JP6395161B2 - Pipeline inspection device and inspection method - Google Patents

Description

  The present invention relates to an inspection apparatus and inspection method for a pipeline that accommodates a cable such as a CVT cable.

  2. Description of the Related Art Conventionally, as a device for inspecting the inside of a pipeline that accommodates a cable such as a CVT cable, a device that travels in the pipeline as described in Patent Document 1 has been proposed. In this Patent Document 1, a cable protection support portion having a spherical member is attached to the lower part of an in-pipe travel apparatus that accommodates equipment for inspecting the inner surface of the pipe line, and a wheel, a wheel holder, and a leaf spring member are used. The formed main body support portions are attached radially around both ends of the main body.

  According to the in-pipe travel device disclosed in Patent Document 1, the cable directly contacts the device main body in order to make the spherical member of the cable protection support portion provided at the lower portion of the travel device main body contact the cable. There is no damage to the cable, the cable protection guide will guide the cable and run along the cable, and the wheels will not catch on or ride on the cable, making smooth running possible. It becomes possible.

JP-A-6-293260

  However, in general, since a plurality of cables extending in the pipeline are bundled together, a spiral streak is formed on the surface of the cable bundle. For this reason, since the traveling device disclosed in Patent Document 1 described above has a configuration in which the cable protection support portion is brought into contact with the cable surface and the cable is used as a guide, the spiral device formed on the cable bundle surface is used. The cable protection support part is caught in the line, and it may not be able to go straight smoothly, and the device vibrates every time it gets over the spiral line, so there is a problem that proper inspection and imaging become difficult .

  Therefore, the present invention solves the above-described problems, and enables smooth straight travel even when a plurality of cables extending in a pipeline are bundled together. An object of the present invention is to provide a pipe inspection device and inspection method capable of appropriate inspection and imaging.

  The present invention has been made to solve the above-described problems, and is an inspection device that moves in a pipeline that accommodates a cable therein, and is positioned above the height of the cable in the pipeline. Non-contact that protrudes downward from the base on both sides of the base and the cable, holds the base at a position higher than the height of the cable, and that no part of the inspection device contacts the cable A pair of support portions that form a space below the base portion, a wheel that is pivotally supported by the support portion, and a pair that protrudes from both sides of the base portion so as to advance and retreat in the radial direction of the pipe line A contact portion, urging means for urging the contact portion from both side portions of the base portion toward the radially outer side of the conduit, and an imaging means placed on the base portion. Features.

  According to the present invention as described above, the inside of the pipeline can be photographed by the imaging means by running the base portion which is the main body of the inspection device through the wheels by the wheels, and the visual inspection is performed over the entire length in the pipeline. It can be carried out. At this time, the base part which is the main body of the inspection apparatus is held at a position higher than the height of the cable in the pipe line by the pair of support parts, and a non-contact space where no part of the inspection apparatus comes into contact with the cable is formed in the base part. Even if the cable is bundled with a plurality of cables because it is formed below, the device does not get caught in the spiral line formed on the surface of the cable bundle. The vibration of the device that occurs each time the vehicle is overcome can be eliminated. Further, according to the present invention, the pair of abutting portions are urged and projected by the urging means from both side portions of the base portion in the radial direction of the pipeline, so that the abutting portions are pressed against the inner surface of the pipeline. Thus, a reaction force can be obtained from the inner surface of the pipe and the apparatus main body can be positioned at the center of the pipe, thereby realizing stable traveling.

  In the above invention, it is preferable that the support portion protrudes vertically downward from the base portion, and the contact portion protrudes horizontally from both side portions of the base portion. In this case, the reaction force can be obtained vertically from the bottom surface of the pipe, and the apparatus main body can be maintained at a position higher than the height of the cable, so that more stable travel can be realized.

  In the above invention, it is preferable that the abutment portion abuts on a maximum diameter position of the inner surface of the pipe line. In this case, when the abutting portion is pressed against the inner surface of the pipeline, the direction of reaction of the reaction force from the inner surface of the pipeline at the abutting position can be matched with the normal direction of the inner surface of the pipeline. The reaction force is maximized, and more stable driving can be achieved.

