JPS58129255A - Inspecting device for inside of structure - Google Patents

Inspecting device for inside of structure

Info

Publication number
JPS58129255A
JPS58129255A JP57012139A JP1213982A JPS58129255A JP S58129255 A JPS58129255 A JP S58129255A JP 57012139 A JP57012139 A JP 57012139A JP 1213982 A JP1213982 A JP 1213982A JP S58129255 A JPS58129255 A JP S58129255A
Authority
JP
Japan
Prior art keywords
inspection
control device
traveling
vehicle
inspecting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP57012139A
Other languages
Japanese (ja)
Inventor
Yorio Hosokawa
細川　倚男
Morihiro Mizutame
水溜　守洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Tokyo Shibaura Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba Corp, Tokyo Shibaura Electric Co Ltd filed Critical Toshiba Corp
Priority to JP57012139A priority Critical patent/JPS58129255A/en
Publication of JPS58129255A publication Critical patent/JPS58129255A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material

Abstract

PURPOSE:To eliminate the need for cables, etc. and to reduce the size of an inspecting device and the working time for inspection by communicating a traveling control device for a battery-driven inspecting wheel and an inspection control device and the end of a structure with each other by mutual audio response. CONSTITUTION:A voice command from one end of a structure 1 is transmitted to the microphone 8 of a battery-driven inspecting wheel 2 and is converted to an electric signal with a voice recognizer 9. A traveling control device 10 and an inspecting and controlling device 11 for the wheel 2 responds to said signal by voice whereby the traveling of the wheel 2 and the inspection of the structure 1 by a TV camera 3 are controlled. The positions and results of inspections with the devices 10, 11 respectively are recorded in a recorder 14, and these signals are converted to voices by a voice signal generator 12, and are responded by voices to the end of the structure through a speaker 13. By such consitution which does not require cables, cable cars, etc., the size of the inspecting device in the structure and the time for the inspecting work are reduced.

Description

【発明の詳細な説明】 〔発明の技術分野〕 本発明は、構造物内を走行しながら点検する点検車と、
この点検車を構造物内壁に旧って走行制御する走行制御
装置と、前記点検車の点検内容を１１１１＃する点検制
御装置とを有する構造物内点検装＊に関するものである
。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an inspection vehicle that inspects while traveling inside a structure;
This invention relates to a structure interior inspection system* having a travel control device that controls the traveling of the inspection vehicle on the inner wall of the structure, and an inspection control device that transmits inspection contents of the inspection vehicle to 1111#.

〔発明の技術的背景〕[Technical background of the invention]

工場やプラントにおける比較的小径のパイプ等の構造物
の内ｌｆｉ′に定期的あるいは不定期的に点検する構造
物内点検装置は一般に第１因に示す構成となっている。In-structure inspection devices that regularly or irregularly inspect lfi' in structures such as relatively small-diameter pipes in factories and plants generally have the configuration shown in the first factor.

点検すべき構造物、例えばパイプ１内に、走行台車と、
これを駆動する電動機婢で構成した図示していない走行
装置１１（図示せず）とｔ−有し、さらにテレビジ瑳ン
カメラ等の点検機器３を搭載した点検車２に一装置する
と共に、この点検車２に対する走行制御装置、点検制御
信号、および電動機電源を伝送するケーブル４の長′２
！全−節するためのケーブルドラム６７に有するケーブ
ル中継本５ｔ−配置している。ケーブル中継車５は点検
車２と同様の走行１ｔｔｔ持っており、ケーブル４の張
力全一定に保ちながらパイプｌの中を点検車２と共に走
行する。点検機器３を搭載した点検車２およびケーブル
中継車５はパイプｌの外部から遠隔制御装置１７により
ケーブル４を介して遠隔操作制御される。Inside the structure to be inspected, for example, pipe 1, a traveling trolley,
The inspection vehicle 2 is equipped with a traveling device 11 (not shown) consisting of an electric motor to drive the vehicle, and is further equipped with inspection equipment 3 such as a television camera. A length '2 of the cable 4 that transmits the driving control device, inspection control signal, and electric motor power supply to the vehicle 2.
! The cable relay book 5t is arranged on the cable drum 67 for all the knots. The cable relay vehicle 5 has the same running speed as the inspection vehicle 2, and travels together with the inspection vehicle 2 inside the pipe 1 while keeping the tension of the cable 4 constant. The inspection vehicle 2 carrying the inspection equipment 3 and the cable relay vehicle 5 are remotely controlled via the cable 4 by a remote control device 17 from outside the pipe 1.

