceeds the threshold value corresponding to the installation height of the holder J (that is, the measurement start water level K2), the device U floats in the sewage and is discharged. Is started. At this time, it is configured that the power supply of the device U is switched to the ON state with the touch of water or the floating of water as a trigger. Thereafter, the in-pipe measuring apparatus U collects data while performing the estimation of the self-position and the correction of the estimated value of the self-position by any of the methods described in the first embodiment while moving with the sewage flow. It is like that.

  FIG. 7 is an explanatory view schematically showing the arrangement of the in-pipe measuring apparatus in the sewage pipe according to the modification of the fifth embodiment, but as shown in this figure, above the normal water level K1 in the sewage pipe L. The holders Ka, Kb, Kc are installed at a plurality of height positions (three in this modification), and the first, second, and third in-pipe measuring devices Ua, By placing and holding Ub and Uc respectively, the water level in the sewer pipe L rises and exceeds the threshold value corresponding to the installation height of the first holder Ja (that is, the measurement start water level Ka). In this case, when the first in-pipe measuring device Ua is discharged and measurement is started, the water level further rises and exceeds the threshold value corresponding to the installation height of the second holder Jb (that is, the measurement start water level Kb). The second in-pipe measuring device Ub is discharged and starts measuring, and the water level rises again The third in-pipe measuring device Uc is discharged to start measurement when the threshold value corresponding to the installation height of the third holding tool Jc (that is, the measurement start water level Kc) is exceeded. it can.

  As described above, according to the fifth embodiment, when the water level in the pipe reaches a certain level or higher, the pipe measuring device is automatically discharged and the pipe measurement is started. It is possible to eliminate the need to put the device into the device. In addition, when measurement is performed a plurality of times, uniform data can be obtained, and more accurate inflow prediction can be performed.

  Needless to say, the present invention is not limited to the above embodiments, and various improvements and design changes can be made without departing from the scope of the present invention.

It is explanatory drawing which shows typically schematic structure of the in-pipe measuring apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows typically the one part area | region of the sewer pipe in which the said in-pipe measuring apparatus is used. It is explanatory drawing which shows typically the one part area of the sewer pipe which concerns on Embodiment 2 of this invention. It is explanatory drawing which shows typically the one part area of the sewer pipe which concerns on Embodiment 3 of this invention. It is explanatory drawing which shows typically the one part area of the sewer pipe which concerns on Embodiment 4 of this invention. It is explanatory drawing which shows typically arrangement | positioning of the in-pipe measuring apparatus in the sewer pipe which concerns on Embodiment 5 of this invention. It is explanatory drawing which shows typically arrangement | positioning of the in-pipe measuring apparatus in the sewer pipe which concerns on the modification of the said Embodiment 5. FIG.

Explanation of symbols

  1 capsule, 2 gyro, 3 water quality sensor, 5 memory, 6 antenna, 7 wireless module, 9 microprocessor unit, 11 GPS receiver, 12 data relay station, 22 RFID tag, H1, H2, H3, H4 manhole, J, Ja, Jb, Jc holder, K2, Ka, Kb, Kc Measurement start water level, L sewer pipe, U, U1-U4, Ua-Uc in-pipe measuring device, W sewage.

Claims (10)

An in-pipe measuring device that measures the required data in the sewage pipe,
Self-position estimation means for estimating the self-position based on the initial position of the self and the amount of movement;
Storage means for storing measurement values corresponding to the self-position,
The self-position estimating means and the storage means are accommodated in a water-resistant capsule that can move with the water flow in the pipe,
Correct the estimated value of the self-position based on the position information obtained at the manhole position,
An in-pipe measuring apparatus characterized by that.   The in-pipe measuring apparatus according to claim 1, wherein the estimated value of the self-position is corrected by communicating with a data relay station installed in advance in the manhole.   The in-pipe measuring apparatus according to claim 1, wherein the estimated value of the self-position is corrected based on position information read from an RFID tag disposed in advance in the manhole.   An acoustic characteristic detecting means for detecting a change in the surrounding acoustic characteristics, wherein the acoustic characteristic detecting means detects a change in the surrounding acoustic characteristics to detect passage of the manhole position and correct the estimated value of the self position; The in-pipe measuring apparatus according to claim 1.   5. The in-pipe measuring apparatus according to claim 1, wherein the water-resistant capsule has a specific gravity smaller than a specific gravity of sewage in the pipe.   The in-pipe measuring apparatus according to any one of claims 1 to 4, wherein a component for communication and data collection to the outside of the apparatus is set to be located above a water level in the pipe.   The in-pipe measuring apparatus according to any one of claims 1 to 4, wherein a flow velocity distribution in the sewage pipe that has passed is measured.   The water-resistant capsule is held at a predetermined height by a holding means, and when the water level in the pipe reaches the predetermined height, the movement starts together with the water flow in the pipe and the measurement in the pipe is started. The in-pipe measuring apparatus according to any one of 1 to 4.   The in-pipe measuring apparatus according to claim 1, wherein a movement trajectory is calculated based on the estimated value of the self position.   5. The in-pipe measuring apparatus according to claim 1, further comprising water quality measuring means for measuring the quality of sewage in the pipe, and measuring the water quality distribution in the sewage pipe that has passed.

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