In the above invention, it is preferable that the base portion is held at a position higher than a central axis position of the conduit, and the contact portion is bent so that a tip thereof is inclined obliquely downward. In this case, when pressing the contact portion against the inner surface of the pipeline, the reaction force from the inner surface of the pipeline can be maximized even when the base is held at a higher position than the cable, and more stable. Driving can be realized.

In the above invention, it is preferable to further include a camera cable that is connected to the imaging unit and transmits / receives an electrical signal to / from the imaging unit, and a cable fixing unit that fixes the camera cable to the base . In this case, by fixing the camera cable connected to the imaging means to the base , the inspection device can be run by sending out the camera cable, and the imaging cable and the inspection device for running It is possible to share the means, so that the apparatus can be simplified and the workability can be improved.

Moreover, this invention is the inspection method in a pipe line using the inspection apparatus of Claim 1, Comprising:
(1) The wheel is vertically projected downward by the support portion, a reaction force is obtained in the vertical direction from the inner surface of the pipe line, the base portion is held at a position higher than the height of the cable, A step of causing the inspection device to enter the pipe while forming a non-contact space below the base;
(2) The maximum diameter position of the inner surface of the pipe line facing each other across the central axis position of the pipe line by energizing the contact parts from both sides of the base part toward the radially outer side of the pipe line Respectively, and obtaining a reaction force from the maximum diameter position of the pipe inner surface,
(3) The step of imaging the inside of the pipeline by the imaging means placed on the base;
It is characterized by providing.

  According to the present invention as described above, the inside of the pipeline can be photographed by the imaging means by running the base portion which is the main body of the inspection device through the wheels by the wheels, and the visual inspection is performed over the entire length in the pipeline. It can be carried out. At this time, the base part which is the main body of the inspection apparatus is held at a position higher than the height of the cable in the pipe line by the pair of support parts, and a non-contact space where no part of the inspection apparatus comes into contact with the cable is formed in the base part. Even if the cable is bundled with a plurality of cables because it is formed below, the device does not get caught in the spiral line formed on the surface of the cable bundle. The vibration of the device that occurs each time the vehicle is overcome can be eliminated. Further, according to the present invention, the pair of abutting portions are urged and projected by the urging means from both side portions of the base portion in the radial direction of the pipeline, so that the abutting portions are pressed against the inner surface of the pipeline. Thus, a reaction force can be obtained from the inner surface of the pipe and the apparatus main body can be positioned at the center of the pipe, thereby realizing stable traveling.

  As described above, according to the present invention, the base that is the main body of the inspection device is held at a position higher than the height of the cable in the pipe line by the pair of support portions, and any part of the inspection device is connected to the cable. Since a non-contact space that does not contact the base is formed below the base, smooth straight travel is possible even when multiple cables extending in the pipeline are bundled together. Inspection and imaging are possible.

It is explanatory drawing which shows typically the whole structure of the inspection system which concerns on embodiment. It is a 3rd page figure which shows the traveling apparatus of the inspection system which concerns on embodiment, (a) is a front view, (b) is a side view, (c) is a top view. It is a top view which shows operation | movement of the traveling apparatus of the inspection system which concerns on embodiment. It is explanatory drawing which shows the state in the pipe line of the traveling apparatus of the inspection system which concerns on embodiment. It is a top view which shows the state in the pipe line of the traveling apparatus of the inspection system which concerns on embodiment. It is a top view which shows the driving | running | working state in case there exists a level | step difference in the pipe line of the traveling apparatus of the inspection system which concerns on embodiment.