このようなＷ４取の点検装置においては、ケーブル中継
車５により常に必要最低限のケーブル憂となるようにケ
ーブル４の張力と一定に制御する必要がある。というの
は、第一に、ケーブル中継車５を配置することなしに点
検車２がケーブル４ｔ−引°り張りながら走行すると、
ケーブル４の電量によるパイプ１の内面との間の拳擦抵
抗がケーブル４の実効長さに比例して増大するため、点
検車２０走行装置の駆動力を増大する必要があるが、パ
イプ１の中に入れることの可能な点検車２の大きさには
制約があるため、走行装置の駆動力をむやみに増大さき
ることはできないからである。第二に、点検終了後には
、点検車２は後退してパイプ１の入口まで戻る必要があ
るが、その場合、ケーブル４がパイプ１内に残っている
と、点検機器３が後退できなくなるため、余分なケーブ
ルを巻取る必要があるからである。In such a W4 inspection device, it is necessary to control the tension of the cable 4 at a constant level using the cable relay vehicle 5 so that the cable tension is always the minimum necessary. Firstly, if the inspection vehicle 2 runs while pulling the cable 4t without placing the cable relay vehicle 5,
Since the friction resistance between the cable 4 and the inner surface of the pipe 1 due to the electric charge increases in proportion to the effective length of the cable 4, it is necessary to increase the driving force of the inspection vehicle 20 traveling device. This is because there are restrictions on the size of the inspection vehicle 2 that can be placed inside, so the driving force of the traveling device cannot be increased unnecessarily. Secondly, after the inspection is completed, the inspection vehicle 2 needs to back up and return to the entrance of the pipe 1, but in that case, if the cable 4 remains inside the pipe 1, the inspection equipment 3 will not be able to back up. , because it is necessary to wind up the extra cable.

〔背景技術の問題点〕[Problems with background technology]

一ヒ述の理由から従来の構造物内点検装置においてはケ
ーブル中継車５が必要不可欠なものとなる。For the reasons mentioned above, the cable relay vehicle 5 is indispensable in the conventional structure inspection equipment.

まな被点検パイプ１に入口とは別に出口を有する場合、
人口から出口までの一連の点検作業に終えた点検車２お
よびケーブル中継車５はケーブル４を引っ張って走行し
ているため、必ず元の入口側までパイプｌ内を戻らなけ
ればならず、作業能率の低下全米たしていた。If the pipe to be inspected 1 has an outlet separate from the inlet,
The inspection vehicle 2 and the cable relay vehicle 5, which have completed a series of inspection operations from the population to the exit, are running while pulling the cable 4, so they must always return inside the pipe 1 to the original entrance side, reducing work efficiency. The decline was in the United States.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、ケーブルおよびケーブル中継車を不用
とすることにより、装置の小形化ならびをこ点検作業時
間の短縮化を達成できる構造物内点検装置を提供するこ
とにある。SUMMARY OF THE INVENTION An object of the present invention is to provide an in-structure inspection device that can reduce the size of the device and shorten inspection work time by eliminating the need for cables and cable relay trucks.

〔発明の［８〕 この目的を達成するために本発明は、点検車を＊Ｗ池駆
動式に構成すると共に、慣造物端からの音４信号に応答
する音響センナと、この音響センナの出力信号を、前記
走行制御装置および点検制御装置を作動させるための信
号に変換する音響認識装置とを設けたことを特徴とする
ものである。[8] In order to achieve this object, the present invention configures the inspection vehicle to be a *W pond drive type, and also includes an acoustic sensor that responds to four sound signals from the edge of a conventional structure, and an output of this acoustic sensor. The vehicle is characterized by being provided with an acoustic recognition device that converts a signal into a signal for operating the traveling control device and the inspection control device.

さらに本発明は、走行制御装置および点検制御装置から
の応答信号を音声ｇ！ｉ号に変換する音声信号発生装置
と、この音声信号発生装置からの音声信号全音声にｆ換
するスピーカとを設けたことを特徴とするものである。Furthermore, the present invention provides a voice g! The present invention is characterized in that it is provided with an audio signal generating device that converts the audio signal into i and a speaker that converts the audio signal from the audio signal generating device into f.

さらにまた本発明は、上記音声信号発生装置およびスピ
ーカの代りに、或いはそれと併せて、走行制御装置およ
び点検制御装置からの応答信号を記録する配録装置を設
けたことを特徴とするものである。Furthermore, the present invention is characterized in that a recording device for recording response signals from the traveling control device and the inspection control device is provided instead of the audio signal generating device and the speaker, or in addition thereto. .

