JP2015123908A - Movement system in pipe - Google Patents

Movement system in pipe Download PDF

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JP2015123908A
JP2015123908A JP2013270719A JP2013270719A JP2015123908A JP 2015123908 A JP2015123908 A JP 2015123908A JP 2013270719 A JP2013270719 A JP 2013270719A JP 2013270719 A JP2013270719 A JP 2013270719A JP 2015123908 A JP2015123908 A JP 2015123908A
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vehicles
pipe
plurality
vehicle
abnormality
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JP6169967B2 (en
Inventor
岩佐 直樹
Naoki Iwasa
直樹 岩佐
阿部 晋太郎
Shintaro Abe
晋太郎 阿部
宜彬 荒川
Noriaki Arakawa
宜彬 荒川
野間 彰
Akira Noma
野間  彰
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三菱重工業株式会社
Mitsubishi Heavy Ind Ltd
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Abstract

PROBLEM TO BE SOLVED: To ease affection of cable winding on a bend part.SOLUTION: A movement system in a pipe comprises plural vehicles (2-1 to 2-3) coupled to each other with cables (3-1 to 3-3). Each of the plural vehicles has a drive part for generating drive force for moving a route in a pipe toward a traveling direction. The movement system in a pipe comprises: a detection part for detecting abnormality on at least one of the plural vehicles; and a control part 5 for performing abnormal time control for controlling at least one drive part of one vehicle out of a pair of adjacent vehicles among the plural vehicles so that distance between the two vehicles becomes shorter when abnormality occurs.

Description

  The present invention relates to a device that performs self-running in a pipe for inspection and the like.

  2. Description of the Related Art In-pipe moving devices (called pipe moving robots, pipe crawlers, pipe explorers, etc.) that perform inspection and work in a pipe by moving the route in the pipe by themselves are known. Such a device has a plurality of segments connected to each other by, for example, a flexible joint so that the device can travel in a pipe having a bent portion (bend portion). When the device having such a configuration passes through the bend portion of the pipe, the flexible joint is bent to deform into a shape along the bend portion, and can pass through the bend portion.

  As an example of such an in-pipe moving device, FIG. 1 shows a technique described in Patent Document 1. The probe includes a camera head unit 102, a camera head joint 110, a driving vehicle unit 103, a geared motor unit 104, a driving vehicle unit 103, and a cable joint 111, which are connected by flexible joints 106 and 107 that can be freely bent. Yes. A cable 112 is connected to the cable joint 111 and is connected to the controller 116 via a cable drum 115 on the ground. The controller 116 is further connected to a compressor 117 for supplying air pressure, a personal computer 120 and a power source 118. The spacecraft inserted into the pipe advances in the pipe by the action of the driving vehicle unit 103. In this technique, when the probe is caught by a bend portion or the like, the catch can be removed by reducing the pressure of the wheel pressing air and reducing the diameter of the drive vehicle unit.

JP-A-5-272960

  A cable is attached to the rear part of the in-pipe moving device. In the example of FIG. 1, a cable 112 is attached to the rear part of the probe. Inside these cables, power lines and signal lines are arranged. Via this cable, power supply and information transmission / reception are performed between the in-pipe moving device and a device such as a controller outside the pipe.

  When such a pipe moving device travels inside a bent pipe, a frictional resistance may be generated by the cable 133. FIG. 2 is a cross-sectional view of the piping 130 for explaining such frictional resistance. The pipe 130 has a bend portion 131. In the example of FIG. 2, the pipe 130 is bent in a U shape at the bend portion 131.

  The vehicle 132 is introduced into the pipe 130 from the lower right side in FIG. 2 and travels upward. When the vehicle 132 reaches the bend portion 131, the vehicle 132 bends counterclockwise in FIG. 2 along the bend portion 131, reaches the left side portion, and travels downward. The cable 133 behind the vehicle 132 is pulled by the vehicle 132 and gradually introduced toward the back of the pipe 130 and introduced to the opposite side of the bend portion 131 as viewed from the introduction port.

  The cable 133 may be dragged while being in contact with the wall surface of the pipe 130 on the inner peripheral side of the curve of the bend portion 131 by being pulled by the vehicle 132. In such a case, a frictional resistance is generated at the contact point (the frictional part 134 in FIG. 2) between the cable 133 and the pipe 130. Hereinafter, such a phenomenon is called winding around (stick). When such a winding at the bend portion 131 occurs, the vehicle 132 may be prevented from traveling due to frictional resistance.

