JP4980280B2 - In-pipe investigation equipment insertion and collection device, in-pipe investigation system, in-pipe investigation equipment insertion and collection method, and in-pipe investigation method. - Google Patents

Description

  The present invention provides an in-pipe investigation device insertion / recovery device for smooth feeding of a cable connected to an in-pipe investigation device (investigation underwater robot) to be introduced into the main pipe during investigation of a water main, etc. The present invention relates to a system, a method for inserting and collecting in-pipe inspection equipment, and a method for in-pipe inspection.

  When investigating the inside of pipes such as water mains and drainage pipes of nuclear reactor facilities, remove the air valve from the branch pipe that branches upward from the main pipe and is provided with an air valve, etc. Equipped with a camera, camera lighting, moving propeller, etc., an in-pipe investigation device (survey underwater robot) that transmits data and power is inserted through a cable, and this in-pipe investigation device is used for inspection. .

  In this 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 make the inside of the insertion tube watertight, and then feed the cable connected to the in-pipe inspection device from the outside of the insertion tube into the insertion tube. Insert the pipe into the pipe, and move the pipe survey device within a specified range in the water main while feeding out the cable to conduct a survey in the water main. When the survey is completed, the cable is pulled in and the pipe survey device is pulled into the insertion pipe from the water main. 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 opened as necessary, and the original state is returned to complete a series of operations.

  Several methods have been proposed for feeding the cable connected to the in-pipe inspection device. As one of the methods, a method has been proposed in which a cable connected to the rear part of the in-pipe inspection device is drawn out and the in-pipe inspection device is pushed out by this cable to move the in-pipe inspection device in the main pipe (for example, Patent Documents). 1 and Patent Document 2).

  In this method, a cable having a relatively high rigidity is used to push the in-pipe investigation device. This rigidity causes the cable to touch the bottom surface of the main pipe and then move toward the pipe axis of the main pipe. Here, since the direction of the cable changes to a substantially right angle, resistance is generated at the bent portion of the cable, and the cable does not move smoothly, and the cable meanders inside the insertion tube or the branch tube. There is a problem. In addition, since a part of the cable crawls the bottom surface of the main pipe, there is also a problem that the adhering matter in the pipe is agitated and the water flow tends to become cloudy, and the visibility of the camera is deteriorated. The occurrence of turbidity in the water flow is to be avoided in the case where cleanliness is required such as water supply.

  As another method, a storage member (or a guide tube) for storing the in-pipe investigation device is arranged on the lower end side of the insertion rod, and the storage member is inserted into the main tube while the in-pipe investigation device is stored. When insertion into the pipe is completed, a method has also been proposed in which the in-pipe investigation device is moved in the main pipe by a propulsion device provided in the in-pipe investigation device, and the cable is pulled by the propulsion force of this propulsion device (see, for example, Patent Document 3) .)

  When this cable is pulled out by the driving force of the in-pipe inspection device, the cable is pulled out against the resistance of the bent part where the direction of the cable changes at a substantially right angle between the branch pipe and the main pipe. Therefore, there is a problem that a propeller such as a propeller becomes large and an in-pipe inspection device becomes large. In addition, since the stirring of the water flow by the propulsion device becomes large, stirring of the deposits in the pipe by the water flow occurs, and there is a problem that the visibility of the camera is deteriorated.

  In addition, a method has also been proposed in which a cable is fed out by the feeding device at the top of the insertion tube and pulled by an in-pipe investigation device equipped with a propelling device (see, for example, Patent Document 4). In this case, the propulsion device only needs to have a propulsion force for self-propulsion when there is no water flow, so a propulsion device with a small propulsion force may be used, and the in-pipe inspection device can be miniaturized. In the structure in which the cable is connected to the in-pipe inspection device through the bending member at the rear portion of the storage member, there is a problem that friction in the bending member increases, smooth feeding of the cable is hindered, and the cable is likely to meander in the insertion tube. .

