JP2009235880A - Pipe inside investigation system and pipe inside investigation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pipe inside investigation system which can be reduced in size and weight and also can be simplified in control, in the pipe inside investigation system for investigating inside a main pipe by inserting, from the branch pipe side into the main pipe, the pipe inside investigation device for investigating inside of the pipe with an insertion/recovery device while towing a cable, and then by recovering the pipe inside investigation device to a branch pipe side from the main pipe. <P>SOLUTION: An insertion/recovery device 30 for moving the pipe inside investigation system 20 between the branch pipe side and the main pipe 10 is formed by providing, in a liquid-tight section 32a, a cable drum 33a for winding the cable 42 in liquid. The pipe inside investigation device 20 is formed by providing a buoyancy adjusting device 24 to at least either the front part or the rear part. The buoyancy adjusting device 24 increases/decreases the buoyancy of a buoy 24a by taking the buoy 24a in/out from the body 21 of the pipe inside investigation device 20. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an in-pipe investigation system that can reduce the size of the system and simplify the control in an in-pipe investigation system for investigating the inside of a pipe while towing a cable when investigating a water main. And in-house survey methods.

  When inspecting pipes such as water mains and drainage pipes of nuclear reactor facilities, remove the air valve etc. from the branch pipe that branches upward from the main pipe and has an air valve etc. Equipped with a camera, camera lighting, moving propeller, etc. in the main pipe, an in-pipe investigation device (underwater robot for investigation) that transmits and receives data and power with a towing cable is inserted and inspected with this in-pipe investigation device (For example, see Patent Document 1 and Patent Document 2).

  In this in-pipe investigation, a repair valve provided in the branch pipe is closed, an air valve or the like is removed from the branch pipe, and an insertion pipe containing the in-pipe investigation device is attached to the branch pipe. After installing this insertion tube, open the repair valve to submerge the inside of the insertion tube, and then connect the cable connected to the in-pipe investigation device from the outside of the insertion tube (outside the watertight compartment) to the inside of the insertion tube (inside the watertight compartment). ), The in-pipe investigation device is inserted into the main pipe, and further, the in-pipe investigation device is moved to a predetermined part in the main pipe while feeding the cable, and the main pipe is investigated. When the survey is completed, the cable is pulled in and the in-pipe survey device is pulled into the insertion tube from the main pipe. Thereafter, the repair valve is closed, the insertion pipe is removed, an air valve or the like is attached to the branch pipe, the repair valve is returned to the original state before the investigation work, and the series of work is completed.

  The buoyancy of this in-pipe inspection device is adjusted so that the buoyancy does not rise and fall in balance with the weight, that is, neutral buoyancy, and is trimmed so as to face the same direction as the pipe axis of the main pipe. ) Is also adjusted. The specific gravity of the cable connected to the in-pipe inspection device is also adjusted so as to have neutral buoyancy.

  However, in water mains and the like, the pressure in the mains fluctuates in the range of about 0.3 MPa to 1 MPa, so the degree of compression of the rubber, the covering member and the gap constituting the cable changes. The degree of decrease in volume changes and the specific gravity changes. For this reason, the in-pipe investigation equipment that is towing this cable will rise and fall in response to changes in the specific gravity of this cable, even if it is adjusted to neutral buoyancy. Moreover, since the cable is generally connected to the rear end, the attitude of the in-pipe inspection device also changes.

  On the other hand, when photographing with this in-pipe investigation device, in order to obtain high-quality video data, the in-pipe investigation device is placed in the center of the tube, and the direction of the in-pipe investigation device is aligned with the tube axis direction of the main tube from a right angle. It is desirable to capture and obtain video data with less distortion. In addition, by maintaining the attitude of the in-pipe inspection device without tilting, it is possible to obtain video data with little angle (position) error. On the other hand, if the in-pipe inspection device floats, sinks, or changes its posture, the sinking position and field of view change, and it becomes impossible to obtain a high-quality image with little distortion and position error. Therefore, it is important to perform buoyancy adjustment and posture adjustment of the in-pipe investigation device.

  When the attitude control of this in-pipe inspection device is performed by a thruster, it is necessary to always drive the thruster to perform the attitude control. Therefore, the necessary power becomes large, the cable becomes thick, and the power source needs to be increased. Further, when the posture control is performed by the thruster, it is necessary to provide the in-pipe inspection device with a mechanism for increasing the number of thrusters and changing the direction of the thruster, and the in-pipe inspection device becomes large. And as the in-pipe inspection equipment grows, the required thruster capacity also increases. In addition, since the thruster is affected by the water flow in the main pipe, posture control becomes difficult.

  In addition, when the cable towed to the in-pipe inspection device is fed from the non-watertight portion outside the insertion tube, the water pressure in the watertight compartment becomes 1 MPa in the water main, so between the watertight compartment and the non-watertight portion. Since a large water pressure acts on the through portion of the cable, a large drawing force is required for feeding the cable at the through portion, and the cable itself is thickened so as not to be disconnected due to a pinching force necessary for the feeding.

  Since this cable may be as long as 300 m, for example, a slight increase in thickness affects the size and weight of the cable drum that winds the cable, leading to an increase in the size and weight of the entire system. In addition, when a cable becomes thick, in order to cope with the influence of the specific gravity change of the cable with respect to the rise and fall of the in-pipe inspection device and the posture, it is necessary to improve the ability of the posture control device of the in-pipe inspection device.