〔発明の実施例〕 第２図および第３図は本発明による構造物内点検装置の
一実施例を示すものである。被点検構造物としてのパイ
プ１の終端部から操作者１５の音声としてパイプｌ内に
発信された前書信号は点検車２に搭載された音響センサ
としてのマイクロホン８により電気信号に変換される。[Embodiment of the Invention] FIGS. 2 and 3 show an embodiment of a structure inspection device according to the present invention. A preamble signal transmitted into the pipe 1 as the voice of the operator 15 from the end of the pipe 1 as the structure to be inspected is converted into an electrical signal by a microphone 8 as an acoustic sensor mounted on the inspection vehicle 2.

この電気信号の中から、音声信号発生装置として設けら
れている音声信号発生装置９により、点検車２の走行装
置用の４ｔｌＩ（至）音声および点検＋Ｓ器用の制御音
声が認識され、それぞれ走行制御装置ｌＯおよび点検制
御装置ｌｌｌに７・まシて各−ｊ御信号として出力され
る。走行装置は台車中電動磯、蓄１１池等で構成され、
全体として蓄４池駆動式点検単２が構成されている。From this electric signal, the audio signal generator 9 provided as an audio signal generator recognizes the 4tlI (to) voice for the traveling device of the inspection vehicle 2 and the control voice for the inspection + S device, respectively, and controls the traveling. It is output to the device lO and the inspection control device lll as each control signal 7 and -j. The traveling device consists of an electric rock in the trolley, 11 storage ponds, etc.
As a whole, a four-reservoir-driven inspection unit is configured.

点検制御装置１１は点検車２に搭載されたテレビジョン
カメラ等の点検機器３′ｔ−制御する装置である。The inspection control device 11 is a device that controls inspection equipment 3't- such as a television camera mounted on the inspection vehicle 2.

走行制御装置１０および点検制御装［１１の制御応答傷
牲は、一方では音声信号発生装置ｔ２によって音声信号
（鑞気信号）に変換され、さらにスピーカ１３により実
際の音声に変換され、他方では記碌装置１４によって記
嫌される。The control response damage of the travel control device 10 and the inspection control device [11] is converted into an audio signal (air signal) by the audio signal generator t2 on the one hand, and is further converted into actual audio by the speaker 13, and recorded on the other hand. The information is recorded by the recording device 14.

＠２図にブロックで示したマイクロホン８やスピーカ１
３、各装＃　９　、１０　、１１　、１２　、１４は点
検車２に搭載されている。@2 Microphone 8 and speaker 1 shown as blocks in figure
3. Each equipment #9, 10, 11, 12, and 14 is mounted on the inspection vehicle 2.

第２（９）およびｗｃａ囚の装置において、点検車２ｔ
こ搭載され、パイプｌの入口端からパイプ１内に入れら
れた点検装置は、操作者１５の制御指令オルをマイクロ
ホン８で受信し、音声認識装置ｉ［９で走行制御指令お
よび点検制御指令を判別し、それをそれぞれ走行制御装
置１０および点検制御装置１１に出力する。走行制御装
置１ｌｌＯおよび点検制御装［１１はそれぞれの制御信
号に基づいて走行装置および点検機器３全制御すると共
に、走行結果および点検結果を表わす信号をそれぞれ音
声信号発生装置１２および記録装ｆ１１４に入力する。Inspection vehicle 2t in the 2nd (9) and wca prisoner equipment
The inspection device installed in the pipe 1 and inserted into the pipe 1 from the entrance end of the pipe 1 receives control commands from the operator 15 through the microphone 8, and receives travel control commands and inspection control commands through the voice recognition device i [9]. It is determined and outputted to the travel control device 10 and the inspection control device 11, respectively. The traveling control device 1llO and the inspection control device [11 control the traveling device and the inspection equipment 3 based on their respective control signals, and input signals representing the traveling results and inspection results to the audio signal generator 12 and the recording device f114, respectively. do.

音声信号発生輪１１１１２はそれらの入力信号ｔ−順次
音声信号に変換し、さらにスピーカ１３を介して、操作
者Ｉ５に分かる音声が発声される。スピーカ１３の出力
音声はパイプｌ内を逆進して操作者１５の耳に達する。The audio signal generation wheel 11112 sequentially converts these input signals t into audio signals, and furthermore, a sound understandable to the operator I5 is emitted via the speaker 13. The output sound from the speaker 13 travels backward through the pipe l and reaches the ears of the operator 15.

