KR102512816B1 - Facility examination device - Google Patents

Abstract

The present invention discloses a facility inspection device. The present invention constitutes a small facility inspection device capable of moving and driving by entering a narrow space in a facility where it is difficult for a vehicle or aircraft to enter, and accordingly, an inspection having a narrow space such as an underground common port or a small ventilation passage of an underground driveway. It is to increase the efficiency of maintenance of the facility while closely photographing the state of the target facility.

Description

Facility examination device {Facility examination device}

The present invention relates to an apparatus for inspecting the state (e.g., cracks, damage, etc.) of auxiliary facilities applied to main facilities such as bridges, dams, tunnels, etc. It relates to a facility inspection device that enables a detailed photograph of the state of a target facility (eg, a small ventilation passage in an underground joint or underground driveway, etc.).

In general, bridges, dams, tunnels, as well as jet fans installed on bridges, dams, and tunnels, lights, vehicle detection systems (VDS), lane control systems (LCS), and surveillance devices (CCTV) ), and VMS (Variable Message Sign), etc., deterioration and damage occur over time due to natural and environmental factors. Continuous and efficient inspection and diagnosis should be conducted.

The most basic investigation item in performing these inspections and diagnoses is the appearance investigation. Among exterior inspections, inspections for cracks and damages, in particular, evaluate the state of the inside and outside of the facility, and act as a very important factor in determining the items, procedures, and methods for performing local precise safety diagnosis in the next step.

A conventional representative external appearance inspection method for cracks or damage is a visual inspection method by manpower. Visual inspection lacks objectivity because it relies on personal knowledge and experience because its results cannot be expressed quantitatively and cannot be compared with other inspection results.

In addition, since the current state as well as the history of the surrounding conditions cannot be accurately grasped, it is not possible to compare with past inspection results, and even experienced technicians can find defects in invisible areas such as the inside of concrete or areas that are difficult to access by manpower. can't find

In particular, in the case of cracks or damages, it is impossible to obtain objective data because most of them are visually confirmed without using measuring instruments that can be quantitatively judged. Testing is almost impossible.

Accordingly, in the prior art, it is for measuring the state change of a facility, and as in Laid-Open Patent Publication No. 2001-0094657, defects in a bridge are detected through a camera-equipped exploration robot, or in Laid-Open Patent Publication No. 10-2008-0078167 As in, a change in the state of a facility is detected by a laser scanning method, or a change in the state of an underground space is measured as in Publication No. 10-2008-0045435.

However, the inspection equipment of the prior art as described above has a disadvantage in that it is not free to move, and in particular, when trying to inspect a change in state such as cracks or damage on the surface of a tunnel facility, the measurement distance cannot be effectively adjusted. However, due to the insufficiency of these control functions, the clarity of the image through the imaging equipment deteriorated, resulting in considerable difficulty in analysis.

Accordingly, the applicant of the present application, as in Registered Patent Publication No. 10-1732085 and Registered Patent Publication No. 10-1843947 (transfer of rights from Kim Yang-soo to Awasoft), while moving by being coupled to a vehicle or self-flying movement The facility was photographed and analyzed through video equipment, and changes in the state of the facility, such as cracks or damage, were confirmed.

However, the facility inspection device provided in the above prior art as well as the registered patent publication of the applicant of the present application is a narrow space in the facility, and it is difficult to enter the underground common tunnel or the small ventilation passage of the underground roadway. It was not possible to closely inspect the state of cracks or damage to the surface.

Publication No. 2001-0094657 (published on November 1, 2001) Publication No. 10-2008-0078167 (Published on August 27, 2008) Publication No. 10-2008-0045435 (published on May 23, 2008) Registered Patent Publication No. 10-1732085 (Announcement Date 2017.05.04.) Registered Patent Publication No. 10-1843947 (Announcement Date 2018.03.26.)

The problem to be solved by the present invention is to provide a compact facility inspection device capable of moving and driving by entering a narrow space in a facility where it is difficult for vehicles or aircraft to enter.

