JP2008275478A - Line inspection diagnostic device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a line inspection diagnostic device for improving measurement data. <P>SOLUTION: A line measurement device includes: two guide probe 2 having a sliding material part for holding sliding in order to scan the inside of a line; and a body probe 1 having a hinge part 1a arranged between two body probes 1 for connecting each of the two guide probes on both the ends of a line scanning direction. Each of the two guide probes has a hinge support part 2a for rotating a line scanning direction as an axis by the hinge part 1a. The body probe 1 supports a line measurement instrument 6 for inspecting or diagnosing the line and has a measurement instrument support part 16 functioned so as to hold the centroid of the body probe. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a pipeline inspection / diagnosis device that scans a pipeline and checks or diagnoses the state of the pipeline.

  The conventional pipe measuring device is provided with a scanning body separately from a configuration (for example, see Non-Patent Document 1) provided with a jig for fixing the pipe measuring device main body from both ends of the apparatus, A configuration in which a pipe measuring device body and a scanning body are connected with a rope is known.

  For example, FIG. 11 shows an outline of a configuration in which a jig for fixing the pipe measuring device main body from both ends of the device is provided. In order to inspect the pipe 108 of a certain building or underground 103, jigs 102a and 102b for supporting the pipe measuring device main body are provided at both ends of the pipe measuring device main body 101. The jig 102b has a cable 104 for receiving a measurement signal from the pipe measuring device main body 101 and scanning the pipe measuring device in the pipe. By winding up the cable 104 with the winch 105, the pipeline measuring device is scanned in the pipeline. The measurement signal from the pipe measuring device main body 101 is subjected to predetermined signal processing by the computer 107 via the interface 106. Thereby, the position or state of the pipe line can be measured.

  FIG. 12 shows an outline of a configuration in which a scanning body is provided separately from the pipe measuring device main body (a casing provided with an inertial sensor in the figure), and the casing and the scanning body are connected by a rope. FIG. 12 is a longitudinal sectional view showing a state in which the casing 201 is traveling in the pipe line 208. Wheels 216 are attached to the casing 201 at the front and rear. On the other hand, in front of the casing 201, a traveling body 202 that can travel in the pipeline 208 with the wheels 220 is disposed. One end of the traveling body 202 in the scanning direction is connected to the casing 201 by a rope 212. In addition, a tow cable 204 is attached to the other end of the traveling body 202. By winding up the cable take-up reel 205 in the direction of arrow A, the pipe line measuring device is scanned in the pipe line.

Murata Manufacturing Co., Ltd., “Gyro Lion”, [online], May 28, 2004, Product Catalog, [Search February 21, 2007], Internet, <http://www.well-murata.net /product/01_gyro.html>

  First, it is important to consider the rolling of the pipe measuring device, that is, the rotation of the apparatus main body when measuring the inside of the pipe. There are various inertial measurement units (Inertial Measurement Units: IMUs) used for current pipeline measurement. The limit rolling angle that can be measured by the IMU is generally defined as the specification of the IMU, and the measurement result of the IMU must be analyzed depending on the specifications of various IMUs. In other words, a pipe measuring device having a structure capable of suppressing the amount of rolling is desired.

  Furthermore, in measuring the inside of the pipe line, it is important to consider the influence of the step due to the pipe joint. The instantaneous angle change that can be measured by the IMU varies depending on the specifications of various IMUs. In other words, it is desired that a container (also referred to as a casing) on which an IMU is mounted has a structure that is not easily subjected to a change in angle even when there is a step in the pipeline.

  However, the above-described conventional pipe measuring device does not have a structure that suppresses rolling of the pipe measuring device main body or a structure that suppresses the influence of a step due to a joint of a pipe or the like. There is room for.

  An object of the present invention is to improve the quality of measurement data when paying attention to the above-mentioned problems and inspecting or diagnosing a pipe using a pipe measuring instrument such as an inertial measuring device for checking or diagnosing the pipe. An object of the present invention is to provide a pipeline inspection diagnostic device.

  A pipeline inspection / diagnosis device according to the present invention is a pipeline inspection / diagnosis device that scans a pipeline and checks or diagnoses the state of the pipeline, and maintains slidability in scanning the pipeline. And two main body probes provided between the two guide probes and having hinge portions at both ends in the pipeline scanning direction, which are connected between the two guide probes. Each of the two guide probes has a hinge support part that rotates about the pipe scanning direction at the hinge part, and the body probe is a pipe line measuring instrument for inspecting or diagnosing the pipe line And a measuring instrument support portion that functions to hold the center of gravity of the main body probe, and is held in non-contact with the pipe line by the two guide probes.

  According to the invention, it can be expected that the quality of measurement data in pipe inspection and diagnosis work will be improved and cost reduction of maintenance work for lifeline aging that will be further accelerated in the future.