(Configuration of inspection system)
Hereinafter, an embodiment of an inspection system according to the present invention will be described in detail with reference to the accompanying drawings. Drawing 1 is an explanatory view showing typically the whole structure of the inspection system concerning an embodiment. Drawing 2 is a 3rd page figure showing a traveling device of an inspection system concerning an embodiment, (a) is a front view, (b) is a side view, and (c) is a top view. FIG. 3 is a top view showing the operation of the traveling device, and FIG. 4 is an explanatory diagram showing the state of the traveling device in the pipeline.

  As shown in FIGS. 1 (a) and (b), the inspection system according to the present embodiment moves in a pipeline 5 in which a twisted cable 51 such as a CVT cable is accommodated, and in the pipeline 5 and This is a system for checking the state of the twisted cable 51, the traveling device 1 that is allowed to enter the pipeline 5, the sending device 3 that sends the traveling device 1 into the pipeline 5, and the respective inspection values detected by the traveling device 1. And a remote control device 4 for displaying and recording. In addition, in this embodiment, as shown in detail in Fig.4 (a)-(c), as for the twisted cable 51 laid in the pipe line 5, three cable 51a-c is cable twist center point 51o. Is formed in a spiral shape with the circumscribed circle diameter of the twisted cable 51 being the finished outer diameter of the cable, and the surface formed of the twisted cable 51, that is, the circumscribed circle of the twisted cable 51 is swept. Helical streaks are formed on the surface.

(1) Traveling device 1
The traveling device is a traveling type inspection device that travels in a pipeline and performs inspection work in the pipeline, and as shown in FIG. 2, a main body 11 that is allowed to enter the pipeline, and a support portion of the main body 11. A wheel 12 pivotally supported by 11a and 11b, a pair of blades 13a and 13b projecting horizontally from both side portions of the base portion 11c, springs 15a and 15b for urging the contact portions outward, and a base portion And a CCD camera 2 placed on 11c.

  As shown in FIG. 2 (a), the main body 11 is a member having a U-shaped vertical cross section, and includes a base portion 11c disposed horizontally and a pair of support portions 11a formed on both sides of the base portion 11c. , 11b. The base portion 11c is a horizontally arranged plate-like base, and is formed integrally with the support portions 11a and 11b so as to have a U-shaped cross section in this embodiment. The main body 11 is provided with a mechanism for supporting the wheel 12 and a mechanism for assembling the blades 13a and 3b.

  The support portions 11a and 11b are a pair of plate-like members that protrude vertically downward on both sides of the base portion 11c, hold the base portion 11c at a position higher than the height of the twisted cable 51, and perform the traveling. A non-contact space 5S in which any part of the device 1 does not contact the twisted cable 51 can be formed below the base portion 11c. Specifically, the spacing (inner width w) between the support portions 11a and 11b is set to be larger than at least the finished outer diameter of the twisted cable 51 shown in FIG. In consideration of the thickness of the cable, it is preferable to set by adding about 10 mm to the distance between the central axes of adjacent cables.

  The wheel 12 is a wheel composed of two front wheels and two rear wheels. The left and right front wheels and the rear wheels are rotatably supported by the support portions 11a and 11b. Specifically, the wheel 12 is rotatably supported by an axle configured by press-fitting a countersunk screw into a female screw embedded in the support portions 11a and 11b. In the present embodiment, the power is not connected to any of the wheels 12 and is merely driven. However, the power may be connected so that the vehicle can run on its own.

  By these support portions 11a and 11b and the wheels 12, the base portion 11c is positioned above the height of the twisted cable 51 in the pipe line 5, and a non-contact space 5S is formed below the base portion 11c. Specifically, the height h1 from the contact point of the wheel 12 to the inner surface of the pipe line 5 to the lower surface of the base portion 11c is calculated in consideration of the step h2 due to the curved inner surface of the pipe line 5. In the present embodiment, the total height H obtained by adding the height h1 and the step h2 is the same value as the inner width w obtained by adding about 10 mm to the distance between the central axes of adjacent cables. That is, the total height H = inner width w is set.