Further, in the cable feeding, the feeding force required for the cable feeding changes due to the change in the water pressure of the water main. In the prior art, this cable is fed out while the operator manually adjusts while watching the monitor. However, when trying to automate this, a large drive source is required to pass through this penetration. . In addition, since it becomes necessary to make this feeding force follow the change in the water pressure of the water main, control becomes difficult.
JP 2007-91169 A JP-A-10-212257

  The present invention has been made in view of the above situation, and an object of the present invention is to insert an in-pipe inspection device for inspecting a pipe while towing a cable into the main pipe from the branch pipe side using an insertion / recovery device. An in-pipe investigation system and a method for in-pipe investigation that can reduce the size and weight of the system and simplify the control in an in-pipe investigation system that investigates the inside of the main pipe and collects it from the main pipe to the branch pipe after the investigation. It is to provide.

  In order to achieve the above object, an in-pipe inspection system according to the present invention includes an in-pipe inspection device for inspecting a pipe while towing a submerged cable, and for moving the in-pipe inspection device between a branch pipe side and a main pipe. An insertion / recovery device, a control and monitoring device for controlling the in-pipe investigation device and the insertion / recovery device and monitoring the investigation data, and using the insertion / recovery device from the branch pipe side to the main pipe In an in-pipe investigation system that inserts an in-pipe investigation device to investigate the inside of the main pipe, and after the investigation uses the insertion and collection device to collect the in-pipe investigation device from the main pipe to the branch pipe side, the insertion and collection device is A cable drum for winding the submerged cable is provided in the liquid-tight compartment, and the in-pipe inspection device is inserted into and removed from the main body of the in-pipe inspection device in at least one of the front part and the rear part. Formed by providing a buoyancy device for increasing or decreasing the buoyancy by.

  As for the protruding direction of this buoyant body, there is no protrusion on the outer periphery in the pipe inspection device in the front or rear, so it is difficult to catch on the seam of the water main, etc. This is preferable because it does not hinder the recovery of the in-pipe investigation device to the side of the branch pipe even if it cannot be pulled in, but is not limited to this. For example, when the diameter of the branch pipe is large, the buoyancy body is The direction of protrusion is not particularly limited. Moreover, you may comprise so that a recessed part may arise in a main body, when protrusion amount is zero.

  In addition, the water main here refers to the pipe between the water supply source (water purification plant, etc.) and the user, and the branch pipe is a pipe that branches upward from the main pipe. A pipe to which an air valve, a digestive plug, etc. are attached.

  According to the configuration in which the cable drum that winds up the submerged cable is provided in the liquid-tight compartment, it is not necessary to pass the penetrating part and feed the submerged cable from the outside of the liquid-tight compartment into the liquid-tight compartment. The force required to draw out the cable is remarkably reduced, and the pinching force for preventing slipping can be reduced when the cable is held by the roller and fed out. As a result, the submerged cable can be made thinner, and the cable drum that winds the submerged cable can be reduced in size and weight. In addition, the thinning of the submerged cable reduces the influence on the sedimentation and posture of the in-pipe inspection device, and thus the buoyancy adjustment device of the in-pipe inspection device can be miniaturized. In addition, since the submerged cable is not fed out through the penetration portion, the feeding force of the submerged cable is not affected by the water pressure inside the main pipe, so that the feeding control of the submerged cable is simplified.

  In addition, since the attitude control of the in-pipe investigation device is performed by the buoyancy body entrance / exit control and is performed without using a thruster such as a propeller, the control is intermittent and it is not necessary to control the thruster continuously. As a result, power consumption is reduced and the submerged cable can be made thinner. Further, even if a thruster is provided for propulsion, the need for attitude control is eliminated, so that a thruster for attitude control can be dispensed with or a thruster direction changing device can be dispensed with. Thereby, the in-pipe inspection device can be reduced in size and weight. Further, since the attitude control is not affected by the water flow unlike the thruster, the ups and downs and the attitude control can be facilitated and simplified.

  In the in-pipe inspection system, a cable feeding device for feeding out the submerged cable is arranged in the insertion and collection device, and the arrangement place is a joint between the branch pipe and the main pipe in a state where the in-pipe investigation device is inserted into the main pipe. Configure in the vicinity.

  According to this configuration, the submerged cable towed by the in-pipe inspection device is fed out by the cable feeding device provided at the bent portion of the branch pipe and the main pipe. Since the feeding force on the drum side can be reduced, the capacity of the rotational drive source (motor, etc.) on the cable drum side can be reduced, and the size and weight can be reduced. In addition, when a thruster for propulsion is provided on the in-pipe inspection device side, the force to pull out the submerged cable is not required, so the thruster's ability can be reduced, and the in-pipe inspection device is made smaller and lighter. it can. In addition, because the location is located near the joint between the branch pipe and the main pipe, it can be used to push the in-pipe inspection device with a submerged cable or to pull out the submerged cable with a submerged inspection device. However, since the submerged cable in the insertion / recovery device and the branch pipe can be pulled out, the submerged cable in the insertion / recovery device and the branch pipe can be prevented from meandering.

  In the in-pipe inspection system, if the in-pipe inspection device is provided with a propulsion device, it is not necessary to push the in-pipe inspection device with the submerged cable, so the submerged cable may have low rigidity, and the submerged cable becomes thinner. it can. Further, since the submerged cable can be pulled by the driving force of the in-pipe investigation device, the submerged cable can be prevented from meandering in the insertion / recovery device and the branch pipe.