  Hereinafter, the pipeline inspection and diagnosis apparatus according to an embodiment of the present invention will be described in detail.

  The pipe inspection / diagnosis device according to the embodiment of the present invention can implement inspection / diagnosis of the pipe 8 by mounting a pipe measuring instrument (IMU, inspection camera, diagnostic sensor, etc.) on the main body probe 1. However, an embodiment in which an inertial measuring device is mounted as a pipe measuring instrument will be described below.

  FIG. 1 is a diagram showing an overall configuration of a pipeline inspection / diagnosis apparatus according to an embodiment of the present invention. FIG. 2 is a cross-sectional view of the hinge portion in the pipeline inspection / diagnosis apparatus according to the embodiment of the present invention. FIG. 3 is a cross-sectional view taken along line X-X ′ in the pipeline inspection / diagnosis apparatus according to the embodiment of the present invention. FIG. 4 is a cross-sectional view taken along line Y-Y ′ in the pipe line inspection / diagnosis apparatus according to the embodiment of the present invention.

  In FIG. 1, the pipeline inspection / diagnosis apparatus according to the embodiment of the present invention includes a main body probe 1 and two guide probes 2. Each of the two guide probes 2 has a substantially cylindrical shape, and has a sliding member 16 that retains slidability for scanning the inside of the duct 8. A plurality of the lubricant parts 16 are provided in order for the guide probe 2 to easily slide in the pipeline, and can be constituted by a ball bearing structure, a sled or a wheel (see FIG. 4).

  The main body probe 1 is provided between two guide probes 2 and has hinge portions 1a for connecting to the two guide probes 2 at both ends in the pipeline scanning direction. Further, as shown in FIG. 2, each of the two guide probes 2 has a hinge support part 2a for rotating around the pipe scanning direction at the hinge part 1a.

  As shown in FIG. 3, the main body probe 1 supports a pipe measuring instrument 6 (for example, IMU) for inspecting or diagnosing the pipe line 8 inside the main body probe 1 and holds the center of gravity of the main body probe 1. It has the measuring instrument support part 1b which functions as follows.

  As described above, the main body probe 1 is configured to be kept in non-contact with the pipe line 8 by the two guide probes 2 and floats at the center of the pipe line 8 without directly touching the pipe line 8. It is in the state.

  At the time of a predetermined measurement in the actual pipeline 8, the pipeline inspection / diagnosis device is pulled by the pulling wire 4, and measurement data obtained, for example, by the IMU is acquired via the power supply composite communication cable 7.

  Next, the result of having performed the performance verification of the pipeline inspection diagnostic apparatus of a present Example is shown. In demonstrating the pipe inspection / diagnosis apparatus of the present embodiment, an IMU equipped with a triaxial optical fiber gyro and a triaxial accelerometer was installed in the main body probe 1 as the pipe measuring device 6. Further, the pipeline inspection / diagnosis apparatus in which the main body probe 1 and the guide probe 2 are connected is pulled by the pulling wire 4 in the pipeline 8. The angle data calculated from the IMU and the distance data from the rangefinder were verified by acquiring the data via the power supply composite communication cable 7.

  The cylindrical pipe line 8 was verified with an FRP pipe having a substantially circular pipe cross-sectional diameter of 25 cm. Moreover, the substantially circular cross-sectional diameter of the guide probe 2 of the pipe line inspection / diagnosis device was set to a diameter of 22 cm capable of passing through the FRP pipe. As shown in FIG. 5, the pipeline shape of the pipeline 8 is provided with two curves having an intersection angle of 22 degrees and a curvature radius of 10 R (diameter of 10 cm) in the plane direction of the pipeline 8 (to verify the effect of the step difference in the pipeline). ) Without using a curve in the longitudinal direction of the pipe line 8 (that is, substantially circular at an arbitrary pipe line position), the pipe line length of about 48 m was used for verification. That is, in FIG. 5, the pipeline inspection and diagnosis apparatus is pulled from the start point to the end point.

  A method of verifying the rotation of the pipeline inspection / diagnosis device, that is, rolling, can be performed by verifying the rotation angle data output from the IMU. Here, the traction speed of the traction wire 4 was verified for each of 0.35 m / s, 0.32 m / s, and 0.223 m / s, which are around a general traction speed of about 0.3 m / s.

  The effect of the step difference in the pipeline was verified by verifying the longitudinal angle data output from the IMU and comparing the actual linearity with the linearity converted from the output angle data and distance data.

