JP6329445B2 - Piping internal inspection device - Google Patents

Description

  The present invention relates to a pipe internal inspection device that inspects the inside of a pipe having a structure disposed at the center of the inside.

FIG. 13 is a diagram illustrating an example of a power plant facility.
In FIG. 13, reference numeral 6 </ b> A is a main transformer installed to send the electric power generated by the generator to an external transmission line, and reference numeral 6 </ b> B shows a part of the generated electric power. It is an on-site transformer installed to send to various electric facilities in the power plant. In a power plant, a generator (not shown) installed indoors and each transformer 6A, 6B installed outdoors are connected by a plurality of phase-separated buses 1A, 1B, and the electric power generated by the generator Is sent to each transformer via these phase-separated buses.

In FIG. 14, (a) is a cross-sectional view of a phase separation bus connecting the generator and the main transformer, and (b) is a phase separation branched from the phase separation bus and connected to an in-house transformer. It is sectional drawing of a bus-line.
As shown in FIGS. 14A and 14B, each of the phase-separated buses 1A and 1B supports the conductor 2, the duct (pipe) 3 covering the periphery of the conductor 2, and the conductor 2 at the center in the duct 3. It is comprised with the support insulator 4 etc. as a supporting member to do. The support insulators 4 are arranged at predetermined intervals in the longitudinal direction of the conductor 2 (direction orthogonal to the paper surface of FIG. 14), and are attached to a support base 5 such as H-shaped steel.

  In power plants with the above phase-separated buses installed, the conductors, support insulators, and ducts that make up the phase-separated buses are damaged, the soundness of these installation states, and the discoloration that accompanies rainwater intrusion into the ducts In addition, periodic inspection work is performed in order to confirm the state of dust adhesion in the duct accompanying the air blowing for cooling the conductor that generates heat by power transmission. In general, inspection work is performed by an operator opening the hatch and entering the inside of the duct, that is, the space between the duct and the conductor, and visually checking the inspection site while moving while illuminating the interior with illumination. ing.

  However, since the space in the duct where the worker enters is a very narrow space whose widths W1 and W2 (see FIG. 14) are about 250 mm, for example, the worker performs the inspection work while moving in the duct. Is not easy. Further, since the inner peripheral surface of the duct and the surface of the conductor are painted black, a skilled technical level is required to find the defective portion by visual inspection. Further, if it is attempted to check so as not to overlook a defect, it is necessary to confirm a portion hidden by a conductor or a supporting insulator with a reflection image using a hand mirror or the like.

  Thus, the inspection work inside the duct requires a great deal of labor and requires a skilled technical level. In addition, the workers who can perform such inspection work, that is, the physical ability to perform inspection work while moving in a narrow space in the duct, and a skilled technical level that can accurately evaluate the soundness of the inspection location. It was difficult to secure workers for a long period of time.

  By the way, a self-propelled in-pipe inspection device that is self-propelled in a pipeline has been developed as an inspection device that performs an inspection operation in a pipeline on behalf of a worker.

  For example, Patent Document 1 below proposes a self-propelled in-pipe inspection device equipped with a video camera and an illumination lamp. In the method proposed here, the carriage is placed on the bottom surface of the inner wall of the pipe, the inside of the pipe is imaged and recorded with a video camera while the carriage is running, and then the recorded video is played back. Check whether there is a faulty part.

Japanese Patent Laid-Open No. 11-234832

  If the self-propelled in-pipe inspection apparatus as described above is used, it is possible for an operator to perform the inspection work without entering the pipe.

  However, since the inspection apparatus proposed in Patent Document 1 is configured such that the carriage travels below the inner peripheral surface of the pipe, when used for the inspection work of the phase separation bus, the imaging apparatus is configured by a conductor. The field of view above is obstructed, and the state of the upper part of the duct and the conductor and the support insulators installed on the upper part cannot be sufficiently confirmed. In addition, when there is a support insulator at the lower part of the inner circumferential surface of the duct, there is a problem that the carriage cannot run because the carriage hits the support insulator. Thus, the inspection device as proposed in Patent Document 1 is unsuitable for inspection in a duct in which conductors and supporting insulators are arranged.

  Therefore, the present invention has been proposed in view of the above-described problems, and the object of the present invention is to allow the inside of the pipe in which the structure is arranged at the center of the interior to self-run and inspect. It is to provide a piping internal inspection device.

  The invention of claim 1 is a pipe internal inspection device that inspects the inside of a pipe in which a structure is arranged at the center of the inside, and includes a traveling device that self-travels in the pipe, and the traveling device is arranged inside the pipe. It has an imaging device for imaging, a wheel that rotates in contact with the inner peripheral surface of the pipe, and a driving device that rotationally drives the wheel, and travels in the circumferential direction of the pipe by rotationally driving the wheel. And it is comprised so that it can drive | work to the longitudinal direction of the said pipe | tube, maintaining an attitude | position by the grip force produced between the internal peripheral surfaces of the said pipe | tube in the arbitrary positions of the circumferential direction.

  As described above, since the traveling device can maintain the posture at an arbitrary position in the circumferential direction, the internal inspection of the pipe can be performed over a wide range in the circumferential direction. Therefore, in the conventional self-propelled in-pipe inspection device, the inspection device according to the present invention also detects the location of the traveling device in the circumferential direction even if the visual field is blocked by the structure in the pipe and the inspection cannot be performed. The image can be taken (inspected) by changing to any position.

  According to a second aspect of the present invention, in the piping internal inspection device according to the first aspect, the traveling device has a main body frame that holds the wheels, the driving device, and the imaging device, and the main body frame is the piping. And at least the wheels are arranged at both ends in the longitudinal direction of the main body frame.

  As described above, the traveling device can be maintained in a stable posture by the wheels disposed at both ends in the longitudinal direction of the main body frame.

  According to a third aspect of the present invention, in the pipe internal inspection device according to the second aspect, the wheel is pressed against the inner peripheral surface of the pipe by the elastic repulsive force of the main body frame generated when the pipe is arranged in the pipe. It is configured.

  Thereby, since the grip force generated between the wheel and the inner peripheral surface of the pipe is improved, the posture of the traveling device can be maintained more stably.

  According to a fourth aspect of the present invention, in the pipe internal inspection device according to the second or third aspect, the wheel is pressed against the inner peripheral surface of the pipe by an urging member provided in the main body frame. .

  Thereby, since the grip force generated between the wheel and the inner peripheral surface of the pipe is improved, the posture of the traveling device can be maintained more stably.

  A fifth aspect of the present invention is the piping internal inspection device according to any one of the first to fourth aspects, wherein the wheel is a mecanum wheel.

  By making the wheel a mecanum wheel, the traveling device can travel in the longitudinal direction and the circumferential direction of the pipe.

  A sixth aspect of the present invention is the piping internal inspection device according to any one of the first to fifth aspects, wherein power is supplied to the traveling device from a power source installed outside the piping to the imaging device and the driving device. A power cable to be supplied is connected.

  In this way, by connecting the power cable to the traveling device, even if the traveling device becomes unable to travel in the piping due to a failure or the like, the traveling device can be easily recovered by pulling the power cable from the outside. Can do.

  According to a seventh aspect of the present invention, in the pipe internal inspection device according to the sixth aspect, the travel distance of the travel device is determined based on the length of the power cable that enters the pipe as the travel device travels. A travel distance measuring device for measuring is provided.

  Thereby, the traveling distance of the traveling device can be confirmed.

  The invention of claim 8 is the piping internal inspection device according to claim 6 or 7, further comprising a control device for remotely operating the imaging device and the driving device, and the control device and the imaging device via the power cable. Alternatively, an electric signal can be transmitted to and received from the driving device.

  In this way, by using the power cable as a communication cable that can transmit and receive electrical signals between the control device and the imaging device or the drive device, there is no need to connect a separate communication cable. For this reason, the trouble by a power cable and a communication cable getting entangled by driving | running | working of a traveling apparatus can be avoided. Further, since it is not necessary to connect a separate communication cable, the weight of the apparatus can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, in the piping by which the structure was arrange | positioned in the center of an inside, an inside can be inspected using a self-propelled traveling apparatus. Thereby, since it is not necessary for the worker to enter the piping and perform the inspection work, the labor of the inspection work can be greatly reduced and the inspection accuracy is also improved. In addition, since it is not necessary to have skilled workers who can enter the piping and perform inspection work, stable facility management can be performed in the long term.

It is the schematic of the whole structure of the piping internal inspection apparatus which concerns on one Embodiment of this invention. It is a front view of a traveling apparatus. It is a top view of a traveling apparatus. It is a figure which shows the structure of a general mecanum wheel. It is a figure which shows the structure of a general omni wheel (trademark). (A)-(d) is a figure which shows the running direction by a mecanum wheel. It is a figure which shows the detailed structure of the main body frame edge part in which the Mecanum wheel is provided. It is a figure which shows an example of the display layout of the monitor of a personal computer. It is a figure which shows the flowchart of an inspection method. It is a figure which shows the attitude | position of the traveling apparatus at the time of inspecting the inside of the duct with which the support insulator is arrange | positioned, Comprising: (a) is a figure which shows the attitude | position at the time of advance, (b) shows the attitude | position at the time of reverse movement FIG. It is a figure which shows the attitude | position of the traveling apparatus at the time of inspecting the inside of the duct with which the support insulator is arrange | positioned below, (a) is a figure which shows the attitude | position at the time of advance, (b) shows the attitude | position at the time of reverse movement FIG. It is a figure which shows the attitude | position of the traveling apparatus at the time of inspecting the inside of the duct with which the support insulator is arrange | positioned in the up-and-down intermediate part, Comprising: (a) is a figure which shows the attitude | position at the time of forward movement, (b) is the attitude | position at the time of backward movement FIG. It is a figure showing an example of power station equipment. (A) is sectional drawing of the phase-separated bus which connects between a generator and a main transformer, (b) is sectional drawing of the phase-separated bus which branched from the said phase-separated bus and was connected to the in-house transformer It is.

  Hereinafter, the present invention will be described by taking as an example a piping internal inspection device that inspects the inside of a duct of a phase separation bus installed in a power plant.

FIG. 1 is a schematic diagram of the overall configuration of a pipe internal inspection device according to an embodiment of the present invention.
As shown in FIG. 1, the pipe internal inspection device according to the present embodiment includes a traveling device 7 that self-propels in the duct 3. The configurations of the duct 3 shown in FIG. 1 and the conductors 2 and the support insulators 4 disposed in the duct 3 are basically the same as those described with reference to FIGS. Then, duplicate explanation is omitted.

  The traveling device 7 is provided with a plurality of wheels 8, a servo motor 9 as a driving device that drives the wheels 8 to rotate independently of each other, and a camera with illumination as an imaging device that images the inside of the duct 3. 10 etc. are mounted.

  In addition, a power cable 11 connected to an AC power source installed outside the duct 3 is connected to the traveling device 7. In this way, by connecting the traveling device 7 and the AC power supply outside the duct 3 via the power cable 11, even if the traveling device 7 becomes unable to travel in the duct 3 due to a failure or the like, the power is supplied from the outside. By pulling the cable 11, the traveling device 7 can be easily recovered.

  Moreover, the piping internal inspection device according to the present embodiment includes a personal computer 12 as a control device for remotely operating the servo motor 9 and the camera 10. The personal computer 12 is connected to a power cable 11 via a hub 13 as a concentrator, and can transmit and receive electrical signals to and from the servo motor 9 or the camera 10 via the power cable 11. That is, in the present embodiment, power line communication technology using the power cable 11 as a communication cable, so-called PLC (Power Line Communication) communication is adopted.

  Thus, by using the power cable 11 as a communication cable, it is not necessary to connect a communication cable separately. For this reason, the trouble by a power cable and a communication cable becoming entangled by driving | running | working of the traveling apparatus 7 can be avoided. Further, since it is not necessary to connect a separate communication cable, the weight of the apparatus can be reduced.

  The power cable 11 can be fed and wound by the winding device 14. The power cable 11 is unwound from the winding device 14 as the traveling device 7 moves forward. When the traveling device 7 moves backward, the power cable 11 is wound by the winding device 14 and is stored compactly.

  Further, the pipe internal inspection device according to the present embodiment includes a travel distance measuring device 15 that measures the travel distance of the travel device 7. The travel distance measuring device 15 measures the travel distance of the travel device 7 based on the length of the power cable 11 fed from the winding device 14. Specifically, the travel distance measuring device 15 includes a rotary encoder that rotates as the power cable 11 is drawn out, and a counter that counts a pulse signal output at every predetermined rotation angle of the rotary encoder. When the power cable 11 is unwound as the traveling device 7 travels, the rotary encoder rotates along with this, and a pulse signal is output at every predetermined rotation angle. The data obtained by counting the pulse signal with the counter is data corresponding to the length of the power cable 11 that enters the duct 3 as the traveling device 7 travels. The travel distance is calculated. Instead of the travel distance measurement device of the present embodiment, an optical measurement device that receives the reflected light from the travel device 7 and measures the distance may be used. It is also possible to calculate the travel distance of the travel device 7 based on the travel distance of the outer periphery of the wheel 8.

FIG. 2 is a front view of the traveling device, and FIG. 3 is a plan view of the traveling device (viewed from above in FIG. 2).
As shown in FIGS. 2 and 3, the traveling device 7 according to the present embodiment includes a main body frame 16 that holds the wheel 8, the servomotor 9, and the camera 10. The main body frame 16 is formed to extend in the circumferential direction of the duct 3. In the present embodiment, the main body frame 16 is configured by bending two stainless steel pipes along the inner peripheral surface 3a of the duct 3, but a plate-like member is similarly bent instead of the pipe. It may be configured.

  The wheel 8 and the camera 10 are respectively disposed at both end portions 16a and 16b in the longitudinal direction of the main body frame 16 and an intermediate portion 16c in the longitudinal direction. An AC-DC converter for converting AC power supplied to the servo motor 9 and the camera 10 into DC power, or a servo motor is provided between the longitudinal ends 16a, 16b and the intermediate portion 16c of the main body frame 16. 9 and a power supply communication control unit 17 having a signal conversion device that converts an electrical signal sent to the camera 10 into a control signal is provided.

  The power communication control unit 17, the wheel 8, the servo motor 9, and the camera 10 held by the main body frame 16 are arranged symmetrically with respect to the intermediate portion 16 c in the longitudinal direction of the main body frame 16. Thus, by arranging the members and the devices held by the main body frame 16 symmetrically with respect to the intermediate portion 16c, the traveling device 7 can travel in a stable posture with a balance between the left and right. In the present embodiment, in particular, the traveling device 7 is greatly inclined because the wheels 8 positioned at both ends 16a and 16b in the longitudinal direction of the main body frame 16 are disposed at positions opposite to the circumferential direction of the duct 3 by 180 °. Even in a posture, the posture can be stably maintained.

  In FIG. 2, a reference angle θ represents the viewing angle of each camera 10. In the present embodiment, the range in which the fields of view of all the cameras 10 are combined is set so that a range of 180 ° or more in the circumferential direction of the conductor 2 can be imaged. The cameras 10 arranged at both ends 16a and 16b in the longitudinal direction of the main body frame 16 are supported so as to be able to swing around two axes intersecting each other by a platform (not shown) so that the orientation of the visual field can be adjusted. It is configured.

  A total of six wheels 8 are provided, two at each of the longitudinal end portions 16a and 16b and the intermediate portion 16c of the main body frame 16. Among these, the wheels 8 arranged at both ends 16a, 16b in the longitudinal direction of the main body frame 16 can be driven to rotate independently from each other by the servo motor 9, and the driving device 7 can be driven by rotating them. It is comprised so that it can be made to drive | work to the longitudinal direction and circumferential direction of the duct 3. FIG. In the present embodiment, omnidirectional moving wheels called mecanum wheels are used as the wheels 8 arranged at both ends 16a and 16b.

FIG. 4 shows a configuration of a general Mecanum wheel.
In general, the Mecanum wheel 20 includes a wheel main body 18 and a plurality of rollers 19 rotatably attached to the outer periphery of the wheel main body 18, and a rotation shaft 19 a of each roller 19 has a wheel main body 18. It is inclined 45 ° with respect to the rotation axis 18a. The rollers 19 are arranged so as to be inclined in different directions between the mecanum wheels 20 provided before and after the traveling device 7 and between the mecanum wheels 20 provided on the left and right {FIG. (A) Reference}.

  On the other hand, the wheel 8 arranged in the intermediate portion 16c in the longitudinal direction of the main body frame 16 is not supplied with a driving force by the servo motor 9, and follows the running in the longitudinal direction and the circumferential direction of the duct 3. And is configured to rotate. In this embodiment, an omnidirectional moving wheel called an omni wheel (registered trademark) is used as the wheel 8 arranged in the intermediate portion 16c.

FIG. 5 shows a configuration of a general omni wheel (registered trademark).
In general, the omni wheel (registered trademark) 21 includes a wheel main body 22 and a plurality of rollers 23 rotatably attached to the outer periphery of the wheel main body 22. It arrange | positions so that it may orthogonally cross with respect to the rotating shaft 22a of the wheel main body 22. FIG. A general caster may be used instead of the Omni Wheel (registered trademark).

6A to 6D are diagrams showing the traveling direction by the Mecanum wheel.
As shown in FIG. 6A, when each Mecanum wheel 20 (wheel body 18) is rotated in the forward direction, the traveling device 7 moves forward. On the contrary, as shown in FIG. When the mecanum wheel 20 is rotated in the backward direction, the traveling device 7 moves backward. Further, as shown in FIG. 6C, when the left front and right rear mecanum wheels 20 are rotated in the forward direction and the right front and left rear mecanum wheels 20 are rotated in the backward direction, The device 7 can move to the right. On the other hand, as shown in FIG. 6D, the left front and right rear mecanum wheels 20 are rotated in the retreating direction, and the right front and left rear mecanum wheels 20 are advanced. The travel device 7 can move leftward when rotated to the left. In this way, by driving the mecanum wheel 20 individually, it is possible to generate a propulsive force that causes the traveling device 7 to travel in all the longitudinal and circumferential directions of the duct 3.

  FIG. 7 is a diagram showing a detailed configuration of the end of the main body frame where the mecanum wheel 20 is provided. In FIG. 7, only the configuration of one end of the main body frame 16 is shown, but the configuration of the other end is the same, so the configuration of both ends will be described together.

  As shown in FIG. 7, the mecanum wheel 20 and the servo motor 9 that rotationally drives the mecanum wheel 20 are attached to the main body frame 16 via an attachment structure 25 composed of a plurality of members. Specifically, the attachment structure 25 includes an attachment member 26 attached to an end portion of the main body frame 16, and a plurality of movable holding members 27 attached to the attachment member 26 so as to be rotatable around a rotation shaft 28. It consists of The mecanum wheel 20 and the servo motor 9 are held by a movable holding member 27. When the movable holding member 27 rotates about the rotation shaft 28, the mecanum wheel 20 and the servo motor 9 are similarly rotated. It is designed to rotate around the center.

  The attachment member 26 and the movable holding member 27 are provided with convex portions 26a and 27a, respectively, and both end portions of a coil spring 29 as an urging member are attached to the convex portions 26a and 27a. The coil spring 29 is held in a state of being stretched between the convex portions 26a and 27a. For this reason, each movable holding member 27 is always pulled by a tensile force (biasing force) generated in the coil spring 29, whereby the mecanum wheel 20 is pressed in the direction pressed against the inner peripheral surface 3 a of the pipe 3. It is energized.

FIG. 8 is a view showing an example of the display layout of the monitor of the personal computer.
In the example shown in FIG. 8, the display screen of the monitor 24 of the personal computer 12 is divided into a plurality of sections of three image display areas A1 to A3, a travel information display area A4, and an operation panel area A5.

  The three image display areas A1 to A3 are areas for individually displaying images captured by the cameras 10. The travel information display area A4 is an area for displaying information related to the travel device 7. Examples of the information related to the travel device 7 include a travel distance, a travel posture, and a travel speed of the travel device 7. The travel distance, travel attitude, and travel speed are measured by the travel distance measuring device, a speedometer and an inclination sensor (not shown), and each data is processed by the personal computer 12 and displayed on the monitor 24. The operation panel area A5 is an area in which an operation panel for operating start and stop of the travel device 7, travel speed, viewing angle of the camera 10, and the like is displayed.

  As shown in the example shown in FIG. 8, the image display areas A1 to A3, the travel information display area A4, and the operation panel area A5 can be displayed at the same time in one screen, so that the operator can take a captured image. It is possible to operate the traveling speed, the traveling posture, the viewing angle of the camera, etc. while checking the traveling state, and the operability is excellent.

Next, an inspection method using the piping internal inspection device according to the present embodiment will be described with reference to the flowchart shown in FIG.
First, the operator inserts the traveling device 7 into the inside through an entrance 3b (see FIG. 1) provided in the duct 3, and connects the power cable 11 to an AC power source. Further, the power cable 11, the personal computer 12, and the travel distance measuring device 15 are connected to the hub 13 to construct a communication line as shown in FIG.

  Here, in the inspection method according to the present embodiment, first, an image of about a half circumference inside the duct 3 is taken while the traveling device 7 is advanced, and then another half circumference is imaged while the traveling device 7 is moved backward. . Therefore, as shown in FIGS. 10A and 10B, the posture of the traveling device 7 differs between forward traveling and backward traveling. First, when the traveling device 7 is inserted into the duct 3, the traveling device 7 is arranged in the forward traveling posture shown in FIG. 10A (S1 in FIG. 9).

  As shown in FIG. 10A, in the state where the traveling device 7 is disposed in the forward traveling posture, the posture is greatly inclined with respect to the horizontal posture (the posture shown in FIG. 2). The posture is maintained by the gripping force generated between the mecanum wheel 20 disposed at 16a and 16b and the inner peripheral surface 3a of the duct 3. Furthermore, in this embodiment, the grip force is improved because the mecanum wheel 20 is pressed against the inner peripheral surface 3 a of the duct 3 by the biasing force of the coil spring 29. Further, in order to improve the grip force, the mecanum wheel 20 is pressed against the inner peripheral surface 3a of the duct 3 by the elastic repulsive force of the main body frame 16 generated when the traveling device 7 is disposed in the duct 3. Also good.

  Then, it is confirmed whether or not the traveling device 7 is disposed in the forward traveling posture (S2 in FIG. 9). If the traveling device 7 is disposed in the correct posture, the servo motor 9 is turned on (see FIG. 9). 9 S3). As a result, the drive of the mecanum wheel 20 can be remotely controlled by the personal computer 12. Then, the personal computer 12 is operated to drive the wheel 8 (mechanum wheel 20) and adjust the position so that the traveling device 7 has a stable posture (S4 in FIG. 9).

  Next, the camera 10 is turned on (S5 in FIG. 9). As a result, the camera 10 can take an internal image of the duct 3.

  As described above, when the servo motor 9 and the camera 10 are turned on and the traveling device 7 is allowed to take an image while traveling, a test traveling is started (S6 in FIG. 9). In the test traveling, the traveling device 7 is moved forward a little and an internal image of the duct 3 is captured by the camera 10. An image captured by the camera 10 is displayed on a monitor 24 (see FIG. 1) of the personal computer 12.

  Then, the operator confirms the internal image of the duct 3 obtained by the test running on the monitor 24 (S7 in FIG. 9), and adjusts the field of view of the camera 10 (S8 in FIG. 9). Specifically, the orientation of the camera 10 and the position of the traveling device 7 are adjusted by the personal computer 12.

  Then, the worker confirms whether or not a desired field of view is secured (S9 in FIG. 9), and when the desired field of view is secured, the main traveling is started (S10 in FIG. 9). In the actual traveling, the internal image of the duct 3 is captured by the camera 10 while the traveling device 7 is advanced as in the test traveling. The captured image is displayed on the monitor 24 of the personal computer 12, and the image data is stored in the memory in the personal computer 12 (S11 in FIG. 9).

  The operator confirms the image displayed on the monitor 24 (S12 in FIG. 9), and there is no defect in the inspection target (the inner peripheral surface 3a of the duct 3, the conductor 2, the support insulator 4, and their mounting locations). (S13 in FIG. 9). If there is no defective portion, the traveling of the traveling device 7 and the imaging by the camera 10 are continued (S16 in FIG. 9) until the internal inspection in the forward direction is completed (S15 in FIG. 9). If there is a defective part, a precise image of the part is obtained by the camera 10, a precise inspection is performed, and the image captured at this time is stored in the personal computer 12 (S15 in FIG. 9). Thereafter, when the internal inspection in the forward direction is completed, the traveling of the traveling device 7 is temporarily stopped.

  Next, when performing the internal inspection in the reverse direction, the personal computer 12 is operated to drive the wheels 8 (Mecanum wheel 20) so that the traveling device 7 assumes the posture during backward traveling as shown in FIG. The traveling device 7 is moved in the circumferential direction (S17 in FIG. 9). Thereafter, the inspection is basically performed in the same manner as the internal inspection in the forward direction.

  That is, the operator confirms the internal image of the duct 3 captured by the camera 10 (S18 in FIG. 9), adjusts the field of view of the camera 10 (S19 in FIG. 9), and confirms that the desired field of view is secured. Whether or not is confirmed (S20 in FIG. 9).

  And when the desired visual field is ensured, the traveling of the traveling device 7 is started (S21 in FIG. 9), and the internal image of the duct 3 is captured by the camera 10 while the traveling device 7 is moved backward. The captured image is displayed on the monitor 24 of the personal computer 12, and the data is stored in the personal computer 12 (S22 in FIG. 9).

  The operator confirms the image displayed on the monitor 24 (S23 in FIG. 9), and confirms that there is no defect in the inspection target (S24 in FIG. 9). If there is no defective portion, the traveling of the traveling device 7 and imaging by the camera 10 are continued (S27 in FIG. 9) until the internal inspection in the backward direction is completed (S26 in FIG. 9). On the other hand, if there is a defective part, a precise image of the part is obtained by the camera 10, a precise inspection is performed, and the image captured at this time is stored in the personal computer 12 (S25 in FIG. 9). Then, when the internal inspection in the backward direction is finished, the series of inspection work is finished.

  In the above description, as shown in FIG. 10, the case where the inside of the duct 3 in which the support insulator 4 is arranged is inspected is taken as an example, but the support insulator 4 is arranged in the lower portion as shown in FIG. As shown in FIGS. 12 (a) and 12 (b), the duct 3 and the duct 3 in which the support insulators 4 are arranged at the upper and lower intermediate portions as shown in FIGS. Thus, by changing the posture of the traveling device 7, it is possible to similarly perform an internal inspection over the entire circumference of the duct 3.

  As described above, according to the inspection device according to the present invention, the traveling device 7 on which the camera 10 is mounted can travel in the longitudinal direction and the circumferential direction of the duct 3 and has an attitude at an arbitrary position in the circumferential direction. Since it can be maintained, an image captured by the camera 10 can be obtained over the entire circumference in the duct 3. Therefore, in the conventional self-propelled in-pipe inspection device, the field of view is blocked by the conductor 2 and the inspection device according to the present invention also allows the position of the traveling device 7 to be arbitrarily set in the circumferential direction. The image can be taken (inspected) by changing the position. Thus, according to the inspection device according to the present invention, it is possible to perform internal inspection over a wider range than before using the traveling device 7. Moreover, since the traveling device 7 according to the present invention can travel in the longitudinal direction while maintaining the posture at an arbitrary position in the circumferential direction, the traveling device 7 can also travel in the duct 3 in which the support insulator 4 is installed. Further, as in the above-described embodiment, by setting the visual field range of all the cameras 10 to a range of 180 ° or more in the circumferential direction of the conductor 2, the traveling device 7 is reciprocated only once by changing the posture between going and returning. Thus, internal inspection can be performed over the entire circumference.

  Thus, according to the inspection device according to the present invention, the inside of the duct 3 in which the conductor 2 and the support insulator 4 are arranged can be inspected using the self-propelled traveling device 7. Thereby, since it is not necessary for the worker to enter the duct 3 and perform the inspection work, the labor of the inspection work can be greatly reduced and the inspection accuracy is also improved. Further, since it is not necessary to secure a skilled worker who can enter the narrow duct 3 and perform inspection work, stable facility management can be performed in the long term.

  The present invention is not limited to the above-described embodiment. The inspection device according to the present invention is not limited to a duct (phase separation bus) installed in a power plant, but can also be used for inspection of other pipes in which a structure is arranged in the center of the interior.

1 Phase-separated bus 2 Conductor (structure)
3 Duct (Piping)
4 Support insulator 7 Traveling device 8 Wheel 9 Servo motor (drive device)
10 Camera (imaging device)
11 Power cable 12 Personal computer (control device)
DESCRIPTION OF SYMBOLS 13 Hub 14 Winding device 15 Travel distance measuring device 16 Main body frame 16a End part 16b End part 16c Intermediate part 20 Mecanum wheel 24 Monitor 25 Mounting structure 26 Mounting member 27 Movable holding member 29 Coil spring (biasing member)

Claims (8)

A pipe internal inspection device for inspecting the inside of a pipe in which a structure is arranged in the center of the inside,
A traveling device that self-propels in the piping,
The traveling device includes:
An imaging device for imaging the inside of the pipe;
A wheel that rotates in contact with the inner peripheral surface of the pipe;
A drive device for rotating the wheel,
By rotating the wheel, the vehicle travels in the circumferential direction of the pipe, and at any position in the circumferential direction, while maintaining the posture by the grip force generated between the inner circumferential surface of the pipe, A piping internal inspection device characterized by being configured to be able to travel in the longitudinal direction. The travel device has a body frame that holds the wheels, the drive device, and the imaging device,
The pipe internal inspection device according to claim 1, wherein the main body frame is formed so as to extend in a circumferential direction of the pipe, and at least the wheels are disposed at both ends in the longitudinal direction of the main body frame.   The pipe internal inspection device according to claim 2, wherein the wheel is pressed against an inner peripheral surface of the pipe by an elastic repulsive force of the main body frame generated when the pipe is disposed in the pipe.   The pipe internal inspection device according to claim 2 or 3, wherein the urging member provided on the main body frame is configured to press the wheel against an inner peripheral surface of the pipe.   The piping internal inspection device according to any one of claims 1 to 4, wherein the wheel is a Mecanum wheel.   The piping internal inspection device according to any one of claims 1 to 5, wherein a power cable that supplies power to the imaging device and the driving device from a power source installed outside the piping is connected to the traveling device.   The pipe internal inspection device according to claim 6, further comprising a travel distance measurement device that measures a travel distance of the travel device based on a length of the power cable that enters the pipe as the travel device travels. A control device for remotely operating the imaging device and the driving device;
The pipe internal inspection device according to claim 6 or 7, wherein an electric signal can be transmitted and received between the control device and the imaging device or the driving device via the power cable.

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