したがって、操作者１５は応答音声に基づいて次の操作
指令に発声することにより走行点検を繰返し、一連の遠
隔操作を全うすることができる。したがって、この装置
によればケーブル中継車、ケーブル、ケーブルドラムお
よび遠隔制御装置が不用になり、また点検作業時間を短
縮することができる。Therefore, the operator 15 can repeat the running inspection by uttering the next operation command based on the response voice, thereby completing a series of remote operations. Therefore, this device eliminates the need for cable relay trucks, cables, cable drums, and remote control devices, and also reduces inspection work time.

なお、音声ないし音響は水などの液体の中でも伝播可能
であり、したがって被点検パイプ中には水などの液体が
充満されていてもよい。Note that voice or sound can be propagated even in liquid such as water, and therefore the pipe to be inspected may be filled with liquid such as water.

また本発明によればパイプ中でケーブルを引き回すこと
がないので、同一パイプ中に会数台の点検装置を入れて
も相互の走行を妨害することｌくＦ９ｒＭの点検作業を
遂行することができる。Furthermore, according to the present invention, there is no need to run cables around the pipe, so even if several inspection devices are installed in the same pipe, inspection work for F9rM can be carried out without interfering with each other's movement. .

Ｆ紀実施例においてはスピーカＩ３と記ｆｉｉｌｌ１４
の両者を設けるものが示されているが、場合に裏っては
いずれか一方のみを設けるようにしてもよい。In the F-era embodiment, speaker I3 and fill14 are used.
Although a configuration in which both of these are provided is shown, in some cases, only one of them may be provided.

〔発明の効果〕〔Effect of the invention〕

ｂｈ述べたように本発明によれば操作者とバイア等の構
造物内の点検装置との間を音響に裏って１悟し合うよう
にしたので、構造物内の点検装置ｔ”僧造物外からケー
ブル無しで遠隔制御することができ、したがって、構造
物内でケーブルを引き回ｒ−ノ吟要が無く、ケーブル長
さ―節用のケーブル中継車も不用となり、さらに点検作
業を終えた点検装置は必ずしも点検往路を戻ることなく
人口からでも出口からでも都合の良い方がら携造物外に
出ることができるため、作業能率の向上ｔ−４成するこ
とができる。As mentioned above, according to the present invention, since the operator and the inspection device inside the structure such as a via are able to communicate with each other behind the sound, the inspection device inside the structure It can be remotely controlled from the outside without cables, so there is no need to route cables inside the structure, eliminate the need for cable relay trucks for cable length and knots, and further improve inspection after completing inspection work. Since the device can be exited from the facility either from the exit or from the exit, whichever is more convenient, without necessarily having to go back on the inspection route, work efficiency can be improved t-4.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は、従栄の構造物内点検装置の配＃を図、第２図
は、本発明による＃ｆ構造物内点検装置音声入出力制＃
装を部分の一実施例を示すブロック図、 第３図は、第２図の音声入出力制御ｌ装置を使用した本
発明による構造動向点検装置の一実施例を示す配置図で
ある。 １・・・パイプ、２・・・点検車、３・・・点検愼器、
８・・・マイクロホン、９・・・音ＰＩＩｇ敞装置、１
０−・・走行制御装置、１１・・・点検制御装置、１２
・・・音声信号発生装置、１３・・・スピーカ、１４・
・・Ａ己録装置。 出願人代理人　　旙　股　　　　溝Fig. 1 shows the layout of Juei's internal inspection device for structures, and Fig. 2 shows the audio input/output control system for the inspection device for internal structures according to the present invention.
FIG. 3 is a layout diagram showing an embodiment of the structural trend inspection device according to the present invention using the audio input/output control device of FIG. 2. 1...pipe, 2...inspection vehicle, 3...inspection machine,
8...Microphone, 9...Sound PIIg equipment, 1
0-- Traveling control device, 11... Inspection control device, 12
...Audio signal generator, 13...Speaker, 14.
...A self-recording device. Applicant's agent: Akira Matamizo

Claims (1)

【特許請求の範囲】 ＩＩＩ造物内を走行しながら点検する点検車と、この点
検車を構造物の内壁に沿って走行制御する走行制御装置
と、前記点検車の点検内容を制御する点検制御装置とを
有する構造動向点検ａｔにおいて、鵠配点検車を蓄電池
駆動式に構成すると共に、構造物端からの音響信号に応
答する音響センサと、この音響センサの出力信号を、前
記走行制御装置および点検制御装置ＩＩＬを作ＩＩＩさ
せるための信号に変換する音４１驕識装置とを設けたこ
とｔｔ４Ｉ黴とする構造物内点検装置。 ２、構造物内管走行しながら点検する点検車と、この点
検車を構造物内壁に沿って走行制御する走行制御装置と
、前記点検車の点検内容を制御する点検制御装置とを有
する構造物内点検装置において、前記点検車を蓄電池駆
動式に構成すると共に、構造物端からの音響信号に応答
する音響センサと、この音響センナの出力信号を、前記
走行制御装置および点検制御装置を作動させるための信
号に変換する音ＩＩ［認１ＩＩＩ！装置と、前記走行制
御装置および点検制御装置からの応答信号を音声信号に
変換する音声信号発生装置と、この音声信号発生装置か
らの音声信号を音声に変換するスピーカとを設けたこと
ｔ−＃像とする構造物内点検装置。 ３、構造物内を走行しながら点検する点検車と、この点
検機器を構造物内壁に沿って走行制御する走行制御装置
と、前記点検車の点検内容を制御する点検制御装置とを
有する構造物内点検装置ＩＩＬにおいて、構造物膚から
の音響信号に応答する音響センサと、この音響センナの
出力信号を、前記走行制御装置および点検制御装置を作
動させるための信号に変換する音Ｉ＃認識装置と、前記
走行側＃装置および点検制御装置からの応答信号を記録
する記録装置とを設けたことを特徴とする構造物内点検
装置。[Scope of Claims] III: An inspection vehicle that inspects while traveling inside a structure, a travel control device that controls the vehicle to travel along the inner wall of the structure, and an inspection control device that controls the inspection content of the inspection vehicle. In the structural trend inspection AT, the dispatch inspection vehicle is configured to be battery-driven, and includes an acoustic sensor that responds to an acoustic signal from the edge of the structure, and the output signal of this acoustic sensor is transmitted to the traveling control device and the inspection vehicle. A device for inspecting the inside of a structure is provided with a sound detection device that converts the sound into a signal for causing the control device IIL to operate. 2. A structure having an inspection vehicle that inspects a structure while traveling inside the structure, a travel control device that controls the vehicle to travel along the inner wall of the structure, and an inspection control device that controls the inspection content of the inspection vehicle. In the interior inspection device, the inspection vehicle is configured to be battery-driven, and includes an acoustic sensor that responds to an acoustic signal from an end of the structure, and an output signal from this acoustic sensor that operates the traveling control device and the inspection control device. Sound II [Recognition 1III! an audio signal generating device that converts response signals from the traveling control device and the inspection control device into audio signals, and a speaker that converts the audio signals from the audio signal generating device into audio. A device for inspecting the inside of a structure. 3. A structure that has an inspection vehicle that inspects while traveling inside the structure, a travel control device that controls the traveling of this inspection equipment along the inner wall of the structure, and an inspection control device that controls the inspection contents of the inspection vehicle. The interior inspection device IIL includes an acoustic sensor that responds to an acoustic signal from the structure skin, and a sound I# recognition device that converts the output signal of the acoustic sensor into a signal for operating the traveling control device and the inspection control device. and a recording device for recording response signals from the traveling-side #device and the inspection control device.
JP57012139A 1982-01-28 1982-01-28 Inspecting device for inside of structure Pending JPS58129255A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57012139A JPS58129255A (en) 1982-01-28 1982-01-28 Inspecting device for inside of structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57012139A JPS58129255A (en) 1982-01-28 1982-01-28 Inspecting device for inside of structure

Publications (1)

Publication Number Publication Date
JPS58129255A true JPS58129255A (en) 1983-08-02

Family

ID=11797171

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57012139A Pending JPS58129255A (en) 1982-01-28 1982-01-28 Inspecting device for inside of structure

Country Status (1)

Country Link
JP (1) JPS58129255A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5193405A (en) * 1990-06-05 1993-03-16 Mitsubishi Jukogyo Kabushiki Kaisha Underwater mobile type inspection system
NL1011525C2 (en) * 1999-03-11 2000-09-12 A Hak Ind Services B V Device for internal inspection of pipes and tubes or the like.

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5193405A (en) * 1990-06-05 1993-03-16 Mitsubishi Jukogyo Kabushiki Kaisha Underwater mobile type inspection system
NL1011525C2 (en) * 1999-03-11 2000-09-12 A Hak Ind Services B V Device for internal inspection of pipes and tubes or the like.
WO2000054043A1 (en) * 1999-03-11 2000-09-14 A. Hak Industrial Services B.V. Apparatus for the internal inspection of pipes and tubes and the like
US6978690B1 (en) 1999-03-11 2005-12-27 A. Hak Industrial Services B.V. Apparatus for the internal inspection of pipes and tubes and the like

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