  First, as a verification result of rolling, the rotation angle data of the IMU does not change significantly regardless of the straight line portion / curve portion of the pipe line 8 or the traction speed, and 60 times of measurement data was acquired. None of the displacements of the data exceeded 30 ° even though they were large. An example of the rotation angle data is shown in FIGS. It can be seen that at the traction speeds of 0.35 m / s, 0.32 m / s, and 0.223 m / s, the displacement width of the rotation angle data is less than 30 °. Therefore, it is possible to measure at about 1/6 with respect to a rotation angle ± 90 ° (that is, a displacement width of 180 °) at which the inertial measurement device (IMU) mounted on the pipeline inspection / diagnosis device can increase the error. I was able to confirm. This indicates that extremely stable pipe line measurement can be realized.

  Next, as a verification result of the step difference of the pipeline, as shown in FIG. 9 as an example of the longitudinal angle data, a sudden angle change due to the step difference of the pipeline is within a range of 0.12 to 0.28 °. It was confirmed that this occurred. However, when the longitudinal angle data shown in FIG. 9 is converted into a linear shape for the cumulative calculation of the pipeline position, it has been confirmed that the linearity does not change rapidly as shown in FIG. This is because the position of the pipeline is calculated from the accumulated value according to the conversion formula of Formula 1 described later. This indicates that extremely stable pipe line measurement can be realized. Note that such calculation can be sequentially calculated using, for example, a computer even in actual measurement.

Here, n represents an arbitrary positive integer, and Z _n represents an arbitrary pipeline position. Further, theta _n is the angle of the rolling measured by IMU in any _n [deg], _l n represents the unit distance scanning from any n-1 to n, thereby, _{Z n} are accumulated Z _The pipe line position can be measured as traveling for an amount of change (δl _n · sin θ _n ) from the position of _n-1 .

  From the results of actual measurement in the present embodiment (FIGS. 6 to 10), the pipe inspection and diagnosis apparatus of the present embodiment according to the present invention measures more accurately when the pipe is inspected or diagnosed by an inertial measurement apparatus (IMU). It has been confirmed that the configuration enables this.

  Although the above embodiments have been described as representative examples, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the invention. For example, it is not necessary to limit the meaning of “duct” to a buried pipe such as a building or underground, and according to the present invention, it can be applied to drilling by boring or the like. Accordingly, the invention should not be construed as limited by the embodiments described above, but only by the claims.

  The pipeline inspection and diagnosis apparatus according to the present invention is useful in applications for inspecting or diagnosing a pipeline equipped with an inertial measurement device, a pipeline inspection camera, or a pipeline diagnostic sensor.

It is a figure which shows the whole pipe inspection diagnostic apparatus structure of the Example by this invention. It is sectional drawing of the hinge part in the pipe line inspection diagnostic apparatus of the Example by this invention. It is X-X 'sectional drawing in the pipe line inspection diagnostic apparatus of the Example by this invention. It is Y-Y 'sectional drawing in the pipe line inspection diagnostic apparatus of the Example by this invention. It is a figure which shows the pipeline alignment used for verification in the pipeline inspection diagnostic apparatus of the Example by this invention. It is a figure which shows the verification result in the case of the traction speed of 0.35 m / s in the pipeline inspection diagnostic apparatus of the Example by this invention. It is a figure which shows the verification result in the case of the pulling speed of 0.32 m / s in the pipeline inspection diagnostic apparatus of the Example by this invention. It is a figure which shows the verification result in the case of the traction speed of 0.223 m / s in the pipeline inspection diagnostic apparatus of the Example by this invention. It is a figure which shows the verification result of the longitudinal angle data in the pipe line inspection diagnostic apparatus of the Example by this invention. It is a figure which shows the result of having converted the longitudinal angle data shown in FIG. 9 linearly for the accumulation calculation of a pipe line position. It is a figure which shows the outline of a structure of the conventional pipe line measuring device. It is a figure which shows the outline of a structure of the conventional pipe line measuring device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body probe 1a Hinge part 2 Guidance probe 2a Hinge support part 4 Pulling wire 6 Pipeline measuring instrument 7 Power supply composite communication cable 8 Pipeline 16 Lubricant part 101 Pipeline measuring device 102a, 102b Jig 103 Building (or underground)
104 Cable 105 Winch 106 Interface 107 Computer 108 Pipeline 201 Casing 202 Traveling body 204 Cable 205 Cable take-up reel 208 Pipelines 216 and 220 Wheels

Claims (1)

A pipeline inspection diagnostic device that scans a pipeline and checks or diagnoses the condition of the pipeline,
Two guide probes having a sliding member for maintaining slidability for scanning in the pipeline;
A body probe provided between the two guide probes and having hinge portions at both ends in the pipeline scanning direction for connecting to each of the two guide probes;
Each of the two guide probes has a hinge support part that rotates around the pipe scanning direction at the hinge part,
The main body probe supports a pipe measuring instrument for inspecting or diagnosing a pipe line, and has a measuring instrument supporting portion that functions to hold the center of gravity of the main body probe. A pipeline inspection and diagnosis device characterized by being kept in non-contact with the pipeline.

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