  The blades 13a and 13b are a pair of abutting portions that protrude from both side portions of the base portion 11c so as to advance and retreat in the radial direction of the duct 5. In the present embodiment, the blades 13a and 13b are plate-like members having a substantially trapezoidal shape in a top view, and a smooth R is formed at a corner portion of the trapezoid, and the side on which the R is formed is outside. It is urged | biased toward the radial direction outer side by spring 15a, 15b so that it may push out toward the direction. The springs 15a and 15b are urging means for urging the blades 13a and 13b from both sides of the lower portion of the base portion 11c toward the radially outer side of the pipe line 5, respectively. As shown in FIG. 3A, the distance B between the blades 13a and 13b in a state where the urging forces of the springs 15a and 15b are released is set to be larger than the inner diameter of the pipe line 5, and the traveling device 1 When entering the pipe 5, the blades 13 a and 13 b are pushed inward, and the springs 15 a and 15 b are compressed and biased.

  As a result, the blades 13a and 13b are always pressed against the inner surface of the pipeline 5 so that the reaction force is obtained from both inner surfaces facing each other in the pipeline 5 so that the apparatus main body is positioned at the center of the pipeline. It has become. Further, for example, as shown in FIG. 6, even if there is a step 5G or the like in the pipeline 5, the blade 13a is formed in a smooth trapezoidal shape, so that it follows the step 5G in the pipeline 5. The blades 13a and 13b are advanced and retracted, and the apparatus main body is always positioned at the center of the pipe line 5.

  Further, the blades 13a and 13b are brought into contact with the maximum diameter position of the inner surface of the pipe line 5. That is, when the blades 13a and 13b are pressed against the inner surface of the pipeline 5, the action direction of the reaction force from the inner surface of the pipeline 5 at the abutting position is matched with the normal direction of the inner surface of the pipeline, It is held so that the reaction force is maximized. In other words, the blades 13a and 13b generate a force for capturing the diameter position of the inner surface of the pipe line 5 by the opposing horizontal repulsive force of the springs 15a and 15b. While maintaining the position, the twisted cable 51 can be run instead of the rail.

  In addition, the blades 13a and 13b are bent so that their respective tips are inclined obliquely downward, whereby the base portion 11c is held at a position higher than the twisted cable 51 when pressed against the inner surface of the conduit 5. Even in this state, the positioning is performed so that the reaction force from the inner surface of the pipe line 5 is maximized.

  The CCD camera 2 is an image pickup means placed on the base 11c, and sends a picked-up image signal to a monitor device through a camera cable 21. The CCD camera 2 is attached to the front of the traveling device 1 in the traveling direction, and is fixed on the base 11c by a band member 22a. With the camera cable 21 connected to the CCD camera 2, the traveling device 1 can be traveled by sending the camera cable 21 from the outside of the pipeline toward the inside of the pipeline.

(2) Sending device 3
The delivery device 3 includes a cylindrical reel portion 31 that winds and accommodates the camera cable 21, a drive portion 33 that rotationally drives the reel portion 31, a shaft that supports the reel portion 31, and a driving force of the drive portion 33. The drive shaft 32 which converts into rotation of the part 31 and the support stand 34 which instruct | indicates these each part 31-33 are provided. In the present embodiment, the delivery device 3 is installed in the vicinity of the opening portion 5 a of the pipeline 5, and the reel unit 31 is configured so that the delivery direction of the camera cable 21 inserted into the pipeline 5 is the extending direction of the pipeline 5. The tangent direction at the lower end of the reel portion 31 is set so as to coincide with the feeding direction.

  The reel unit 31 is rotated by a drive shaft 32, and this rotation is transmitted from the drive unit 33. The drive unit 33 is connected to the remote control device 4 through a wiring 41, and the drive and rotation speed of the drive unit 33 is controlled by the remote control device 4. The video signal from the camera cable 21 is input to the remote control device 4 through the wiring 41 so that the video from the camera cable 21 can be monitored by the remote control device 4.

  The camera cable 21 is flexible enough to be wound up by the reel unit 31 and has a hardness enough to transmit an axial force along the cable axial direction, and feeds the camera cable 21 into the conduit 5. As a result, the traveling device 1 connected to the tip of the camera cable 21 can be advanced in the delivery direction.