  In addition, an in-pipe investigation method for achieving the above-described object is provided by an in-pipe investigation device that investigates the inside of a pipe while towing a submerged cable, and an insertion device for moving the in-pipe investigation device between the branch pipe side and the main pipe. An in-pipe investigation system comprising a collection device, a control and monitoring device for controlling the investigation device and the in-pipe investigation device and the insertion collection device, and monitoring the investigation data. In the in-pipe investigation method of inserting the in-pipe investigation device into a pipe to investigate the inside of the main pipe and, after the investigation, collecting the in-pipe investigation device from the main pipe to the branch pipe side using the insertion collection device. Winding the submerged cable with a cable drum provided in a liquid-tight section, and a buoyancy adjusting device provided at least one of the front part and the rear part of the in-pipe investigation device, By out from the body, it is a method characterized by adjusting the buoyancy and attitude of the tube adjusting device.

  According to this method, since it is not necessary to feed out the submerged cable from the outside of the liquid-tight compartment into the liquid-tight compartment, the submerged cable can be made thinner, and the cable drum for winding the submerged cable can be reduced in size and weight. In addition, the thinning of the submerged cable reduces the influence on the sedimentation and posture of the in-pipe inspection device, and thus the buoyancy adjustment device of the in-pipe inspection device can be downsized. In addition, since the feeding force of the submerged cable is not affected by the water pressure inside the main pipe, the feeding control of the submerged cable is simplified.

  In addition, since the attitude control of the in-pipe inspection device is intermittent buoyancy control, power consumption is reduced and the submerged cable can be made thinner. Further, even when a thruster is provided, since it is not necessary to control the attitude, a control thruster can be dispensed with or a thruster direction conversion device can be dispensed with. Thereby, the in-pipe inspection device can be reduced in size and weight. In addition, the posture control by changing the buoyancy is not affected by the water flow unlike the thruster, so that the floating and sinking and the posture control are facilitated and simplified.

  In the in-pipe inspection method, the submerged cable is connected to the main body by a cable feeding device that is arranged in the insertion and collection device and is arranged in the vicinity of a joint between the branch pipe and the main pipe while the in-pipe investigation device is inserted into the main pipe. Feed out into the tube. According to this method, since the submerged cable towed by the in-pipe inspection device is fed out by the cable feeding device provided at the bent portion of the branch pipe and the main pipe, the capacity of the rotary drive source such as the motor on the cable drum side, or The thruster's ability to propel in-pipe inspection equipment can be reduced, and the in-pipe inspection system can be made smaller and lighter. Further, since this cable feeding device can cope with the friction generated at the bent portion between the branch pipe and the main pipe, meandering of the submerged cable in the insertion / recovery device and the branch pipe can be prevented.

  In the in-pipe inspection method, when the in-pipe inspection device is moved forward with a propulsion device provided in the in-pipe inspection device, it is not necessary to push the in-pipe inspection device with the submerged cable, so the submerged cable may have low rigidity. Therefore, the submerged cable can be thinned. In addition, since the submerged cable can be pulled by the in-pipe investigation device, the submerged cable can be prevented from meandering in the insertion / recovery device and the branch pipe.

  According to the in-pipe investigation system and the in-pipe investigation method of the present invention, an in-pipe investigation device that investigates the inside of a pipe while towing a submerged cable is inserted into the main pipe from the branch pipe side using an insertion / recovery device. In the in-pipe investigation system that collects from the main pipe to the branch pipe side after the investigation, the system can be reduced in size and weight, and the control can be simplified.

  Hereinafter, embodiments of an in-pipe investigation system and an in-pipe investigation method according to the present invention will be described with reference to the drawings. Here, the investigation of the water main will be described as an example, but the present invention is not limited to this, and the in-pipe investigation device for inspecting the inside of the pipe, such as the reactor-related or chemical factory-related, surveys the inside of the pipe while towing the cable. This can be applied to the in-pipe inspection system and method.

  First, the in-pipe inspection system according to the embodiment of the present invention will be described. As shown in FIG. 1, this in-pipe inspection system 1 uses an in-pipe inspection device 20 that is an underwater inspection robot over a long distance of about 300 m to 1000 m without shutting off the water main 10. This is a system for investigating the situation inside the pipe 10, the situation of corrosion, the displacement of the joint 11 portion, and the like.

  This in-pipe investigation system 1 includes an in-pipe investigation device 20 for photographing and examining the inside of the tube, and an insertion / recovery device 30 for moving the in-pipe investigation device 20 between the branch pipe side and the water main pipe 10. Control and control of video data and control data transmission / reception and power transmission cables 41, 42, 43, 44, in-pipe inspection device 20 and insertion / recovery device 30; The monitoring device 50 is configured.

  The operation and control signals, power, data, etc. between the in-pipe investigation device 20 and the control and monitoring device 50 are transmitted and received via the first connection cable 41 and the first underwater cable (submerged cable) 42, and the insertion and recovery device. The steering and control signals and power between the control unit 30 and the control and monitoring device 50 are transmitted and received through the second connection cable 43 and the second underwater cable 44. These cables 41, 42, 43, and 44 are formed of composite cables of electric signals and electric power.