Once this cable meandering has occurred in the insertion tube, the cable feeding method only makes the meandering condition worse, and the cable cannot be fed forward from the insertion tube. Can not be sent to.
JP 08-65846 A Japanese Patent Laid-Open No. 08-286124 Japanese Patent Laid-Open No. 10-212257 JP 2007-911169 A

  The present invention has been made in view of the above-described situation, and the purpose of the present invention is to investigate when a cable connected to an in-pipe investigation device to be fed into the main pipe is fed out in the investigation of the water main pipe or the like. Insertion and collection device for in-pipe investigation equipment, in-pipe investigation system, in-pipe investigation equipment insertion and collection method, and in-pipe investigation that can feed out the cable with tension applied to the cable and prevent meandering of the cable in the insertion pipe It is to provide a method.

  In order to achieve the above object, an in-pipe investigation instrument insertion / recovery device of the present invention uses a storage member for housing the in-pipe investigation instrument, and inserts the in-pipe investigation instrument from the branch pipe into the main pipe. In the in-pipe inspection device insertion / recovery device for recovering the in-pipe inspection device from the main pipe to the branch pipe after the check, a cable feeding device for feeding out the cable connected to the in-pipe inspection device is provided in the storage member. Provide and configure.

  As the cable feeding device, there is a feeding roller or the like that sandwiches the cable from both sides with a roller, rotates at least one of the rollers, and moves the cable sandwiched by the rotation. This cable feeding device is preferably provided at the rear end of the storage member so as not to interfere with the storage of the in-pipe inspection device.

  According to this configuration, when the cable connected to the in-pipe investigation device to be fed into the main pipe is fed in the survey of the water main, etc., the feeding device is provided for feeding the cable to the storage member. Thus, the cable in the insertion tube is pulled, so that the cable can be fed out while tension is applied to the cable in the insertion tube, and the meandering of the cable in the insertion tube can be prevented.

  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.

  In order to achieve the above object, the in-pipe investigation device insertion / recovery device of the present invention uses a storage member for housing the in-pipe investigation device, and inserts the in-pipe investigation device into the main pipe from the branch pipe. In the pipe collection device of the pipe investigation device for collecting the pipe inspection device from the main pipe to the branch pipe after the investigation inside the pipe, between the rear portion of the storage member and the insertion rod that moves the storage member, The storage member includes a bending member that can face both the tube axis direction of the branch pipe and the tube axis direction of the main tube, and the cable feeding device is provided on the bending member or the storage member. According to this configuration, the same effect as described above can be obtained. In particular, since the friction during the cable movement by the bending member is increased, the cable feeding device is particularly effective.

  Also, when the feeding device is formed by a roller, it is arranged so that the axial direction of the roller is in the vertical direction with the storage member entering the main pipe and being substantially parallel to the main pipe axis. However, it is preferable in terms of the layout of the storage member and the in-pipe inspection device. In other words, when the cable is passed inwardly with respect to the bending of the bending member, the cable is connected to the upper side of the rear part of the in-pipe inspection device through the upper side of the storage member. However, it is not necessary to place a roller on the upper side of the cable, and the size can be reduced. Further, it is preferable that the rotation transmission portion is provided on the outer side with respect to the bending of the bending member so as not to hinder the mechanism for bending the bending member and the cable passage.

  Even if there is no bending member and there is a storage member in the extension direction of the insertion rod at the tip of the insertion rod, a tension device is applied to the cable in the insertion tube by providing a feeding device at the rear end of the storage member. The cable can be paid out.

  In the above-described insertion and collection device for the in-pipe inspection device, if a drive device for driving the cable feeding device is provided on the insertion rod side with respect to the bending member, the drive device is not required for the storage member, and the storage member Can be formed shorter, so that the in-pipe inspection device can be inserted into the main pipe having a smaller diameter. That is, a drive device such as a motor may be disposed inside the storage member, but the drive device is disposed on the insertion rod side outside the storage member, and the rotation of the drive device is transmitted to the feeding device. Thereby, the space of the storage member can be reduced. In this case, rotation or the like is transmitted from the driving device on the insertion rod side to the cable feeding device by a rotating shaft having a flexible joint, a flexible rotating shaft, or the like.

  Moreover, the in-pipe investigation system for achieving the above-described object is configured using the insertion / recovery device of any of the above-described in-pipe investigation devices. According to this in-pipe investigation system, the cable can be smoothly drawn out and wound, so that the inside of the pipe can be efficiently investigated.

  Then, the method for inserting and collecting the in-pipe investigation device for achieving the above-described object is to insert the in-pipe investigation device from the branch pipe into the main pipe by using a storage member that houses the in-pipe investigation equipment. In the in-pipe investigation device insertion and collection method for collecting the in-pipe investigation device from the main pipe to the branch pipe after the investigation, the cable feeding device provided in the storage member or the bending member connected to the storage member, It is a method characterized by paying out a cable connected to an in-pipe inspection device.

  According to this method, when a cable connected to an in-pipe investigation device that is put into the main pipe is fed out in a survey of a water main, etc., the cable in the insertion pipe is pulled by a feeding device provided in the storage member or the bending member. However, the cable can be fed out, and the meandering of the cable in the insertion tube can be prevented.

  In the above-described in-pipe inspection device insertion and recovery method, when the cable feeding device is driven by a drive device provided outside the storage member, the drive member is not required for the storage member, and the storage member can be formed short. The in-pipe inspection device can be inserted into the main pipe having a smaller diameter.

  In the above-described in-pipe inspection instrument insertion and recovery method, when the cable is unwound, the cable unwinding device unwinds the cable, and when unwinding the cable, the cable unwinding device does not hinder the movement of the cable, When the cable is wound by the cable winding device on the insertion tube side, the cable can be smoothly fed and wound.

  That is, when the cable is fed out, the cable drum of the cable take-up device on the insertion tube side is made free of rotation, and the cable is fed out with tension applied to the cable by the feeding device, so that the progress of the in-pipe investigation device is not hindered. Further, when the cable is wound, the drive of the feeding device is stopped, the cable is wound by the cable winding device, and the return of the in-pipe inspection device is not hindered.

  In addition, as an in-pipe investigation method for achieving the above object, any one of the above-described in-pipe investigation equipment insertion and collection methods is used. According to this in-pipe investigation method, the cable can be smoothly drawn out and wound, so that the inside of the pipe can be efficiently investigated.

  According to the in-pipe investigation device insertion and collection device, the in-pipe investigation system, the in-pipe investigation device insertion and collection method and the in-pipe investigation method of the present invention, in the investigation of the water main, etc. When feeding the cable, a feeding roller for feeding the cable is provided in or near the bending member, and tension is applied to the cable in the insertion tube by the rotation of this feeding roller, so tension is applied to the cable in the insertion tube. In this state, the cable can be drawn out and the meandering of the cable in the insertion tube can be prevented.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of an in-pipe investigation device insertion / recovery device, an in-pipe investigation system, an in-pipe investigation device insertion / recovery method, and an in-pipe investigation method according to the present invention will be described below with reference to the drawings. Here, the water mains survey will be described as an example. However, the present invention is not limited to this, and the in-pipe investigation device is inserted from the branch pipe into the main pipe using a storage member that houses the in-pipe investigation device. It can be applied to the in-pipe investigation device insertion / recovery device, the in-pipe investigation system, the in-pipe investigation device insertion / recovery method, and the in-pipe investigation method.

  First, the in-pipe inspection system 1 that includes the in-pipe inspection device insertion / recovery device and uses the in-pipe inspection device insertion / recovery method and the in-pipe inspection method will be described. As shown in FIG. 1, the internal situation and corrosion of the water main 10 are detected by using 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 of the above and the displacement of the joint 11 part. This in-pipe investigation system 1 includes an in-pipe investigation device 20, an insertion / recovery device 30 for inserting the in-pipe investigation device 20 into the water main pipe 10, and a cable 41 for transmitting and receiving video data and control data and for transmitting power. , 42, 43, 44, and the control and monitoring device 50 for controlling and controlling the in-pipe inspection device 20 and the insertion / recovery device 30, and for monitoring and recording images. The control and monitoring device 50 may have functions such as data storage and data analysis.

  Transmission / reception of control signals, power, data, and the like between the in-pipe inspection device 20 and the control / monitoring device 50 is performed via the first connection cable 41 and the first underwater cable 42, and the insertion / recovery device 30 and the control / monitoring device 50. Control signals and power are transmitted and received between 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 FIG. 1 to FIG. 3, the insertion / recovery device 30 does not stop the water supply, that is, does not stop the water supply, inserts the in-pipe investigation device 20 into the water main 10 and sends it out, This is a device for collecting the in-pipe investigation device 20 after the investigation. 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 included in the cable drum 33a. Watertight at the rotating shaft portion 33c. 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 with rollers from both sides, rotates 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 interfere with the storage of the in-pipe inspection device 20.

  The feeding roller 34a is driven by rotation transmitted from a driving device 35a provided at the distal end portion 35 of the insertion rod by a flexible joint 35b or the like. That is, 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 the flexible joint 35b or the like. Thereby, the space of the storage member 34 can be reduced. The flexible joint 35b is a shaft joint capable of transmitting a rotational force even when the directions of the input side and output side shafts are changed. For example, the flexible joint 35b includes a wire, a spring, and the like housed in a sheath tube.

  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 for transmission of a control signal and power to the feed roller motor 35a. The second underwater cable 44 feeds the second waterproof connector 32d and the insertion rod tip 35. The roller motor 35a is connected. 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 in the vertical direction, and the size can be reduced. In addition, 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 as not to hinder the mechanism for bending the bending member 34b and the passage of the first underwater cable 42. It is preferable to do.

  Even in a 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, a feeding device that can be driven by a driving device such as a motor is provided at the rear end of the storage member 34. By providing, 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 investigation device 20 to be fed 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 is not subjected to friction due to the bending member 34b. 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 further includes a front portion with a thruster 22. In addition, a total of three buoyancy adjusting devices 24 are provided at the rear part. Moreover, the observation camera 25 facing to the side and the LED illumination 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.

  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. The control signal and power of the motor 28, the buoyancy adjustment 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 as to have a neutral buoyancy that does not rise and fall. However, when the water pressure is high, the first underwater cable 42 is compressed, the volume is reduced, and the specific gravity is increased. In response to this change, the buoyancy adjusting device 24 moves the floating body in and out of the main body, thereby increasing or decreasing the buoyancy of the part to change the buoyancy and the buoyancy position. Thereby, the vertical position and posture of the in-pipe inspection device 20 are adjusted.

  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 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. Connect between them to transmit control signals and power.

  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 closed, and then a fire hydrant or an air valve (not shown) installed 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 34 a is rotationally driven by the feeding roller motor 35 a 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 driven 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 need to pull out the first underwater cable 42, the thrust force of the thrust 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. Moreover, ascending / descending and posture control are performed using the buoyancy adjusting device 24 as necessary.

  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 is 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) to the original state, the open / close state of the repair valve 14 is restored. Thereafter, the manhole cover 13 is closed to complete the investigation.

  According to the in-pipe inspection device insertion / recovery device, the in-pipe inspection system, the in-pipe inspection device insertion / recovery method and the in-pipe inspection method in the above-mentioned water pipe inspection / inspection system 1, When the first underwater cable 42 connected to the in-pipe inspection device 20 is drawn out, the first underwater cable 42 connected to the in-pipe inspection device 20 can be drawn out by the feeding roller 34a provided at the rear portion of the storage member 34. . Therefore, the first underwater cable 34a in the insertion tube 31 can be fed out in a state where a tensile force (tension) is applied, and the meandering of the first underwater cable 42 in the insertion tube 31 can be prevented.

  Further, since the feeding roller 34a is driven by the feeding roller motor 35a provided closer to the insertion rod 36 than the bending member 34b, the storage member 34 can be shortened. Therefore, the in-pipe inspection device 20 can be inserted into the water main pipe 10 having a smaller diameter.

  Further, when the first submersible cable 42 is fed out, the first submersible cable 42 is fed out by the feeding roller 34a, and when the first submersible cable 42 is rewound, the feeding roller 34a does not hinder the movement of the first submersible cable 42. Since the first underwater cable 42 is wound up by the winding device 33 on the insertion tube 31 side in the free state, the first underwater cable 42 can be smoothly fed out and wound up.

  That is, when the cable is fed out, the cable drum 33a of the winding device 33 of the first underwater cable 42 on the insertion tube 31 side is made free of rotation, and tension (tension) is applied to the first underwater cable 42 by the feeding roller 34a. Since it pays out, the progress of the in-pipe inspection device 20 is not hindered. Further, when the first underwater cable 42 is wound, the driving of the feeding roller 34a is stopped, the drive is made free, and the first underwater cable 42 is wound by the winding device 33. Absent.

  Therefore, according to the in-pipe investigation system 1 that is the above-described in-pipe investigation system and the in-pipe investigation method, the cable can be smoothly drawn out and wound, so that the investigation in the pipe can be performed efficiently.

It is a figure which shows the structure of the in-pipe investigation system using the cable drawing | feeding-out mechanism to the in-pipe investigation apparatus and the cable drawing-out method to the in-pipe investigation apparatus 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 and the insertion rod front-end | tip part of a storage tube in the state in which a storage tube exists in an insertion tube. It is a figure which shows the rear part and the insertion rod front-end | tip part of a storage pipe in the state in which a storage pipe exists in a water main. 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.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 In-pipe inspection system 10 Water main 14 Repair valve 20 In-pipe investigation device 30 Insertion recovery device 31 Insertion tube 32 Winding device storage member 32a First case of watertight section 32b Second case of non-watertight section 33 Winding device 34 Storage Member 34a Feed roller 34b Bending member 35 Insert rod tip 35a Feed roller motor 35b Flexible joint 36 Insert rod 41 First connection cable 42 First underwater cable 43 Second connection cable 44 Second underwater cable 50 Control and monitoring device

Claims (8)

  Using the storage member that houses the pipe inspection device, insert the pipe inspection device from the branch pipe into the main pipe and investigate the inside of the main pipe. After the investigation, collect the pipe inspection equipment from the main pipe to the branch pipe. An insertion / recovery device for an in-pipe investigation device, wherein the storage member is provided with a cable feeding device for feeding out a cable connected to the in-pipe investigation device.   Using the storage member that houses the pipe inspection device, insert the pipe inspection device from the branch pipe into the main pipe and investigate the inside of the main pipe. After the investigation, collect the pipe inspection equipment from the main pipe to the branch pipe. In the insertion / recovery device of the in-pipe investigation device, the storage member faces both the branch axis direction of the branch pipe and the main tube axis direction between the rear portion of the storage member and the insertion rod that moves the storage member. An insertion / recovery device for an in-pipe inspection device, comprising: a bending member configured to be capable of providing the cable feeding device to the bending member or the storage member.   The insertion / recovery device for an in-pipe inspection device according to claim 2, wherein a drive device for driving the cable feeding device is provided closer to the insertion rod than the bending member.   An in-pipe investigation system using the in-pipe investigation apparatus insertion / recovery device according to claim 1.   Using the storage member that houses the pipe inspection device, insert the pipe inspection device from the branch pipe into the main pipe and investigate the inside of the main pipe. After the investigation, collect the pipe inspection equipment from the main pipe to the branch pipe. In the in-pipe investigation device insertion and recovery method, the insertion of the in-pipe investigation device is characterized in that the cable connected to the in-pipe inspection device is fed out by a cable feeding device provided in the storage member or a bending member connected to the storage member. Collection method.   6. The method of inserting and collecting in-pipe inspection equipment according to claim 5, wherein the cable feeding device is driven by a driving device provided outside the storage member.   When unwinding the cable, the cable unwinding device unwinds the cable, and when unwinding the cable, the cable unwinding device does not hinder the movement of the cable, and the cable unwinding device on the insertion tube side unwinds the cable. The method for inserting and recovering the in-pipe inspection device according to claim 5 or 6, wherein winding is performed.   8. An in-pipe investigation method using the in-pipe investigation device insertion and recovery method according to claim 5.