(Pipe inspection method)
Using the inspection system having the above configuration, the pipe inspection method of the present invention can be implemented.

  As shown in FIG. 1, first, the reel unit 31 is rotated forward to send out the camera cable 21, and the traveling device 1 connected to the tip of the camera cable 21 is caused to enter the pipeline 5. At this time, as shown in FIG. 4, the wheels 12 are vertically projected downward by the support portions 11a and 11b of the main body of the traveling device 1, and a reaction force is obtained from the inner surface of the pipe line 5 in the vertical direction. The base unit 11c of one main body is held at a position higher than the height of the twisted cable 51, and the traveling device 1 is caused to enter the pipeline 5 while forming the non-contact space 5S below the base unit 11c.

  Next, in the pipe line 5, the blades 13 a and 13 b are respectively urged from both sides of the traveling device base toward the radially outer side of the pipe line, and the pipes facing each other with the central axis position 50 of the pipe line 5 interposed therebetween. The reaction force is obtained from the maximum diameter position on the inner surface of the pipe 5 by making contact with the maximum diameter position on the inner surface of the path 5.

  Thereafter, the feeding device 3 is further driven to sequentially send out the camera cable 21 to cause the traveling device 1 to travel in the conduit 5 while the CCD camera 2 takes an image of the interior of the conduit. The image taken by the CCD camera 2 is received by the remote control device 4 through the camera cable 21 and the state in the conduit 5 can be confirmed by the image.

  After the inspection in the pipeline 5 is completed, the reel unit 31 is reversely rotated and the camera cable 21 is wound up to retract the traveling device 1 and return it to the opening portion 5a for recovery.

(Action / Effect)
According to this embodiment as described above, the inside of the pipeline 5 can be photographed by the CCD camera 2 by causing the base 11 c that is the main body of the traveling device 1 to travel in the pipeline 5 with the wheels 12. Visual inspection can be performed over the entire length. At this time, the base portion 11c which is the main body of the traveling device 1 is held at a position higher than the height of the twisted cable 51 in the pipe line 5 by the pair of support portions 11a and 11b, and any part of the inspection device is connected to the cable. Since the non-contact space 5S that does not come into contact is formed below the base portion 11c, the surface of the twisted cable 51 can be used even when the twisted cable 51 is twisted and bundled as in the present embodiment. The apparatus is not wound on the spiral muscle formed in the above, and the vibration of the apparatus that occurs every time the spiral muscle is overcome can be eliminated.

  More specifically, as shown in FIGS. 4A and 4B, the twisted cable 51 laid in the pipe line 5 has three cables 51a to 51c twisted around the cable twist center point 51o. Each time the traveling device 1 travels, the positions of the cables 51a to 51c rotate and the streaks on the surface of the circumscribed circle of the twisted cable 51 also move spirally. Become. According to the present embodiment, since the base portion 11c is held at a position higher than the finished outer diameter of the twisted cable 51 and the non-contact space 5S is maintained, the spiral streaks formed on the surface of the twisted cable 51 This device is not involved.

  In addition, according to the present embodiment, the pair of blades 13a and 13b are urged and projected by the springs 15a and 15b from both side portions of the base portion 11c toward the radial direction of the pipeline 5, so By pressing the abutting portion, a reaction force can be obtained from the inner surface of the pipe line 5 and the apparatus main body can be positioned at the center of the pipe line, and stable running can be realized.

  In particular, in the present embodiment, the support portions 11a and 11b protrude vertically downward from the base portion 11c, and the blades 13a and 13b protrude horizontally from both sides of the base portion 11c. The reaction force can be obtained vertically, the apparatus main body can be maintained at a position higher than the height of the twisted cable 51, and more stable travel can be realized. At this time, since the blades 13a and 13b are in contact with the maximum diameter position of the inner surface of the conduit 5, when the blades 13a and 13b are pressed against the inner surface of the conduit 5, the reaction force from the inner surface of the conduit 5 at the contact position is reduced. The direction of action can be made to coincide with the normal direction of the inner surface of the pipe 5, the reaction force from the inner surface of the pipe 5 is maximized, and further stable traveling can be realized.