  In particular, when the vehicle 132 is introduced to a deep part of the pipe 130, it may be necessary to pass through many bend parts 131. In such a case, a large number of friction portions 134 are generated, and the frictional resistance increases, which may hinder the traveling of the vehicle 132.

  A technique for mitigating the effects of cable winding at the bend is desired.

  In one aspect of the present invention, the in-pipe movement system includes a plurality of vehicles connected to each other by cables. Each of the plurality of vehicles includes a driving unit that generates a driving force for moving the route in the pipe in the traveling direction. The in-pipe movement system further includes a detection unit that detects that an abnormality has occurred in at least one of the plurality of vehicles, and at least one set of two adjacent units in the plurality of vehicles when the abnormality is detected. And a controller that performs an abnormal time control for controlling at least one of the two vehicles so that the distance between the two vehicles is reduced.

  In another aspect of the present invention, the control method is a control method for an in-pipe movement system including a plurality of vehicles connected to each other by cables. Each of the plurality of vehicles includes a driving unit that generates a driving force for moving the route in the pipe in the traveling direction. The control method further includes a step of detecting that an abnormality has occurred in at least one of the plurality of vehicles, and when an abnormality is detected, at least one set of two adjacent vehicles in the plurality of vehicles. And a step of performing an abnormal time control for controlling at least one drive unit of the two vehicles so as to reduce the distance.

  In still another aspect of the present invention, the control program is a control program for an in-pipe movement system including a plurality of vehicles connected to each other by cables. Each of the plurality of vehicles includes a driving unit that generates a driving force for moving the route in the pipe in the traveling direction. The control program includes a step of detecting that an abnormality has occurred in at least one of the plurality of vehicles, and, when an abnormality is detected, at least one set of two adjacent vehicles of the plurality of vehicles. And causing the computer to execute an abnormal time control for controlling at least one of the two vehicles so that the distance is reduced.

  According to the present invention, there is provided a technique capable of mitigating the influence of cable winding at a bend portion.

FIG. 1 shows a pipe probe in the reference technology. FIG. 2 is a diagram for explaining the frictional resistance in the bend portion. FIG. 3 shows an in-pipe movement system according to an embodiment of the present invention. FIG. 4 is a cross-sectional view seen from the traveling direction of the in-pipe moving system. FIG. 5 shows the configuration of the vehicle. FIG. 6 shows a group of vehicles introduced into the piping. FIG. 7 is an explanatory diagram of winding. FIG. 8 is an explanatory diagram for eliminating the winding. FIG. 9 is a flowchart showing the operation of the abnormality control. FIG. 10 shows a group of vehicles introduced into the piping. FIG. 11 is a flowchart showing an operation at the time of abnormality. FIG. 12 is a flowchart showing an operation at the time of abnormality. FIG. 13 is a flowchart showing the motion of the peristaltic motion.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 3 shows the configuration of the in-pipe movement system in one embodiment of the present invention. The in-pipe movement system includes a vehicle group 1, a cable drum 4 that winds and stores a cable 3 (3-3) connected to the rear of the vehicle group 1, an ammeter 7 and a controller 5 connected to the cable 3. And a computer 6 (example: personal computer) connected to the controller 5.

  The vehicle group 1 includes two or more vehicles 2 (2-i: i is an integer indicating the order of vehicles counted from the head side). In the example of FIG. 3, the vehicle group 1 includes three vehicles 2-1, 2-2, 2-3 in order from the top side. A plurality of vehicles 2 are arranged in a line, and two adjacent vehicles are cables 3 (3-i: i is an integer, and a cable 3 connected to the rear side of the vehicle 2-i is indicated by a cable 3-i. ). In the example of FIG. 3, the first vehicle 2-1 and the second vehicle 2-2 are connected by a cable 3-1, and the second vehicle 2-2 and the third vehicle 2-3 are connected by a cable 3-2. Connected with. The third vehicle 2-3 is the rearmost vehicle 2 of the vehicle group 1, and the rear side thereof is connected to the controller 5 disposed outside the pipe via the cable 3-3. Inside the cable 3, a power line for supplying power to each vehicle 2 and a signal line for performing information communication between each vehicle 2 and the controller 5 are provided.

  The vehicle 2 can be equipped with a device that performs various operations such as an apparatus that performs observation / inspection inside the pipe 10 such as a camera, and an actuator that removes unnecessary objects and collects objects inside the pipe 10. . Such an observation / inspection / working apparatus may be mounted only on the leading vehicle 2-1 or may be mounted on each of the plurality of vehicles 2. Such an operation of the apparatus can be executed by a command signal transmitted from the controller 5 via the signal line of the cable 3.

  FIG. 4 is a cross-sectional view of the pipe 10 and the vehicle 2 introduced into the pipe 10 as seen from the traveling direction. The vehicle 2 has a drive mechanism that can freely move in the extending direction of the pipe 10. In the example of FIG. 4, the vehicle 2 is attached to the vehicle body 8 by being arranged radially in a plane perpendicular to the traveling direction of the vehicle body 8 and a vehicle body 8 having a smaller cross-sectional shape than the inner periphery of the pipe 10. Three wheels 9 provided. The vehicle 2 can be moved in the extending direction of the pipe 10 by rotating the wheels 9 while pressing the three wheels 9 against the inner wall of the pipe 10 with a predetermined range of pressure.

  FIG. 5 shows the configuration of the vehicle 2. The vehicle 2 includes a vehicle body 8 and wheels 9. A cable 3 is attached to the vehicle 2. Illustrated in FIG. 5 is an intermediate vehicle 2-2 or a tail vehicle 2-3 other than the leading vehicle 2-1 in FIG. 3, and cables 3 are attached to the front side and the rear side, respectively. The vehicle 2 is further attached with a tension sensor 14 corresponding to the cable 3 connected to the rear side of the host vehicle. The tension sensor 14 detects the tension applied to the cable 3 and outputs a detection signal indicating the detected value to the controller 5 via the cable 3.

  The vehicle 2 includes a motor 12. The motor 12 and the wheels 9 form a drive unit DR for moving the vehicle 2 in the front-rear direction along the path inside the pipe 10. The motor 12 generates torque by the electric power supplied from the power line of the cable 3. The drive wheel which is at least one of the wheels 9 is rotated by the torque.

  An encoder 13 is attached to the motor 12. The encoder 13 detects the number of rotations per second of the motor 12 and outputs a detection signal indicating the detected value to the controller 5 via the cable 3. Instead of the encoder 13, a tachometer that generates a voltage indicating the rotation speed of the motor 12 may be used. Alternatively, instead of the encoder 13, the encoder 15 may be attached to the wheel 9 that is a driving wheel, and the rotation speed of the wheel 9 may be detected.

  FIG. 6 shows a state where the vehicle group 1 having the configuration described above is introduced into the pipe 10. The vehicle group 1 is introduced from the upper right side of the figure. As the vehicle group 1 travels, the leading vehicle 2-1 has crossed the three bend portions 20-1, 20-2, and 20-3, and has reached a position behind them. A second vehicle 2-2 is introduced between the bend unit 20-1 and the bend unit 20-2. A third vehicle 2-3 is introduced between the bend unit 20-2 and the bend unit 20-3. A fourth vehicle 2-2 is introduced closer to the entrance side than the bend portion 20-3.

  In such a vehicle group 1, it is assumed that the cable 3 contacts the inner wall of the pipe 10 at each of the bend portions 20-1, 20-2, and 20-3. If the traveling mechanism of the vehicle group 1 exists only near the tip of the cable 3, the traveling mechanism must pull the cable 3 with a force that exceeds the sum of the frictional forces of all the bend portions 20 inside the pipe 10. Don't be. Such pulling is difficult when the pipe 10 has a large number of bend portions 20.

  In the present embodiment, the above difficulties can be alleviated for the following reasons. The vehicle group 1 in this embodiment pulls the cable 3 in a distributed manner at a plurality of locations in the extending direction by a plurality of vehicles 2. Therefore, for example, the leading vehicle 2-1 only has to pull the cable 3-1, which is a part of the entire cable 3. In the example of FIG. 6, the vehicle 2-1 may have a driving force that exceeds the frictional force at one bend portion 20-1. Similarly, the vehicles 2-2 and 2-3 only have to pull only the cables 3-2 and 3-3 on the rear side, respectively, and the driving force exceeding the frictional force at the one bend portion 20-3 can be obtained. Just have it.

  As described above, in the present embodiment, the force for pulling the entire cable 3 is given in a distributed manner by the vehicles 2 arranged at a plurality of locations. That is, the frictional resistance force between the cable 3 and the bend portion 20 is applied to the plurality of vehicles 2 in a distributed manner. Therefore, even when passing through a large number of bend portions 20, it is possible to avoid applying an excessive load to the specific vehicle 2. As a result, by using a plurality of vehicles 2, even if the pipe 10 has a large number of bend portions 20, the vehicle 2 can reach a deep position.

  Next, detection of winding will be described. Each vehicle 2 always transmits a detection signal related to the traveling of the host vehicle 2 to the controller 5. Specifically, the tension of each cable 3 detected by the tension sensor 14 and the rotation speed detected by the encoder 13 or 15 are transmitted to the controller 5. Based on these detection signals, the controller 5 determines whether the vehicle 2 is moving normally or is abnormal (whether winding has occurred). When the movement of the vehicle 2 is normally performed, the normal control is executed, and when at least one of the plurality of vehicles 2 is abnormal, it is determined that the winding has occurred, and the abnormal control is performed. Execute. Such normal control and abnormal control are performed by the controller 5 or the CPU of the computer 6 reading out a control program stored in a non-transitory storage device such as a hard disk in advance and describing the control program. This is realized by executing the described procedure.

  FIG. 7 shows the vehicle group 1 introduced into the pipe 10. In the example of FIG. 7, the vehicle group 1 starting from the vehicle 2-1 is introduced from the lower right side into the pipe 10 drawn in an inverted U shape. The controller 5 transmits a command signal to the drive unit DR of each vehicle 2 so that the plurality of vehicles 2-1 and 2-2 travel forward in the pipe 10 at the same speed in the normal control. In FIG. 7, the vehicle 2-1 passes through the bend portion 20 of the pipe 10 and travels beyond the bend portion 20, and the vehicle 2-2 travels in front of the bend portion 20 of the pipe 10.

  When the vehicle 2-1 passes through the bend portion 20, the cable 3-1 behind the vehicle 2-1 is dragged while being in contact with the wall surface on the inner peripheral side of the curve of the bend portion 20 as shown in FIG. 7. Tend. If the frictional force due to this contact is strong, winding may occur and the movement of the vehicle 2-1 on the front side may be hindered.

[Winding detection method 1: Detection by tension]
The occurrence of winding can be detected as follows, for example. For example, when the tension of the cable 3-1 on the rear side of the vehicle 2-1 becomes larger than normal, it can be estimated that the tension is increased because the cable 3-1 is caught somewhere and a frictional resistance is generated. That is, by detecting the tension, the frictional resistance generated between the bend portion 20 and the cable 3 can be detected indirectly.

  There are other methods for detecting the winding as described later. However, the detection method based on the tension is excellent in that the winding of the vehicle 2 cannot be performed due to, for example, winding, and the winding can be detected even when the wheel 9 is slipping.

More specifically, the controller 5 determines that the winding has occurred when the tension T of the cable 3-1 on the rear side of the vehicle 2-1 exceeds a predetermined threshold value Tth , and eliminates the winding. Execute the abnormal control. The control at the time of abnormality is performed so that the distance between a pair of adjacent vehicles 2-1 and 2-2 across the cable 3-1 having increased tension is reduced.

  FIG. 9 is a flowchart illustrating an example of control at the time of abnormality. A command value (set value) of the speed of the vehicle group 1 in normal time control is set to V. When the controller 5 starts the abnormality control, the controller 5 increases the command value of the speed of the vehicle 2-2 behind the winding cable 3-1 by a constant value ΔV to V + ΔV (step A1). Thereafter, the controller 5 monitors the tension T of the wrapping cable 3-1, and when the tension T exceeds a predetermined threshold (YES in step A2), the control at the time of abnormality is continued. When the tension is equal to or less than the predetermined threshold (NO in step A2), it is determined that the abnormality has been resolved, the speed of the vehicle 2-2 behind is returned to V, and the normal control is restored (step A3).

  FIG. 8 shows the inside of the pipe 10 when the abnormality control is performed. Since the rear vehicle 2-2 (speed V + ΔV) is faster than the front vehicle 2-1 (speed V), the cable 3-1 in the bend portion 20 is loosened, and the cable 3-1 is connected to the inner wall 11 of the pipe 10. Get away from. As a result, the winding at the bend portion 20 is eliminated.

  The control at the time of abnormality is not limited to the example shown in FIG. 9, and another control method may be adopted. For example, instead of the control for increasing the speed of the rear vehicle from V to V + ΔV in step A1, control for decreasing the speed of the front vehicle from V to V−ΔV may be performed. In short, the cable 3 can be loosened by controlling at least one drive part DR of the two vehicles 2-1 and 2-2 before and after the winding cable 3-1 to reduce the inter-vehicle distance. .

[Winding detection method 2: detection by current]
In the above description, the winding determination is performed by detecting the tension of the cable 3. Alternatively, the winding determination can be performed based on the power consumption of the motor 12 of the vehicle 2.

Each vehicle 2 is supplied with electric power from a power source arranged on the controller 5 side outside the pipe 10 via the cable 3. The motor 12 drives the wheel 9 using the electric power. An ammeter 7 disposed on the controller 5 side monitors the current I supplied to the vehicle group 1. Alternatively, the current Ii supplied from the ammeter 7 to the motor 12 of each vehicle 2 (i is an identification number that identifies each vehicle 2, and n values I 1 to I N when there are N vehicles, if necessary. ) May be individually detected and monitored.

  When the winding occurs, the torque necessary for the vehicle 2 to move forward increases. Therefore, the current flowing through the motor 12 increases. Therefore, by detecting the current flowing through the motor 12 that drives the wheel 9, it is possible to detect the frictional resistance generated between the bend portion 20 and the cable 3 indirectly.

In such winding detection, the controller 5 detects that the current value detected by the ammeter 7 exceeds the threshold value I 0 + ΔI = I th larger than the normal control current value I 0 by a predetermined value ΔI. Execute hour control. In this case, the determination in step A2 of FIG. 9 is performed by comparing the detected value of the current and I th. Detection values of the current when it becomes less than I th are the recovery to the normal state control is performed. When the ammeter 7 is monitoring the current Ii supplied to the motor 12 of each vehicle 2, the above abnormal time control is executed for each vehicle 2 individually.

The current value I 0 for normal control depends on, for example, the speed of the vehicle group 1. Therefore, the controller 5 may store a table for storing the speed command value and the current value for normal control in association with each other. In this case, the controller 5 extracts a current value I 0 for normal control corresponding to the current speed command value from the table, and adds a predetermined ΔI to the current value I 0 , thereby generating a winding determination threshold value I th .

  Such winding detection based on the current can be performed without attaching a detection device such as a sensor or an encoder to the vehicle 2. Therefore, it is suitable when the vehicle 2 is downsized and the pipe 10 having a smaller diameter is desired to travel.

[Winding detection method 3: Detection by number of rotations]
Still other methods are conceivable for detecting the winding. When a frictional resistance is generated between the bend portion 20 and the cable 3, the vehicle 2 on the front side of the cable 3 that has been wound is pulled from behind by the cable 3, and the load on the vehicle 2 increases. As a result, the rotational speed of the motor 12 may decrease. Therefore, the frictional resistance can be indirectly detected by detecting the decrease in the rotational speed.

  Specifically, the abnormal time control is executed as follows. The encoder 13 of each vehicle 2 transmits a measured value of the rotational speed (per unit time) of the motor 12 to the controller 5. Instead of the encoder 13, an encoder 15 that detects the number of rotations of the wheel 9 may be used. The controller 5 calculates the moving speed of each vehicle 2 based on the measured value. The controller 5 further, for each vehicle 2, based on the calculated moving speed, a front relative speed RVf that is a relative speed with the vehicle 2 ahead and a rear relative speed that is a relative speed with the vehicle 2 behind the vehicle 2. RVr is calculated. If there is no winding, the relative speed is a small value. Therefore, if the relative speed is greater than a predetermined threshold, it can be determined that winding has occurred.

  Specifically, the controller 5 performs the winding determination as follows. For each vehicle 2, the measured value of the speed calculated based on the detected value of the encoder 13 is Vown. The measured value of the speed of the vehicle 2 adjacent to the front side is Vfront, and the measured value of the speed of the vehicle 2 adjacent to the rear side is Vrear. The controller 5 calculates the front relative speed RVf = Vown−Vfront and the rear relative speed RVr = Vown−Vrear.

When the absolute values | RVf | and | RVr | of RVf and RVr are larger than a predetermined threshold value Vth, it is estimated that winding has occurred at any point. Therefore, in such a case, the controller 5 shifts to control at the time of abnormality. In this case, the determination in step A2 of FIG. 9 is performed by comparing | RVf |, | RVr | and Vth . When both | RVf | and | RVr | are equal to or lower than Vth , recovery to normal control is performed.

[Automatic driving]
Next, control suitable particularly when the vehicle group 1 has three or more vehicles 2 will be described. FIG. 10 shows a state in which the vehicle group 1 having four vehicles 2-1 to 2-4 is introduced into the pipe 10. The leading vehicle 2-1 is located behind the bend portion 20-1. The second vehicle 2-2 is located in front of the bend part 20-1 and behind the bend part 20-2. The third vehicle 2-3 is located in front of the bend portion 20-2 and behind the bend portion 20-3. The fourth (last) vehicle 2-4 is positioned in front of the bend portion 20-3.

  Even in such a case, when the winding of the cables 3-1 to 3-4 occurs somewhere inside the pipe 10, any one of the winding detection methods 1 to 3 is used, or two By using the above together, it is possible to detect that the winding of the cable 3 has occurred. When the winding is detected, the controller 5 performs the abnormal time control so that the distance between two adjacent vehicles becomes smaller in order from the rear side in the traveling direction of the vehicle among the plurality of vehicles 2. Hereinafter, such traveling is referred to as “automatic traveling”. It may be rephrased as a caterpillar motion or an inchworm motion. In the example of FIG. 10, the speed of the fourth (last) vehicle 2-4 is increased, then the speed of the third vehicle 2-3 is increased, and then the speed of the second vehicle 2-2 is increased, Finally, the speed of the first (first) vehicle 2-1 is increased. By such a peristaltic running, even when winding occurs at any location in the pipe 10, the winding can be eliminated.

  FIG. 11 is a flowchart showing an example of the winding determination operation when all the above-described winding detection methods 1 to 3 are used in combination. The controller 5 transmits a constant speed command value to each vehicle 2 when executing the normal control. If no winding has occurred, the vehicle group 1 travels in the pipe 10 at a constant speed indicated by the speed command value (step S1).

The controller 5 monitors the tension T of the cable 3-2 detected by the tension sensor 14 for a certain vehicle 2, for example, the second vehicle 2-2. If the tension T of the cable 3-2 is equal to or less than the threshold value Tth , the constant speed running is continued (NO in step S2). If the tension T of the cable 3-2 connected to the vehicle 2-2 exceeds the threshold value Tth , the process proceeds to step S3 (YES in step S2).

The controller 5 further compares the detected value I of the current supplied to the vehicle group 1, and the threshold value I th. I is equal to or less than I th, it continued steady running (step S3NO). I will when I exceeded I th, the process proceeds to step S4 (step S3YES). Further, the controller 5 compares the relative speed V (at least one of the above-described RVf and RVr) with the threshold value Vth . If V is equal to or less than Vth , constant speed running is continued (NO in step S4). If V exceeds Vth , the process proceeds to step S5 (YES in step S4).

  In the case of YES determination in all of steps S2 to S4, the controller 5 executes peristaltic travel (step S5). The above process is executed for all of the plurality of vehicles 2-1 to 2-4.

  In the flowchart of FIG. 11, in any one of the vehicles 2, all of a plurality of measurement amounts (measurement tension T, measurement current I, and relative speed V of any one of the front and rear vehicles) indicating the load applied to the vehicle 2 are threshold values. If it exceeds, perform peristaltic exercise. Since the AND determination is performed for the three conditions, a severe condition is applied to perform the peristaltic motion. Such a determination process is suitable for the case where it is desired to keep the normal control as much as possible and to cancel the detention only when the movement of any of the vehicles 2 is considerably hindered.

  FIG. 12 is a flowchart showing another example of the winding determination operation when all the above-described winding detection methods 1 to 3 are used in combination. In this example, three conditions are used for OR determination.

When the controller 5 executes normal control and no winding occurs, the vehicle group 1 travels in the pipe 10 at a constant speed (step S11). The controller 5 monitors the tension T of the cable 3-2 detected by the tension sensor 14 for a certain vehicle 2, for example, the second vehicle 2-2. If the tension T of the cable 3-2 is equal to or less than the threshold Tth , the process proceeds to step S13 (NO in step S12). When the tension T of the cable 3-2 connected to the vehicle 2-2 exceeds the threshold value Tth , the process proceeds to step S13 (YES in step S12).

The controller 5 compares the detected value I of the current supplied to the vehicle group 1, and the threshold value I th. I is equal to or less than I th, the process proceeds to step S14 (step S13NO). I will when I exceeded I th, the process proceeds to step S15 (step S13YES). Further, the controller 5 compares the relative speed V (at least one of the above-described RVf and RVr) with the threshold value Vth . If V is equal to or less than Vth , constant speed running is continued (NO in step S14). If V exceeds Vth , the process proceeds to step S15 (YES in step S14).

  In the case of YES determination in any one of steps S12 to S14, the controller 5 executes peristaltic travel (step S15). The above determination process is executed for each of the plurality of vehicles 2.

  In such a determination process, the peristaltic running is executed when an abnormality is detected in any of the measured tension T, the measured current I, and the relative speed V. Therefore, the process of FIG. 12 is suitable for a case where there is a possibility of wrapping and it is desired to eliminate it as soon as possible.

  Next, details of the peristaltic travel will be described. FIG. 13 is a flowchart showing the operation of the peristaltic motion performed by the controller 5 in step S5 of FIG. 11 or step S15 of FIG. However, in order to simplify the description, the case where the winding determination is performed using only the tension T is described.

  It is assumed that the vehicle group 1 includes N vehicles 2-1 to 2-N. First, in the constant speed travel, the controller 5 transmits a signal instructing to travel at the same speed V to all of the vehicles 2-1 to 2-N. When the peristaltic motion is started, the speed of the last Nth vehicle 2-N is controlled to be V + ΔV (step S21).

As a result of increasing the speed of the vehicle 2-N by ΔV, the winding of the cable 3 connected to the front side of the Nth vehicle 2-N (the (N-1) th cable when viewed from the head side) is eliminated. there is a possibility. Therefore, by determining the tension of the (N-1) -th cable 3, a determination process for wrapping cancellation is performed (step S22). If the tension T of the (N-1) -th cable 3 is greater than a predetermined value, the speed V + ΔV of the vehicle 2-N is maintained (YES in step S22). As the predetermined value, the threshold value T th used in FIGS. 11 and 12 can be used. However, when control chattering becomes a problem, it is desirable to provide a hysteresis by using a predetermined value smaller than the threshold value Tth .

  When the tension T of the (N-1) -th cable 3 becomes equal to or less than the predetermined value, it is determined that the winding has been eliminated, and the process proceeds to step S23 (NO in step S22).

  When the winding of the (N-1) th cable is resolved, the speed of the next (N-1) th vehicle 2- (N-1) is maintained while maintaining the speed of the Nth vehicle 2-N at V + ΔV. A command signal is transmitted so that increases from V to V + ΔV (step S23).

  Next, similarly to step S22, the tension determination of the cable 3- (N-2) on the front side of the vehicle 2- (N-1) is monitored to determine whether the wrapping is eliminated (step S24). The above process is repeated toward the head side of the vehicle group 1.

  If it is determined that the winding of the second cable 3-2 has been resolved, the speed of the second vehicle 2-2 is increased to V + ΔV while maintaining the speed of the third vehicle 2-3 at V + ΔV ( Step S31). If it is determined that the winding of the first cable 3-1 has been resolved (step S32 NO), it is determined that the winding of all the cables 3-1 to 3-N has been resolved, and the normal control is restored ( Step S33). In the normal control, the speeds of all the vehicles 2-1 to 2-N are returned to V.

  The operation of the peristaltic motion described above can be similarly executed by performing the winding determination based on the rotation speed of the motor 12 or the detected value of the current supplied to the motor 12 instead of the tension.

  The peristaltic motion does not necessarily have to be executed for all the vehicles 2-1 to 2-N. For example, when the start determination of the peristaltic movement as shown in FIGS. 11 and 12 is performed for each vehicle 2, the wrapping occurs only behind the specific vehicle 2 (for example, the vehicle 2-3 in FIG. 10). Assume that it is determined that In such a case, it is sufficient to execute the peristaltic motion of FIG. 13 from the last vehicle 2-4 to the specific vehicle 2-3. In such a case, the vehicles 2-1 and 2-2 ahead of the specific vehicle continue to run at a constant speed and do not need to perform a peristaltic motion.

DESCRIPTION OF SYMBOLS 1 Vehicle group 2, 2-1 to 2-4 Vehicle 3, 3-1 to 3-4 Cable 4 Cable drum 5 Controller 6 Computer 7 Ammeter 8 Vehicle main body 9 Wheel 10 Piping 11 Inner wall 12 Motor 13 Encoder 14 Tension sensor 15 Encoder 20, 20-1 to 20-3 Bend part 102 Camera unit 103 Drive vehicle unit 104 Geared motor unit 106 Flexible joint 107 Flexible joint 110 Camera head joint 111 Cable joint 112 Cable 115 Cable drum 116 Controller 117 Compressor 118 Power supply 120 Personal Computer 130 Pipe 131 Bend part 132 Vehicle 133 Cable 134 Friction part DR Drive part

Claims (8)

  1. A piping moving system comprising a plurality of vehicles connected to each other by cables,
    Each of the plurality of vehicles includes a driving unit that generates a driving force for moving the route in the pipe in the traveling direction,
    Furthermore, a detection unit that detects that an abnormality has occurred in at least one of the plurality of vehicles;
    When the abnormality is detected, the drive unit of at least one of the two adjacent vehicles is set such that a distance between at least one pair of the two adjacent vehicles among the plurality of vehicles is reduced. An in-pipe movement system comprising: a control unit that performs control in case of abnormality to be controlled.
  2. The in-pipe movement system according to claim 1,
    The control unit transmits a command signal for performing normal-time control in which the plurality of vehicles move at the same speed when the abnormality is not detected to each of the driving units of the plurality of vehicles,
    The in-pipe movement system, wherein the control unit is restored to the normal time control when the detection unit detects that the abnormality has been eliminated during the abnormal time control.
  3. The in-pipe movement system according to claim 1 or 2,
    The detection unit detects that the abnormality has occurred when the tension of the cable exceeds a predetermined value.
  4. A movement system in a pipe according to any one of claims 1 to 3,
    The detection unit detects that the abnormality has occurred when power consumed by any one of the plurality of vehicles to generate the driving force exceeds a predetermined value. Moving system.
  5. A movement system in a pipe according to any one of claims 1 to 4,
    The detection unit detects that the abnormality has occurred when the number of rotations of the drive wheels of the drive unit of any of the plurality of vehicles falls below a predetermined value.
  6. A moving system in a pipe according to any one of claims 1 to 5,
    The in-pipe movement system that performs the abnormal time control so that the distance between the two adjacent vehicles among the plurality of vehicles decreases in order from the rear side in the traveling direction.
  7. A method for controlling an in-pipe movement system comprising a plurality of vehicles connected to each other by cables,
    Each of the plurality of vehicles includes a driving unit that generates a driving force for moving the route in the pipe in the traveling direction,
    Detecting that an abnormality has occurred in at least one of the plurality of vehicles;
    When the abnormality is detected, the drive unit of at least one of the two vehicles is controlled so that the distance between at least one pair of two adjacent vehicles of the plurality of vehicles is reduced. A control method for the in-pipe movement system comprising the step of performing control at the time of abnormality.
  8. A program for controlling an in-pipe movement system comprising a plurality of vehicles connected to each other by cables,
    Each of the plurality of vehicles includes a driving unit that generates a driving force for moving the route in the pipe in the traveling direction,
    Detecting that an abnormality has occurred in at least one of the plurality of vehicles;
    When the abnormality is detected, the drive unit of at least one of the two vehicles is controlled so that the distance between at least one pair of two adjacent vehicles of the plurality of vehicles is reduced. A control program for causing a computer to execute a process of performing control at the time of abnormality.
JP2013270719A 2013-12-27 2013-12-27 Pipe moving system Active JP6169967B2 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63201513A (en) * 1987-02-18 1988-08-19 Hitachi Ltd In-tube running device
US4862808A (en) * 1988-08-29 1989-09-05 Gas Research Institute Robotic pipe crawling device
JPH05272960A (en) * 1992-03-27 1993-10-22 Tokyo Gas Co Ltd Method and apparatus for mobile inspection in pipe
JPH05324068A (en) * 1991-04-15 1993-12-07 Toshiba Corp Driving controller for traveling robot
JPH08327605A (en) * 1995-01-30 1996-12-13 Ishikawajima Harima Heavy Ind Co Ltd In-pipe moving unit

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63201513A (en) * 1987-02-18 1988-08-19 Hitachi Ltd In-tube running device
US4862808A (en) * 1988-08-29 1989-09-05 Gas Research Institute Robotic pipe crawling device
JPH05324068A (en) * 1991-04-15 1993-12-07 Toshiba Corp Driving controller for traveling robot
JPH05272960A (en) * 1992-03-27 1993-10-22 Tokyo Gas Co Ltd Method and apparatus for mobile inspection in pipe
JPH08327605A (en) * 1995-01-30 1996-12-13 Ishikawajima Harima Heavy Ind Co Ltd In-pipe moving unit

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