  As shown in FIGS. 1 to 3, the insertion / recovery device 30 inserts the in-pipe investigation device 20 into the main water pipe 10 in a state where the water supply is not stopped, that is, in a state where the water supply is not stopped (non-water supply state). This is a device for collecting the in-pipe inspection device 20 after the inspection. The insertion / recovery device 30 includes an insertion tube 31 and a take-up device storage member 32 connected to the upper portion of the insertion tube 31, and the lower portion of the insertion tube 31 can be attached to and detached from the repair valve 14 at the branch portion of the water main pipe 10. Thus, the lower flange 31a is formed, and the upper portion is formed with an upper flange 31b connected to the winding device storage member 32. Further, a drain cock 31c and a viewing window 31d (transparent acrylic plate) are provided on the lower side of the insertion tube 31. The viewing window 31d is provided at a position where the rear portion of the storage member 34 can be confirmed when the storage member 34 that houses the in-pipe inspection device 20 is pulled up. After confirming the rear part of the storage member 34 from the viewing window 31d, the repair valve 14 is closed to prevent the storage member 34 from being pinched by the repair valve 14 and being damaged.

  The take-up device storage member 32 includes a first case 32a having a watertight (liquid tight) section and a second case 32b having a non-watertight section capable of withstanding the water pressure of the main water pipe 10, and further includes a first case 32b. The upper part of the case 32a is provided with a rod insertion part 32c through which the insertion rod 36 enters and exits, a second waterproof connector 32d serving as a connection part of the second connection cable 43 and the second underwater cable 44, and a lower part of the first case 32a. Is provided with a guide roller 32e for guiding the first underwater cable 42.

  The insertion rod 36 moves the storage member 34 from the insertion pipe 31 into the water main pipe 10, and conversely moves the storage member 34 up and down to move from the water main pipe 10 to the insertion pipe 31. It is a rod. A lever 36a is provided at the top, and the insertion rod 36 is moved up and down by manually operating the lever 36a up and down.

  Further, the winding device storage member 32 is provided with a winding device 33 for feeding and winding the first underwater cable 42. The winding device 33 rotates the cable drum 33a provided inside the first case 32a of the watertight section by rotating the rotation shaft 33c by the winding motor 33b inside the second case 32b of the non-watertight section, The first underwater cable 42 is wound up while the guide roller 33e of the cable shifter 33d is moved laterally in synchronization with the rotation of the cable drum 33a. Further, by making the rotation of the cable drum 33 a free, the first underwater cable 42 is fed according to the feeding of the feeding roller 34 a provided at the rear portion of the storage member 34 and the movement of the in-pipe inspection device 20. Further, rotation of the cable drum 33a is detected by a rotation meter 33f formed by a rotating plate and an encoder and used for control. The electric signal and power from the first underwater cable 42 are guided to the first connector 33h via the slip ring 33g.

  With these configurations, the cable drum 33a, the cable shifter 33d, and the guide roller 33e are housed in the first case 32a of the watertight compartment, while the winding motor 33b, the rotation meter 33f, the slip ring 33g, and the like are in the non-watertight compartment. It is provided in the second case 32b and is watertight at the rotating shaft portion 33c of the cable drum 33a. The water-tight mechanism in the rotating shaft portion 33c is a well-known technique and can be easily configured as compared with the water-tight mechanism in the portion where the cable enters and exits as in the prior art.

  In the present invention, the storage member 34 for storing the in-pipe inspection device 20 is disposed in the insertion tube 31 of the insertion / recovery device 30, and the first underwater cable connected to the in-pipe inspection device 20 behind the storage member 34. A feeding roller (feeding device) 34a for feeding 42 is provided.

  The feeding roller 34a sandwiches the cable from both sides with a roller, rotationally drives at least one of the rollers, and moves and feeds the cable sandwiched by the rotation. The feeding roller 34a is preferably provided at the rear end of the storage member 34 so as not to obstruct the storage of the in-pipe inspection device 20.

  The feed roller 34a is driven by rotation transmitted from a feed roller motor (drive device) 35a provided at the distal end portion 35 of the insertion rod 35 by a rotary shaft having a flexible joint, a flexible rotary shaft 35b, and the like. In other words, the feeding roller motor 35a may be disposed inside the storage member 34, but the feeding roller motor 35a is disposed on the insertion rod 36 side outside the storage member 34 to rotate the feeding roller motor 35a. Are transmitted to the feeding roller 34a by a flexible rotating shaft 35b or the like. Thereby, the space of the storage member 34 can be reduced and the storage member 34 can be reduced in size. According to this configuration, it is not necessary to dispose the drive device 35a on the storage member 34, and the storage member 34 can be shortened, so that the in-pipe inspection device 20 can be inserted into the water main pipe 10 having a smaller diameter. become.

  A second underwater cable 44 is provided to transmit a control signal and power to the feed roller motor 35a, and the second waterproof connector 32d and the feed roller motor 35a are connected by the second underwater cable 44. The second underwater cable 44 is formed of a curl cord or the like so as to expand and contract as the insertion rod tip 35 moves up and down.

  Further, the feeding roller 34a is arranged so that the axial direction of the feeding roller 34a is up and down when the storage member 34 enters the water main 10 and is in a state substantially parallel to the tube axis of the water main 10. Arrangement is preferable in terms of the layout of the storage member 34 and the in-pipe inspection device 20. That is, when the first underwater cable 42 is passed inward with respect to the bending of the bending member 34b, the first underwater cable 42 passes through the upper side of the storage member 34 and is connected to the upper side of the rear portion of the in-pipe inspection device 20. . Therefore, it is not necessary to arrange a roller above the first underwater cable 42 when the axial direction of the feeding roller 34a is set to the vertical direction, and the size can be reduced. Further, the flexible rotating shaft 35b, which is a rotation transmission portion, is provided on the outer side with respect to the bending of the bending member 34b so that the bending mechanism of the bending member 34b and the passage of the first underwater cable 42 do not hinder. It is preferable to make it.

  Even in the structure in which the bending member 34b is not provided and the storage member 34 is provided at the distal end of the insertion rod 36 in the extending direction of the insertion rod 36, the feeding device 34a that can be driven by a driving device such as a motor is provided in the storage member 34. By providing at the rear end, the first underwater cable 42 can be fed out while applying tension to the first underwater cable 42 in the insertion tube 31.

  According to this configuration, when the first underwater cable 42 connected to the in-pipe inspection device 20 inserted into the water main 10 is fed out in the investigation of the water main 10, the feeding roller 34 a causes the inside of the insertion pipe 31 to be fed. Since the first submerged cable 42 is pulled, the first submerged cable 42 in the insertion tube 31 can be fed out in a tensioned state, and the first submerged cable 42 in the insertion tube 31 can be prevented from meandering.

  Further, the rear portion of the storage member 34 is connected to the insertion rod distal end portion 35 by a bending member (cable bear) 34b. The insertion rod distal end portion 35 is fixed to the lower end of the insertion rod 36 and Along with the movement, the inside of the insertion tube 31 is moved up and down. When the insertion rod 36 is at the upper end, as shown in FIGS. 2 and 3, the storage member 34 is inside the insertion tube 31 in the state in which the in-pipe inspection device 20 is stored therein, and the distal end of the insertion rod Part 35 is also on it. On the other hand, when the insertion rod 36 is at the lower end, as shown in FIG. 1, the storage member 34 is pushed out of the insertion pipe 31 and is in the water main pipe 10, and the insertion rod tip 35 is at the lower end of the insertion pipe 31. Inside the side.

  As shown in FIGS. 4 and 5, the bending member 34 b that connects the insertion rod tip 35 and the storage member 34 has the storage member 34 in both the tube axis direction of the insertion tube 31 and the tube axis direction of the water main pipe 10. It is a part which makes it possible to face, and is configured with a plurality of joints. This joint is configured such that joint element members on both sides are connected by a pin coupling portion so that adjacent joint element members can relatively rotate by a predetermined angle θ around the pin coupling portion.

  By forming the bending member 34b with a joint, the bending direction and the shape before and after the bending can be fixed, so that the shaking and vibration are reduced when the storage member 34 is moved. Further, by providing a plurality of joints, the bending of the bending member 34b can be made smooth, and even when the flow in the water main pipe 10 is large, the bending member 34b can be easily bent and can easily return to a straight state.

  In this embodiment, the feeding roller 34a is provided at the rear portion of the storage member 34, but it may be provided at a part of the bending member 34b. In this case, the feeding roller 34a is incorporated into a part of the joint, but the length of the storage member 34 can be shortened. However, if the first underwater cable 42 is provided at the rear portion of the storage member 34, the first underwater cable 42 on the side of the in-pipe inspection device 20 is free from friction due to the bending member 34b. The burden on the device 20 is the smallest.

  As shown in FIGS. 6 to 9, the in-pipe inspection device (underwater inspection robot) 20 includes a main body 21 equipped with a rear movement thruster 22 and a front posture stabilization fin 23, and is directed sideways. The observation camera 25 and the LED lighting lamp 26 for the camera are provided so that the inner wall of the water main pipe 10 and the joint 11 can be observed. The observation camera 25 can change the field of view by the camera turning device 27.

  In the present invention, the buoyancy adjusting device 24 is further provided with a total of three buoyancy adjusting devices 24, one at the front and a pair at the rear. As shown in FIGS. 10 to 13, the buoyancy adjusting device 24 increases or decreases the buoyancy by changing the protrusion amount D of the buoyancy body 24 a from the front surface 21 a or the rear surface 21 b of the main body 21 of the in-pipe inspection device 20.

  The buoyancy body 24a is formed of a cylindrical body having a hollow portion, and has a female screw portion 24b at its rear portion. The female screw portion 24b is screwed into the male screw portion 24c. The male screw portion 24c is connected to the gear motor 24e via a coupling 24d. Further, a rotation stopper 24f is provided to stop the rotation of the female screw portion 24b. The male screw portion 24c is supported by a bearing 24h, and is configured to keep watertight between the buoyancy body 24a and the main body 21 by a double O-ring 24g. The gear motor 24e, the rotation stopper 24f, the bearing 24h, and the like are fixed to the main body 21 by a stay 24i. A stopper 24j is disposed on the stay 24i to limit the movement range of the buoyancy body 24a. The stopper 24j limits the movable range in order to prevent the buoyancy body 24a and the female screw portion 24b from being pulled too much and coming out of the hole of the main body 21.

  Then, by rotating the gear motor 24e and rotating the male screw portion 24c, the female screw portion 24b is moved in the axial direction of the male screw portion 24c. By this movement, the buoyancy body 24a changes the protrusion amount D from the front surface 21a or the rear surface 21b. As the protruding amount D of the buoyancy body 24a decreases, the distal end side of the male screw portion 24c is accommodated in the hollow portion of the buoyancy body 24a.

  According to this configuration, in the in-pipe inspection device 20, the buoyancy adjusting device 24 for taking in and out the buoyant body 24 a from the main body 21 is provided at the front and rear portions, thereby allowing the front surface 21 a and the rear surface 21 b far from the buoyancy of the main body 21 Since the buoyancy is adjusted by the change, trim (vertical inclination) can be easily adjusted with a small buoyancy change amount.

  Further, even if there are deposits or deposits on the inner wall in the water main 10, no water flow is generated for adjusting the posture of the trim or heel (lateral inclination), so that turbidity does not occur. Since the length of the in-pipe inspection device 20 can be shortened by configuring the projection amount D of the buoyancy body 24a from the main body 21 at the time of movement between the insertion pipe 31 and the water main pipe 10, it is possible to shorten the length. The in-pipe inspection device 20 can be fed into the small-diameter water main 10.

  This in-pipe investigation device 20 is fed into the water main pipe 10 after the weight (specific gravity) is adjusted to neutral buoyancy that does not float and sink in water. Signals for driving and power of the motor 28, the buoyancy adjusting device 24, the camera turning device 27, etc., which are the power source of the thruster 22 of the in-pipe inspection device 20, and the video data signal obtained by the observation camera 25 are displayed at the rear. Transmission / reception is performed via the connected first underwater cable 42. The first underwater cable 42 has one end connected to the rear part of the in-pipe inspection device 20, and the other end connected to the slip ring 33 g of the winding device 33 and the cable of the winding device 33. It is wound around the drum 33a.

  Since the first underwater cable 42 is connected to the in-pipe inspection device 20, the specific gravity is adjusted so that it normally has a neutral buoyancy that does not float or sink under atmospheric pressure. However, when the water pressure in the water main pipe 10 is high, the rubber and the covering material of the first submerged cable 42 and the gap between them and between these and the wire rod are crushed to reduce the volume and increase the specific gravity. As a result, a downward force acts on the rear end of the in-pipe inspection device 20, so that the in-pipe inspection device 20 is settled or trimmed (longitudinal inclination). For this change, the buoyancy body 24a is moved in and out of the main body 21 by the buoyancy adjusting device 24, thereby increasing or decreasing the buoyancy of the part and changing the buoyancy and the buoyancy position. Thereby, the vertical position and posture of the in-pipe inspection device 20 are adjusted.

  In this adjustment, one buoyancy adjusting device 20 is arranged at the center in the left-right direction at the front, and two buoyancy adjusting devices 20 are arranged symmetrically with respect to the center line in the left-right direction at the rear. By increasing or decreasing the buoyancy of either or both of the device 24 and the rear buoyancy adjustment device 24, the buoyancy and trim can be adjusted easily, and the buoyancy of one of the buoyancy adjustment devices 24 provided at the rear is increased or decreased, By reducing or increasing the other buoyancy, the heel caused by torsion of the towing first underwater cable 42 can be adjusted. Therefore, since the buoyancy and posture of the in-pipe inspection device 20 can be adjusted smoothly, the inside of the water main pipe 10 can be efficiently investigated.

  As shown in FIG. 1, the control and monitoring device 50 includes a control device 51, a TV monitor 52, a video recording device 53, a power control device 54, and the like that control and control the in-pipe investigation device 20 and the insertion / recovery device 30. A rack 55 is provided. The control device 51 is configured to be operated by an operator by wire or wireless.

  The first connection cable 41 connects the atmospheric part between the control and monitoring device 50 and the first connector 33h, which is the signal take-out part of the winding device of the insertion / recovery device 30, and the first underwater cable 42 1 The connector 33h and the in-pipe inspection device 20 are connected to transmit control signals, power, video data, and the like. Further, the underwater control and monitoring device 50 and the second waterproof connector 32d of the insertion / collection device 30 are connected by the second connection cable 43, and the second waterproof connector 32d and the feeding roller motor 35a are connected by the second underwater cable 44. The control signal and power are transmitted.

  Next, the in-pipe investigation method of the above-described water pipe in-pipe investigation system 1 will be described. As shown in FIG. 1, when investigating the water main 10, the manhole cover 13 is removed, the repair valve 14 is removed, and then a fire hydrant or an air valve (not shown) set in the manhole 12 is removed. And the insertion collection | recovery apparatus 30 is attached on the repair valve 14, and the repair valve 14 is opened.

  Thereafter, the insertion rod 36 is pushed down, and the in-pipe investigation device 20 is sent out from the insertion pipe 31 of the insertion collection device 30 into the water pipe main 10. When the storage member 34 inserted into the insertion pipe 31 is inserted into the water main pipe 10 with the in-pipe inspection device 20 stored therein, the storage member 34 moves the water flow in the water main pipe 10 into the water flow. Is directed in the direction of the pipe axis of the water main pipe 10 and becomes substantially parallel to the water flow. In this state, the bending member 34b that connects between the storage member 34 and the insertion rod tip 35 is bent at a substantially right angle. When there is no water flow, the bending member 34b is forcibly bent.

  When the storage member 34 is in a state substantially parallel to the pipe axis direction of the water main pipe 10, the feeding roller 34a is rotationally driven by the feeding roller motor 35a, and the first underwater cable 42 is fed out. At this time, the rotation of the cable drum 33a is made free. When the water flow is large, the in-pipe inspection device 20 is flown to reach a position corresponding to the feed amount of the first underwater cable 42, and when the water flow is small, the thruster 22 is provided by the motor 28 provided in the in-pipe inspection device 20. Is rotated to generate a propulsive force, and this propulsive force reaches a position corresponding to the feed amount of the first underwater cable 42. At this time, since the in-pipe inspection device 20 does not have to pull out the first underwater cable 42, the thrust of the thruster 22 can be reduced and the size can be reduced.

  The in-pipe investigation device 20 is moved to an arbitrary investigation position of the water main 10 by the amount of feeding of the first underwater cable 42, and the inner wall of the water main 10, the joint 11, etc. are controlled by the camera turning device 27. The image is taken with the observation camera 25 under the illumination of the LED lamp 26 while changing the above. On the ground, an operator views the video in the water main 10 on the TV monitor 52 of the control and monitoring device 50 installed on the ground, observes the pilot survey device 20 while manipulating it, and records the video.

  In addition, in response to sedimentation of the in-pipe inspection device 20 due to a change in specific gravity of the first underwater cable 42, a change in trim, and a change in heel, an operator watching the TV monitor 52 moves the control device 51 while watching the video. By operating, the buoyancy body 24a of the buoyancy adjusting device 24 is moved in and out of the main body 21, thereby increasing or decreasing the buoyancy at that portion and changing the buoyancy and buoyancy position. Thereby, the vertical position and posture of the in-pipe inspection device 20 are adjusted. In addition, a tilt sensor may be mounted on the in-pipe inspection device 20, and the posture may be adjusted by feedback control based on the detection value of the tilt sensor.

  When the survey is completed, the winding motor 33b is driven to rotate the cable drum 33a and wind up the first underwater cable 42. At the time of winding, the feeding roller 34a is made free. However, if necessary, the feeding roller 34a may be reversely rotated in synchronization with the rotation of the cable drum 33a to promote winding. By this winding, the in-pipe inspection device 20 connected to the tip of the first underwater cable 42 is pulled and stored in the storage member 34. At the time of storing, the rotation of the cable drum 33a is stopped.

  Thereafter, while rotating the cable drum 33 a, the insertion rod 36 is raised, and the storage member 34 storing the in-pipe inspection device 20 is drawn into the insertion tube 31. At this time, the bending member 34 b becomes straight from the bent state and is drawn into the insertion tube 31. When the insertion rod 36 reaches the upper end, the storage member 34 completely enters the insertion tube 31, so the repair valve 14 is closed, the drain cock 31 c is opened, and the water in the insertion collection device 30 is opened. Then, the insertion / recovery device 30 is removed. Then, after installing a fire hydrant or an air valve (not shown), the open / close state of the repair valve 14 is restored to the state before the start of the investigation. Thereafter, the manhole cover 13 is closed to complete the investigation.

  According to the above-mentioned water main survey system (in-pipe survey system) 1 and in-pipe survey method, it is not necessary to feed the first underwater cable (submerged cable) 42 from outside the liquid-tight section into the liquid-tight section. The force required for unwinding the underwater cable 42 is reduced, the pinching force for preventing slipping when the unrolling roller (cable unwinding device) 34a is unwound is remarkably reduced, and the first underwater cable 42 can be made thinner. As a result, the cable drum 33a that winds up the first underwater cable 42 can also be reduced in size and weight. In addition, if the first underwater cable 42 can be thinned, the influence on the settling and posture of the in-pipe inspection device 20 is reduced, so that the buoyancy adjusting device 24 of the in-pipe inspection device 20 can be reduced in size. In addition, since the feeding force of the first submersible cable 42 is not affected by the water pressure inside the water main 10, the feeding control of the first submersible cable 42 is simplified.

  Further, since the attitude control of the in-pipe inspection device 20 is performed without using a thruster, there is no need to continuously rotate a propeller or the like, and intermittent buoyancy control is achieved, so that power consumption is reduced and the first underwater cable is reduced. 42 can be made thinner. In addition, since attitude control by a thruster is not required, a thruster for attitude control can be eliminated, and a thruster direction conversion device can be eliminated. Thereby, the in-pipe inspection apparatus 20 can be reduced in size and weight. In addition, posture control is not affected by water flow unlike a thruster, and the change in water pressure is relatively gentle, so there is no need to constantly adjust buoyancy. Turn into.

  Therefore, according to the above-mentioned water pipe inspection system 1 and the pipe inspection method, the pipe inspection device 20 that investigates the inside of the water main 10 while towing the first underwater cable (submerged cable) 42 is inserted into the pipe collection device 30. In the in-pipe investigation system 30 that is inserted into the main pipe from the branch pipe side to investigate the inside of the water main pipe 10 and is collected from the main pipe 10 to the branch pipe side after the investigation, the water pipe investigation system is reduced in size and weight. And simplification of control.

  Furthermore, according to the water main survey system 1 and the in-pipe survey method described above, it is possible to avoid the first underwater cable 42 being put in and out of the through portion 33c between the inside and outside of the watertight compartment. Therefore, the liquid-tight structure of the penetration part 33c can be simplified. In addition, since the buoyancy and posture adjustment can be easily performed in the in-pipe inspection device 20 that is put into the water main 10 and tows the first submerged cable 42 while towing the water main 10, the in-pipe inspection device When photographing 20, the in-pipe investigation device 20 is placed in the center of the water main 10 so that the direction of the in-pipe investigation device 20 is aligned with the pipe axis direction of the water main 10 and can be easily photographed from a right angle. become. As a result, video data with less distortion can be obtained. In addition, since the posture of the in-pipe inspection device 20 can be easily maintained without being tilted, video data with a small angle (position) error can be obtained.

  In addition, when the first underwater cable 42 connected to the in-pipe inspection device 20 is extended, the first underwater cable 42 connected to the in-pipe inspection device 20 can be extended by a supply roller 34a provided at the rear portion of the storage member 34. Since the first underwater cable 34a in the insertion pipe 31 can be fed out in a state where a tensile force (tension) is applied, meandering of the first underwater cable 42 in the insertion pipe 31 and the branch pipe can be prevented. Therefore, according to the in-pipe investigation system 1 which is the above-described in-pipe investigation system and the in-pipe investigation method, the first underwater cable 42 can be smoothly drawn out and wound, so that the investigation in the water main 10 can be efficiently performed. Can do.

It is a figure which shows the structure of the in-pipe inspection system in embodiment of this invention. It is front sectional drawing which shows the structure of the insertion collection | recovery apparatus which shows the cable drawing | feeding-out mechanism to the in-pipe investigation apparatus. It is a sectional side view which shows the structure of the insertion collection | recovery apparatus which shows the cable drawing | feeding-out mechanism to the in-pipe investigation apparatus. It is a figure which shows the rear part of the storage member in the state which has a storage member in an insertion tube, and an insertion rod front-end | tip part. It is a figure which shows the rear part of the storage member in the state which has a storage member in a water main, and an insertion rod front-end | tip part . It is a side view of in-pipe investigation equipment. It is a top view of in-pipe investigation equipment. It is a front view of in-pipe investigation equipment. It is a rear view of an in-pipe investigation apparatus. It is a side view of a buoyancy adjusting device when a buoyancy body is extended. It is a top view of a buoyancy adjusting device when extending a buoyancy body. It is a side view of a buoyancy adjusting device when a buoyancy body is contracted. It is a top view of a buoyancy adjusting device when a buoyancy body is contracted.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 In-pipe inspection system 10 Water main 14 Repair valve 20 In-pipe investigation apparatus 21 Main body 22 Thruster 23 Stabilization fin 24 Buoyancy adjustment device 24a Buoyancy body 25 Observation camera 30 Insertion collection device 31 Insertion tube 32 Winding device storage member 32a First case 32b Second case of non-watertight compartment 33 Winding device 33a Cable drum 34 Storage member 34a Feeding roller 34b Bending member 35 Inserting rod tip 35a Feeding roller motor 35b Flexible joint 36 Inserting rod 41 First connecting cable 42 First 1 Underwater cable 43 Second connection cable 44 Second underwater cable 50 Control and monitoring device 51 Control device D Projection amount

Claims (6)

An in-pipe investigation device that investigates the inside of the pipe while towing the submerged cable, an insertion / recovery device for moving the in-pipe investigation device between the branch pipe side and the main pipe, and controls the in-pipe investigation device and the insertion / recovery device And a control and monitoring device for monitoring the survey data, and using the insertion and recovery device, the in-pipe investigation device is inserted into the main pipe from the branch pipe side to investigate the inside of the main pipe. In the in-pipe investigation system for collecting the in-pipe investigation device from the main pipe to the branch pipe side using the insertion collection device,
The insertion and recovery device is provided with a cable drum that winds up the submerged cable in a liquid-tight compartment, and
An in-pipe investigation system, wherein the in-pipe investigation apparatus is formed in at least one of a front part and a rear part by providing a buoyancy adjusting device that increases or decreases buoyancy by inserting or removing a buoyancy body from a main body of the in-pipe investigation apparatus.   A cable unwinding device for unwinding the submerged cable is disposed in the insertion and collection device, and the disposition location is in the vicinity of the branch pipe side and the main seam in the state where the in-pipe investigation device is inserted into the main tube. The in-pipe investigation system according to claim 1.   The in-pipe inspection system according to claim 1, wherein a propelling device is provided in the in-pipe inspection device. An in-pipe investigation device that investigates the inside of the pipe while towing the submerged cable, an insertion / recovery device for moving the in-pipe investigation device between the branch pipe side and the main pipe, and controls the in-pipe investigation device and the insertion / recovery device In-pipe investigation system equipped with a control and monitoring device for monitoring investigation data, and the inside of the main pipe is investigated by inserting the in-pipe investigation device into the main pipe from the branch pipe side using the insertion and collection device. In the in-pipe investigation method for collecting the in-pipe investigation device from the main pipe to the branch pipe side using the insertion collection device after the investigation,
The insertion / recovery device is a buoyancy adjusting device provided on at least one of a front part and a rear part of the in-pipe investigation device, while winding the submerged cable with a cable drum provided in a liquid-tight section. An in-pipe investigation method characterized by adjusting the buoyancy and posture of the in-pipe adjustment device by taking it in and out of the main body of the investigation device.   The submerged cable is fed out into the main pipe by a cable feeding device arranged in the insertion and recovery device and arranged in the branch pipe side and in the vicinity of the joint of the main pipe with the in-pipe inspection device inserted in the main pipe. The in-pipe investigation method according to claim 4.   The in-pipe investigation method according to claim 4 or 5, wherein the in-pipe investigation device is moved forward by a propulsion device provided in the in-pipe investigation device.