  In other words, the blades 13a and 13b generate a force for capturing the diameter position of the inner surface of the pipe line 5 by the opposing horizontal repulsive force of the springs 15a and 15b. While maintaining the position, the twisted cable 51 can be run instead of the rail. As a result, for example, as shown in FIG. 6, even if there is a step 5G or the like in the pipeline 5, the blade 13a is formed in a smooth trapezoidal shape, so that it follows the step 5G in the pipeline 5. Thus, the blades 13a and 13b are advanced and retracted, and the apparatus main body is always positioned at the center of the pipe line 5.

  Further, in the present embodiment, the base portion 11c is held at a position higher than the central axis position 50 of the conduit 5, and the blades 13a and 13b are bent so that the tips are inclined obliquely downward. When the blades 13a and 13b are pressed against the inner surface of the pipeline 5, the reaction force from the inner surface of the pipeline 5 can be maximized even when the base portion 11c is held at a higher position than the twisted cable 51. Stable running can be realized.

B ... Distance h2 ... Step w ... Inner width 1 ... Traveling device 2 ... CCD camera 3 ... Sending device 4 ... Remote control device 5 ... Pipe line 5G ... Step 5S ... Non-contact space 5a ... Opening portion 11 ... Main body 11a, 11b ... Support part 11c ... Base part 12 ... Wheels 13a, 13b ... Blades 15a, 15b ... Spring 21 ... Camera cable 22a ... Band member 31 ... Reel part 32 ... Drive shaft 33 ... Drive part 34 ... Support base 41 ... Wiring 50 ... Center axis position 51 ... Twisted cable 51a-c ... Cable 51o ... Twist center point

Claims (6)

An inspection device that moves in a pipeline that accommodates a cable therein,
A base located above the height of the cable in the conduit;
On both sides of the cable, the non-contact space that protrudes downward from the base and holds the base at a position higher than the height of the cable so that no part of the inspection device contacts the cable. A pair of support portions formed below the base portion;
A wheel pivotally supported by each of the support parts;
A pair of abutting portions projecting from both sides of the base portion so as to advance and retreat in the radial direction of the conduit;
Urging means for urging each of the abutting portions from both sides of the base toward the radially outer side of the conduit;
Imaging means placed on the base;
An inspection device for a pipeline, comprising: The support portion protrudes vertically downward from the base portion,
The pipe inspection device according to claim 1, wherein the contact portion protrudes horizontally from both side portions of the base portion.   The pipe inspection device according to claim 1, wherein the contact portion is in contact with a maximum diameter position of the inner surface of the pipe. The base is held at a position higher than the central axis position of the pipeline,
The pipe contact inspection device according to any one of claims 1 to 3, wherein the contact portion is bent so that a tip thereof is inclined obliquely downward. A camera cable connected to the imaging means and transmitting and receiving electrical signals to and from the imaging means;
The pipe inspection device according to any one of claims 1 to 4, further comprising cable fixing means for fixing the camera cable to the base . An inspection method in a pipeline using the inspection device according to claim 1,
The wheel is vertically projected downward by the support portion, a reaction force is obtained in the vertical direction from the inner surface of the pipe line, the base portion is held at a position higher than the height of the cable, and the non-contact space Forming the inspection device into the pipeline while forming a lower portion of the base,
The abutting portions are respectively urged from both sides of the base portion toward the radially outer side of the pipe line, and are respectively applied to the maximum diameter position of the pipe inner surface facing each other across the central axis position of the pipe line. A process of obtaining a reaction force from the maximum diameter position of the inner surface of the pipe line,
Imaging the inside of the pipeline by imaging means placed on the base;
A method for inspecting a pipeline, comprising: