KR100917876B1 - Automatic traveling equipment for detecting passage of power cable pipe line - Google Patents

Abstract

Automatic traveling equipment for detecting a passage of a power cable pipe line is provided to confirm an installation state of a conduit line as 3D, and to offer excellent driving ability from a corrugated tube to the long distance. Automatic traveling equipment for detecting a passage of a power cable pipe line includes a carrier(100) and a measuring unit(200). The carrier comprises a carrier body, a camera unit(120), a drive motor, and a drive wheel(140,142). The carrier body has a box shape. The camera unit is installed at an end of the carrier body, and photographs the inside of the conduit line. The drive motor is mounted on an inner side of the carrier body. The drive wheel is arranged on both sides of the carrier body. The drive wheel is rotated by the driving force of the drive motor.

Description

Automatic traveling equipment for detecting passage of power cable pipe line

The present invention relates to a self propellered equipment that enables conduction test, inner diameter measurement, and curvature measurement of a wire conduit. In particular, the present invention relates to a self-propelled apparatus capable of independently moving in a corrugated conduit and to obtaining a strain or curvature value of the conduit. It relates to self-propelled equipment for conduction inspection of distribution pipes.

In general, if the pipeline construction of the distribution cable is approved for excavation and road use, the excavation of the road is carried out according to various regulations, and the synthetic resin corrugated pipe (for example, ELP conduit) is installed, and the cable is laid through the conduction test of the pipeline.

 At this time, the insulator of the cable is weak to bend, so there is a risk of breakdown if severely bent. Therefore, the curvature and slope of corrugated pipes affecting the curvature of the cable should be tested for tolerances.

The conduction test is also to be carried out to ascertain whether the corrugated pipe is to be sitting or deformed in any part. If there is no harmful trauma to the cable, cable laying is performed.

Conventionally, the conduction test method was performed by a worker manually inserting a conduction rod with a brush or the like into a conduit in a manhole and pulling it in the pulling direction.

However, since it is impossible to confirm the type or characteristics of the foreign matter, it is impossible to clean a sufficient pipe. In addition, since the conduction rods use standardized standards, it is inconvenient to perform several conduction tests in the case of poor pipe condition. In addition, the curvature radius of the conduit and the connection state between the straight pipe and the corrugated pipe could not be confirmed whether or not the deformation caused by the side pressure at the time of buried construction (or after construction).

In order to solve this problem, the self-propelled pipeline continuity tester, which can move independently, can measure the inside diameter of the pipeline, measure the internal diameter and internal temperature, can receive environmental information in the pipeline, and expand the pipeline at the deformed point. It is known as patent registration number 10-0774438 (name: self-propelled pipeline continuity tester).

On the other hand, if the length of the pipe section where the independent pipe conduction tester is tested is long, it reaches several hundred meters. In this case, the longer the test section of the independent pipeline conduction tester is, the longer the length of the wiring (data communication line and power supply line) becomes, which leads to a large amount of wiring and the movement of the independent pipeline conduction tester becomes impossible. The case occurs. At this time, the driving wheel of the independent pipeline conduction tester becomes slippery in the corrugated pipe, which makes it difficult to move further forward.

In addition, in order to accurately measure the corrugated pipe inner diameter, the inner diameter value should be obtained from the biaxial coordinates. In addition, the degree of tilting forward or backward in the straight section of the corrugated pipe should be measured. In addition, it should be measured how much curvature is formed in the curvature section of the corrugated pipe from left, right, up and down.

Therefore, the present invention has been created in view of the above circumstances, and has excellent conduction ability from a corrugated pipe to a long distance, and conducts a transmission and distribution pipe so that the installation state (inner diameter, slope, curvature) of the pipeline can be confirmed in three dimensions. Its purpose is to provide self-propelled equipment for inspection.

Specific means of the present invention for achieving the above object,

In self-propelled equipment for conduction inspection of transmission and distribution pipes,

A carrier for independently moving the corrugated pipe to the transmission and distribution pipe;

A measuring unit connected to the carrier for measuring an inner diameter, a tilt and a curvature of the pipeline;

The carrier,

A carrier body forming a box shape;

A camera unit installed at the front end of the carrier body to photograph the inside of the conduit;

A drive motor mounted inside the carrier body;

Is disposed on both sides of the carrier body includes a plurality of pair of driving wheels that are rotationally driven by the driving force of the drive motor,

Any one of the plurality of pairs of driving wheels is characterized in that the non-slip pins are supported on the outer circumferential surface of the pair of driving wheels and can be mounted at regular intervals so as to correspond to the corrugated bones of the pipe.

Also according to the invention,
In self-propelled equipment for conduction inspection of transmission and distribution pipes,
A carrier for independently moving the corrugated pipe to the transmission and distribution pipe;
A measuring unit connected to the carrier for measuring an inner diameter, a tilt and a curvature of the pipeline;
The measuring unit,

A cylindrical measuring body;

A pair of X-axis guides disposed on the left and right sides of the measuring body and installed to be movable in the radial direction of the conduit;

A pair of Y-axis guides disposed on the upper and lower sides of the measuring body and installed to be movable in a radial direction of the pipeline;

An X-axis spring supported at both ends by the pair of X-axis guides, the X-axis springs contacting the pair of X-axis guides to the inner surface of the conduit with elastic force;

Y-axis springs are supported at both ends by the pair of Y-axis guides, and the pair of Y-axis guides are in close contact with the inner surface of the conduit with elastic force;

An X-axis inner diameter displacement sensor disposed between the pair of X-axis guides and measuring an inner diameter of the pipe in the X-axis direction with a displacement amount of the X-axis guide;

A Y-axis inner diameter displacement sensor disposed between the pair of Y-axis guides and measuring an inner diameter of the pipe in the Y-axis direction with a displacement amount of the Y-axis guide; And

It is disposed in the inner center of the measuring body characterized in that it comprises a tilt sensor for measuring the slope of the pipe.

In addition, according to the present invention, it is provided on the rear end of the measuring body further includes curvature measuring means for measuring the curvature of the pipe,

The curvature measuring means,

A disc connected spherically to the center of the rear end of the measuring body;

Four curvature displacement sensors connected between the front surface of the disc and the measurement body and disposed at intervals of 90 degrees in the circumferential direction;

A guide plate connected to a rear surface of the disc through a rod;

Respectively, the guide plate is elastically supported by a spring force and is movable in the radial direction of the conduit, characterized in that it comprises a plurality of curvature guides in contact with the inner wall of the conduit.

According to the self-propelled equipment for conduction inspection of the transmission and distribution pipe line of the present invention, while moving the pipeline of the plate-shaped pipe, the inner diameter and the slope of the corrugated pipe at each point are measured, and the deformation, breakage state, and laying state of the pipe at the corresponding position are data. It can be acquired and programmed to monitor the trajectory of the pipeline in three dimensions. Therefore, it is possible to improve the quality of installation by preventing quality defects (inability to lay, pipe breakage, cable damage, foreign material entry, etc.) that can be caused when laying cables to transmission and distribution underground pipes.

In particular, the carrier is able to travel a long distance of several hundred meters and lead the wire (power line and signal line) without stopping in the corrugated pipe by the driving wheel having a non-slip pin, which is advantageous for the conduction test of long pipes.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The self-propelled equipment 1 for the conduction inspection of the transmission and distribution line according to the present invention includes a carrier 100 that independently moves the corrugated pipe 10 of the transmission and distribution line as shown in FIG. 1, and is connected to the carrier 100. It includes a measuring unit 200 for measuring the inner diameter, the slope and the curvature of the.

The carrier 100 is provided with a carrier body 110 forming a box shape as shown in FIG. The camera unit 120 for photographing the inside of the conduit is installed at the front end of the carrier body 110. The camera unit 120 includes a CCTV camera, a driving device for manipulating the position posture of the camera, and an illumination device for checking foreign matters by illuminating the inside of the conduit.

The inside of the carrier body 110 is mounted with a drive motor 130 capable of forward and reverse rotation under the control of the direct current, and both sides of the carrier body 110 is driven by a driving force of the drive motor 130 a plurality of pairs of driving Wheels 140, 142 and 144 are installed.

A driving bevel gear 131 is connected to an output end of the driving motor 130, and a driving bevel gear connected to the second wheel shaft S2 of the second driving wheel 142 located in the middle of the driving bevel gear 131 ( 132 is engaged, and the second wheel shaft S2 transmits rotational force through the first wheel shaft S1 and the third wheel shaft S3 and the chains C1 and C2. At this time, the chain (S1, S2) is connected via a sprocket wheel (W) fixed to each axis. Therefore, the three pairs of driving wheels 140, 142, and 144 simultaneously rotate forward or reverse in conjunction with the forward and reverse rotation directions of the drive motor 130.

At this time, the first driving wheel 140 and the second driving wheel 142 has two inclined circular grooves 140a formed on the outer circumferential surface thereof in consideration of the curvature of the corrugated pipe as shown in FIG. 3, and each circular groove 140a. The rubber wheel 141 is mounted on the outer circumferential surface of each rubber wheel 141, and a plurality of protrusions 141a are formed at regular intervals to increase frictional force.

On the other hand, the pair of third driving wheel 144 is supported by a spring 152 on the outer circumferential surface of the non-slip pin 150 that can be released at regular intervals so as to correspond to the pitch (P) to the corrugated bone 10a of the corrugated pipe 10 It is installed. At this time, the non-slip pin 150 is inserted into the pin groove 144a of the third driving wheel 144 and is slidably supported by the sliding bearing 154.

At this time, the non-slip pins 150 provided on the left and right third driving wheels 144 are disposed to be different in phase from each other. This is because the corrugated pipe 10 consists of a spiral.

Therefore, the non-slip pins 150 spur the corrugated bone 10a of the corrugated pipe 10 sequentially when the third driving wheel 144 is rotated without the third driving wheel 144 turning or the carrier 10 stopped. Allow you to continue the conduction section. In other words, the non-slip pins 150 provide a propulsion force to overcome all of the self-propelled equipment for conduction inspection and the wiring accompanying the transmission and distribution pipe including the carrier 10.

The measuring unit 200 is provided with a cylindrical measuring body (210). A pair of X-axis guides 220 and a pair of Y-axis guides 230 are installed on the left and right sides of the measuring body 210 to move in the radial direction of the pipe as shown in FIG. 5. The pair of X-axis guides 220 and the pair of Y-axis guides 230 are disposed at right angles to each other.

 In this case, the pair of X-axis guides 230 and the pair of Y-axis guides 230 are supported by the elastic force by the X-axis spring 240 and the Y-axis spring 250, respectively. Each of the X-axis guide 220 and the Y-axis guide 230 has guide grooves 220a formed at both ends thereof, and guide plates 212 installed at the front and rear ends of the measurement body 210 in the guide grooves 220a. The shaft portion 212a is inserted, and the X-axis spring 240 and the Y-axis spring 250 are inserted into the shaft portion 212a to respectively connect a pair of X-axis guide 220 and a pair of Y-axis guide 230. It is supported by elastic force.

Between the pair of X-axis guides 220, an X-axis inner diameter displacement sensor 260 for measuring the inner diameter of the pipe in the X-axis direction by the displacement amount of the X-axis guide 220, as shown in Figure 6, a pair of Y-axis The Y-axis inner diameter displacement sensor 270 for measuring the inner diameter of the pipe in the Y-axis direction by the displacement amount of the Y-axis guide 230 is provided between the guides 230. At this time, the X-axis inner diameter displacement sensor 260 and the Y-axis inner diameter displacement sensor 270 is disposed in the crisscross direction by taking positions deviated from each other at approximately the center of the X-axis guide 230 and the Y-axis guide 230.

Inside the measuring body 210, a tilt sensor 280 is installed to measure the slope of the pipe as shown in FIG. The tilt sensor 280 measures the inclination angle θ of the pipe in the straight section of the corrugated pipe.

The rear end of the measuring body 210 is provided with curvature measuring means for measuring the curvature of the pipe.

As shown in FIGS. 8A, 8B, and 9, the curvature measuring means is provided with a disc 310 connected to the spherical motion in the center of the rear end of the measuring body 210. Between the front surface of the disc 310 and the measuring body 210, four curvature displacement sensors 320 are arranged at intervals of 90 degrees in the circumferential direction. The guide plate 340 is connected to the rear surface of the disc 310 through a rod 330, and the guide plate 340 has four curvature guides elastically supported by the springs 350 and movable in the radial direction of the conduit. 360) is installed. The curvature guide 360 is disposed before and after the guide plate 340 to prevent the guide plate 340 from being separated from the guide plate 340 by the locking between the stop plate 342 and the locking step 361a connected by bolts. The locking jaw 361a is formed at the end of the central shaft portion 361 of the curvature guide 360.

The connection of the carrier 100 and the measurement unit 200 may be made of a connecting bar 160 hinged in the middle so as not to affect the driving operation between the carrier 100 and the measuring unit 200, or may be connected by a wire or a chain, a connecting ring, or the like.

The operation of this embodiment configured as described above will be described.

First, the self-propelled equipment 1 for conduction inspection of the transmission and distribution pipe line is put at the inlet of the corrugated pipe 10 constituting the transmission and distribution pipe line.

In this case, the driving wheels 140, 142, and 144 of the carrier 100 contact the inner surface of the corrugated pipe 10. In particular, when the non-slip pin 150 installed on the third driving wheel 144 side is located in the corrugated bone 10a as shown in FIG.

In addition, the X-axis guide 220, Y-axis guide 230 and the curvature guide 360 of the measuring unit 200 is in close contact with the inner surface of the corrugated pipe 10 as shown in Figs. 7 and 8a, 8b by the spring force It becomes a state.

In this state, when power is applied to the drive motor 130 in the forward direction through the wires drawn from the carrier 100, in FIG. 1, the three pairs of drive wheels 140, 142, and 144 simultaneously rotate clockwise to drive the carrier 110. Towing the measurement body 210 is to move the corrugated pipe 10 integrally. When the self-propelled equipment 1 moves the corrugated pipe 10, the non-slip pin 150 of the third driving wheel 144 pushes and pushes the corrugated bone 10a of the corrugated pipe 10 sequentially, thereby moving the carrier 100. There is nothing to stop. In addition, since the first and second driving wheels 140 and 142 form an arc in the width direction, the first and second driving wheels 140 and 142 rotate well while being closely adhered to the corrugated pipe 10.

At this time, the in-pipe image taken by the camera of the camera unit 120 appears on the display of the control device (not shown).

On the other hand, the moving position is calculated by the bobbin-side encoder in which the electric wire is wound during the movement of the self propellered equipment (1). If there is a change in the inner diameter of the corrugated pipe 10 during the movement section, as shown in Figure 6 the X-axis guide 220 and Y-axis guide 230, or either one is moved in the radial direction, this is the X-axis displacement sensor 260 ) And the displacement value of the Y-axis displacement sensor 270 by single or at the same time is obtained by digital data at the corresponding position. Therefore, the deformation or damage state of the corrugated pipe 10 pipe at the corresponding position can be confirmed.

In addition, if the inclination changes as shown in FIG. 7 while the self propellered equipment 1 moves the corrugated pipe 10, the displacement angle (absolute value) is measured in real time by the inclination sensor 280 installed in the measuring body 210. .

In addition, when the self propellered equipment 1 passes a curved section as shown in FIGS. 8A and 8B while moving the corrugated pipe 10, the angle θ1, between the traveling direction axis of the measuring body 200 and the rod 330. θ2) is formed, and the curvature displacement sensor 320 detects the angle and knows the angle of the moving distance, thereby calculating the curvature value in real time. At this time, the curvature guide 360 is in close contact with the inner surface of the corrugated pipe 10 by the support force of the spring 350 to move through the curved pipe portion while moving in the radial direction.

FIG. 8A shows a state in which the self propellered equipment 1 measures the curvature of the downward direction of the corrugated pipe conduit, and FIG. 8B shows the self propellered equipment 1 measuring the curvature of the upper direction of the corrugated pipe pipeline. Indicates the state.

In this way, the self propellered equipment (1) moves the pipeline of the plate-shaped tube 10, and the inner diameter and the inclination of the corrugated tube (10) at each point are measured to obtain the deformation, breakage state, and laying state of the pipeline at the corresponding position as data. This can be programmed to monitor the trajectory of the pipeline in three dimensions. Therefore, it is possible to improve the quality of installation by preventing quality defects (inability to lay, pipe breakage, cable damage, foreign material entry, etc.) that can be caused when laying cables to transmission and distribution underground pipes.

In particular, the carrier 100 can move a long distance of several hundred meters by leading the electric wire (power line and signal line) without being stopped in the corrugated pipe 10 by the driving wheel 144 having the non-slip pin 150, so that the long pipe runs. It is advantageous for inspection.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the following by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

The following drawings, which are attached in this specification, illustrate preferred embodiments of the present invention, and together with the detailed description of the present invention, serve to further understand the technical spirit of the present invention. It should not be construed as limited to.

1 is a perspective view of a self-propelled equipment for conduction inspection of the transmission and distribution pipe according to the present invention.

Figure 2 is an internal configuration of a carrier applied to the self-propelled equipment for conduction inspection of the transmission and distribution pipe of the present invention.

Figure 3 is an enlarged cross-sectional view of the main portion of the first and second driving wheels applied to the carrier of the present invention.

Figure 4 is an enlarged front view and main portion of the third drive wheel applied to the carrier of the present invention.

FIG. 5 is a sectional view seen from a line A-A in FIG. 1; FIG.

FIG. 6 is a cross-sectional view taken along line B-B of FIG. 1. FIG.

Figure 7 is a state measurement of the inclination of the self-propelled equipment for conduction inspection of the transmission and distribution line according to the present invention.

Figure 8a is a downward slope measurement state diagram of the self-propelled equipment for the transmission and distribution line conduction inspection according to the present invention.

Figure 8b is a state of inclination measurement of the self-propelled equipment for the transmission and distribution line conduction inspection according to the present invention.

Figure 9 is a perspective view and enlarged cross-sectional view of the curvature measurement guide device of the self-propelled equipment for transmission and distribution line conduction inspection according to the present invention.

<Explanation of symbols for the main parts of the drawings>

100: carrier

130: drive motor

140,142,144: drive wheel

150: non-slip pin

200: measuring unit

220: X axis guide

230: Y axis guide

260: X axis internal displacement sensor

270: Y axis inner diameter displacement sensor

280: tilt sensor

320: curvature displacement sensor

360: Curvature Guide

Claims (4)

delete In self-propelled equipment for conduction inspection of transmission and distribution pipes, A carrier 100 that independently moves the corrugated pipe to the transmission and distribution pipe; A measurement unit (200) connected to the carrier (100) for measuring the inner diameter, the slope and the curvature of the pipeline; The carrier 100, A carrier body 110 forming a box shape; A camera unit (120) installed at the distal end of the carrier body (110) to photograph the conduit; A drive motor 130 mounted inside the carrier body 110; A plurality of pairs of driving wheels 140A, 140B, and 140C disposed on both sides of the carrier body 110 and driven to rotate with the driving force of the driving motor 130; Any one of the pair of drive wheels is provided with a non-slip pin 150, which is supported by a spring 152 on the outer circumferential surface thereof and can be mounted at regular intervals so as to correspond to the corrugated bone of the pipe. Self-propelled equipment for inspection. In self-propelled equipment for conduction inspection of transmission and distribution pipes, A carrier 100 that independently moves the corrugated pipe to the transmission and distribution pipe; A measurement unit (200) connected to the carrier (100) for measuring the inner diameter, the slope and the curvature of the pipeline; The measuring unit 200, Cylindrical measuring body 210; A pair of X-axis guides 220 disposed at left and right sides of the measuring body 210 and installed to be movable in a radial direction of the conduit; A pair of Y-axis guides 230 disposed on upper and lower sides of the measuring body 210 and installed to be movable in a radial direction of the conduit; X-axis springs 240 which are supported at both ends by the pair of X-axis guides 230, respectively, and which contact the inner surface of the conduit with a pair of X-axis guides 230 with elastic force; Y-axis springs (250), each end of which is supported by the pair of Y-axis guides (230), the pair of Y-axis guides (203) in close contact with the inner surface of the conduit with elastic force; An X-axis inner diameter displacement sensor 260 disposed between the pair of X-axis guides 230 and measuring an inner diameter of the pipe in the X-axis direction with a displacement amount of the X-axis guide 230; A Y-axis inner diameter displacement sensor 270 disposed between the pair of Y-axis guides 230 and measuring an inner diameter of the pipe in the Y-axis direction with a displacement amount of the Y-axis guide 230; And The self-propelled equipment for conducting inspection of the transmission and distribution pipe line, characterized in that it comprises a tilt sensor 280 is disposed in the inner center of the measuring body 210 to measure the slope of the pipe. The method of claim 3, wherein It is installed on the rear end of the measuring body 210 further includes a curvature side water purification step for measuring the curvature of the pipe, The curvature measuring means, A disc 310 connected spherically to the rear end center of the measuring body 210; Four curvature displacement sensors 320 connected between the front surface of the disc 310 and the measurement body 210 and disposed at intervals of 90 degrees in the circumferential direction; A guide plate 340 connected to a rear surface of the disc 310 via a rod 330; The transmission and distribution pipe line, characterized in that the guide plate 340 includes a plurality of curvature guides 360 that are elastically supported by each spring 350 force and movable in the radial direction of the conduit and contact the inner wall of the conduit. Self-propelled equipment for continuity testing.

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