A facility inspection apparatus, which is a means for solving the problems of the present invention, includes a body unit equipped with a lighting module and a photographing module for inspecting cracks or damages on the structural wall of a facility to be inspected in a narrow space; a propulsion driving unit rotatably coupled in a first direction and a second direction opposite to the first direction in the front and rear of the main body, and providing a driving force for driving the main body; At least one traveling support portion formed on a bottom surface of the main body portion and supporting the main body portion traveling when the main body portion travels through the propulsion driving unit; The propulsion drive unit includes a drive wheel that rotates by driving the first drive unit, and the driving support unit includes a spherical rolling roller that supports the main body traveling from rotation of the drive wheel.

In addition, the main body unit has a ring-shaped seating portion in which at least one lighting module and the shooting module are seated and arranged in a ring-shaped structure so that the structural wall of the facility to be inspected is photographed 360 ° through the lighting module and the photographing module. will be.

In addition, the propulsion driving unit, the shaft rod that rotates according to the driving of the second driving unit to be coupled to the front and rear of the body portion, respectively; a first rotating rod coupled to and fixed to the axial rod and rotating in the first direction or the second direction by the rotating axial rod; and a second rotating rod linearly moving in a third direction of storage or a fourth direction opposite to the third direction to adjust the length of the first rotating rod according to the driving of the third driving unit. Further, the driving wheel, which rotates according to the driving of the first driving unit, is rotatably coupled to the second rotating rod.

In addition, while forming a pair of extension rods facing each other on the second rotation rod, the driving wheels rotatably shaft-coupled to the pair of extension rods, and the first driving unit rotating the driving wheels will be formed

In addition, the driving support portion, the support rods are each formed on the bottom edge side of the body portion; and a lift rod linearly moving from the support rod in a fifth direction of storage or a sixth direction of withdrawal opposite to the fifth direction according to the driving of the fourth driving unit. Further, the rolling roller made of a spherical body is seated at one end of the elevating rod to be rotatable in a 360° direction so as to be able to roll in a 360° direction.

In addition, the rolling roller is a spherical body made of a rubber material.

As such, the present invention constitutes a small facility inspection device capable of moving and driving by entering a narrow space in a facility where it is difficult for a vehicle or aircraft to enter, through which a narrow space such as an underground common port or a small ventilation passage in an underground driveway is inspected. It is possible to expect the effect of increasing the efficiency of maintenance of the facility while closely photographing the state of the facility to be inspected.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a plan schematic view showing the structure of a facility inspection device according to an embodiment of the present invention.
Figure 2 is a schematic side view of a facility inspection device showing a state in which the driving wheel is rotated upward in an embodiment of the present invention.
Figure 3 is a schematic side view of a facility inspection device showing a state in which the length of the drive wheel rotated upward in an embodiment of the present invention is extended.
Figure 4 is a schematic side view of a facility inspection device showing a state in which the lengths of the driving wheels and rolling rollers rotated upward in an embodiment of the present invention are respectively extended.
Figure 5 is a schematic side view of the facility inspection device showing a state in which the driving wheel is rotated in a downward direction according to an embodiment of the present invention.
Figure 6 is a schematic side view of a facility inspection device showing a state in which the length of the drive wheel rotated downward in an embodiment of the present invention is extended.
Figure 7 is a schematic side view of a facility inspection device showing a state in which the lengths of the driving wheels and rolling rollers rotated downward in an embodiment of the present invention are respectively extended.
8 is a schematic control block diagram of a facility inspection device according to an embodiment of the present invention.
9 is a front view showing a state in which a facility inspection apparatus according to an embodiment of the present invention is inserted into a facility to be inspected in a narrow space;
Fig. 10 is a schematic side view of Fig. 9 in an embodiment of the present invention;

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, in the embodiments of the technical idea of the present invention, it is not limited to the embodiments disclosed below, and may be implemented in various different forms, but only the present embodiments make the disclosure of the present invention complete, and the technology to which the present invention belongs It is provided to completely inform those skilled in the art of the scope of the invention, and is only defined by the scope of the claims in the embodiments of the technical idea of the present invention.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase.

In this specification, terms such as "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

In addition, the embodiments described in this specification will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary views of the present invention. Therefore, embodiments of the present invention are not limited to the specific forms shown, but also include changes in necessary forms. For example, a region shown at right angles may be rounded or have a predetermined curvature. Accordingly, the regions illustrated in the drawings have schematic properties, and the shapes of the regions illustrated in the drawings are intended to illustrate a specific shape of the region of the device and are not intended to limit the scope of the invention.

Like reference numbers designate like elements throughout the specification. Accordingly, the same reference numerals or similar reference numerals may be described with reference to other drawings, even if not mentioned or described in the drawings. Also, even if reference numerals are not indicated, description may be made with reference to other drawings.

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

1 is a schematic plan view showing the structure of a facility inspection device according to an embodiment of the present invention, and FIG. 2 is a schematic side view of the facility inspection device showing a state in which a drive wheel is rotated upward in an embodiment of the present invention. FIG. is a side schematic diagram of a facility inspection device showing a state in which the length of the drive wheel rotated upward in an embodiment of the present invention is extended, and FIG. It shows a schematic side view of the facility inspection device showing a state in which the length is extended, respectively.

5 is a schematic side view of a facility inspection apparatus showing a state in which the driving wheel is rotated downward according to an embodiment of the present invention, and FIG. 6 is a state in which the length of the driving wheel rotated downward is extended according to an embodiment of the present invention. 7 is a schematic side view of the facility inspection device showing a state in which the lengths of the driving wheel and the rolling roller are respectively extended in an embodiment of the present invention, and FIG. 8 is a schematic side view of the facility inspection device. It shows a schematic control block diagram for a facility inspection device as an embodiment of the invention.

1 to 8, the facility inspection apparatus (A) according to the embodiment of the present invention is attached to the main facility 200, such as an underground common tunnel or an underground driveway, so that it is difficult for vehicles or inspection vehicles to enter. While being put into the inspection target facility 100, such as a small ventilation passage, which is a small space, it is possible to inspect the uniformity or damage to the structural wall of the inspection target facility 100 while driving, the body portion 10, It may include a propulsion drive unit 20 and a traveling support unit 30 .

Here, the structural wall of the facility 100 to be inspected may have a narrow space with a triangular cross section including the ground 101, the vertical or inclined side surface 102, and the upper surface 103, but is necessarily limited to this However, the structural wall surface may have a ground surface 101 and a side surface 102 and a curved upper surface forming an arch shape, although not shown in the drawings.

In addition, although the facility to be inspected 100 constituting a narrow space is described as being limited to a small ventilation passage of an underground common tunnel or an underground driveway, it is not necessarily limited to this, and the above It can include all of the attached facilities having structural walls as described.

The body part 10 includes a lighting module (not shown) and a photographing module 11 for inspecting cracks or damage to the structural walls 101, 102, and 103 of the facility 100 to be inspected, which is a narrow space. it is mounted.

That is, while forming the seating portion 10a of a ring-shaped structure in the body portion 10, at least one lighting module and the photographing module 11 are spaced apart from each other in a ring-shaped structure on the seating portion 10a, which is a ring-shaped structure. The lighting module and the photographing module 11 are seated on the seating portion 10a, which is a ring-shaped structure, and the ground, which is the structural wall of the facility 100 to be inspected, with the main body portion 10 as the center ( 101), the side surface 102, and the top surface 103 can be photographed at 360°.

Here, the lighting module (not shown) may be a conventional LED lamp or an infrared lamp, and the photographing module 11 may be any one of a conventional DSLR, Area Scan, and Line Scan. to omit

The propulsion driving unit 20 rotates in a first direction P1, which is an upward direction, and in a second direction P2, which is a downward direction opposite to the first direction P1, in the front and rear of the main body unit 10. Possibly combined, it provides a driving force for driving the body portion 10, and the driving wheel 21, the shaft rod 22, the first rotating rod 23, and the second rotating rod 24 to include

The driving wheels 21 are rotated by the driving force of the first driving unit M1 as a pair, and either one of the driving wheels 21 forming a pair rotates forward or reversely of the first driving unit M1. While the rotational driving force is transmitted, the driving wheel 21 rotates in a forward or reverse direction to allow the main body 10 to travel in a forward or reverse direction.

Here, although not specifically shown in the drawing, the first driving unit M1 is formed on any one of a forward and reverse rotating motor, a driving gear connected to the motor, and a pair of driving wheels 21, It may include a driven gear engaged with the driving gear, and the driving wheel 21 without the driven gear may be axially coupled to allow free rotation.

The shaft rod 22 is rotatably coupled to the front and rear sides of the body portion 10, respectively, and rotation of the shaft rod 22 can be made according to the driving force of the second driving unit M2. .

Here, although the second driving part M2 is not specifically shown in the drawing, it is formed on a forward/reverse rotating motor, a driving gear connected to the motor, and the shaft rod 22 and gear-engaged with the driving gear. It may include a driven gear.

The first rotating rod 23 is coupled and fixed to the shaft rod 22, and the first direction P1 is upward as shown in FIGS. 2 to 4 attached by the rotating shaft rod 22. ) Or it can be configured to be rotated in the second direction (P2), which is a downward direction as shown in FIGS. 5 to 7 attached.

As shown in FIGS. 2 and 5, the second rotating rod 24 is attached to adjust the length of the first rotating rod 23 according to the driving of the third driving unit M3 in the third direction P3 of storage. Alternatively, as shown in the attached FIGS. 3 and 4 and the attached FIGS. 6 and 7 , it moves linearly in a fourth direction P4 of withdrawal opposite to the third direction P4.

At this time, the driving wheel 21 rotating according to the driving of the first driving unit M1 can be rotatably coupled to the second rotating rod 24, and for this purpose, the second rotating rod 24 While forming a pair of extension rods 24a facing each other, the drive wheels 21 are rotatably shaft-coupled to the pair of extension rods 24a, respectively, and the drive wheels 21 rotate. That is, the first driving unit M1 can be connected.

Here, although not specifically shown in the drawings, the third driving unit M3 may include a forward/reverse rotating motor, a pinion gear connected to the motor, and a rack gear engaged with the pinion gear.

On the other hand, each of the motors included in the first to third driving units (M1, M2, M3) as well as the lighting module and the shooting mode 11 are on / off controlled by the remote control terminal 40. Of course, the forward rotation drive and the reverse rotation drive can be remotely controlled, so that the body unit 10 can be configured with a receiver (not shown) for receiving a remote control signal of the remote control terminal 40. .

At this time, the reason for selectively rotating the first rotating rod 23 and the second rotating rod 24 in the first direction P1 or the second direction P2, which is an upward direction, is a narrow space. This is to allow the driving wheel 21 to contact the flat surface to be driven in the facility 100 to be inspected when there is only one of the upper, lower, or both sides.

In addition, the reason why the first rotating rod 23 linearly moves the second rotating rod 24 to be accommodated in the third direction P3 or selectively linearly moved to withdraw it in the fourth direction P4 is to allow the driving wheel 21 to contact the ground according to the vertical height or the left and right width within the inspection target facility 100, which is a narrow space.

At least one traveling support part 30 is formed on the lower surface of the main body part 10, and when the main body part 10 travels along the inspection target facility 100 in a narrow space through the propulsion driving part 20 It supports the running of the body part 10, and may include a rolling roller 31, a support rod 32, and a lifting rod 33.

The rolling roller 31 is a spherical body made of a rubber material, and the support rods 32 are formed at the corners of the bottom surface of the main body 10, which is an elevating groove structure formed in the main body 10. it can be

As shown in FIGS. 2 and 3 and FIGS. 5 and 6, the lifting rod 33 moves in the fifth direction P5 of storage in the support rod 32 according to the driving of the fourth driving unit M4. Alternatively, as shown in the accompanying FIGS. 4 and 7, it is linearly moved in the sixth direction P6 of withdrawal opposite to the fifth direction P5, and one end of the lifting rod 33 rolls in a 360° direction. To enable this, the spherical rolling roller 31 can be seated.

Here, the reason why the rolling roller 31 is formed in a spherical shape is that when the main body 10 is driven by the driving wheel 21, the rolling roller 31 travels while being in contact with the ground. This is to support the lower part of the body part 10, and accordingly, the body part 10 can be stably driven by the driving wheel 21.

At this time, the rolling roller 31 can be moved up and down by the lifting rod 33, which means that at least one or more 360° shooting is possible on the seating part 10a, which is a ring-shaped structure of the body part 10. When the photographing module 11 is seated, if the photographing module 11 disposed on the bottom side of the main body 10 is close to the ground, the photographing resolution is poor when photographing the ground by the photographing module 11 This is to prevent breakage.

Here, although not specifically shown in the drawings, the fourth drive unit M4 may include a forward/reverse rotating motor, a pinion gear connected to the motor, and a rack gear meshed with the pinion gear, In addition, the motor included in the fourth driving unit (M4) can be turned off by the remote control terminal 40, and forward rotation driving and reverse rotation driving can be remotely controlled.

As described above, in the facility inspection device A according to the embodiment of the present invention, as shown in the attached FIGS. 1 to 10 , first, the main body 10 is put into the facility 100 to be inspected, which is a narrow space.

At this time, when the inspection target facility 100 has an inverted triangular structure as an attached facility as shown in FIGS. 9 and 10, the upper surface 103 of the inspection target facility 100 provides a flat surface capable of driving. , The operator remotely controls the second driving unit (M2) through the remote control terminal 40 to rotate the shaft rod 22 formed in the front and rear of the body unit 10, respectively, so that the shaft rod 22 ) The first rotating rod 23 coupled and fixed to the first rotating rod 23, and the second rotating rod 24 coupled to the first rotating rod 23 to be adjustable in length, as shown in FIG. Rotate in direction (P1).

Then, the driving wheels 21 rotatably coupled to the extension rods 24a formed on the second rotating rod 24 have an upper surface, which is a flat surface formed in the upward direction as shown in FIGS. 9 and 10 attached. (103) can be contacted.

Here, even if the first and second rotating rods 23 and 24 are rotated in the first direction P1, when the driving wheel 21 does not contact the upper surface 103 in the upward direction, the operator remotely controls the It is possible to drive and control the third drive unit M3 through the terminal 40. In this case, as shown in FIG. 2 where the second rotation rod 24 is attached to the first rotation rod 23, the fourth direction ( While being drawn out to P4), the driving wheel 21 may come into contact with the upper surface 103.

In addition, the spherical rolling roller 31 included in the driving support part 30 formed on the bottom side of the body part 10 can come into contact with the inclined side surface 102 .

At this time, due to the height of the upper surface 103 and the ground 101 of the facility 100 to be inspected, when the rolling roller 31 does not come into contact with the inclined side surface 102, the operator uses the remote control terminal 40 It is possible to drive and control the fourth driving unit M4 through ), and in this case, the lifting rod 33 included in the traveling support unit 30 is lowered in the sixth direction P6 as shown in FIG. 4 attached. While this is achieved, the rolling roller 31, which is a spherical shape, can come into contact with the inclined side wall surface 102.

Therefore, as described above, when the driving wheel 21 and the rolling roller 31 stably contact the upper surface 103 and the inclined side surface 102, the operator operates the first driving unit through the remote control terminal 40 ( M1) is driven, and accordingly, the main body part 10 can travel along the facility 100 to be inspected, which is a narrow space. The photographing module 11, which is seated as the remote control terminal 40, uses the lighting provided by the lighting module according to the remote control signal transmitted from the remote control terminal 40, and the ground 101, which is the structural wall of the facility 100 to be inspected, and The inclined side surface 102 and the upper surface 103 can be photographed selectively or simultaneously, and through the image information photographed through the photographing module 11, cracks or You can check for damage, etc.

On the other hand, although not shown in the drawing, driving of the driving wheel 21 on the upper surface 103 constituting the structural wall of the facility 100 to be inspected into which the main body 10 is to be put is impossible, and only driving on the ground 101 If possible, the operator remotely controls the second driving unit (M2) through the remote control terminal 40 to rotate the shaft rod 22 formed in the front and rear of the body unit 10, respectively, and the shaft rod The first rotating rod 23 coupled to and fixed to 22, and the second rotating rod 24 coupled to the first rotating rod 23 to be adjustable in length, as shown in FIG. It rotates in the second direction (P2).

Then, the driving wheels 21 rotatably coupled to the extension rods 24a formed on the second rotating rod 24 can come into contact with the ground 101 formed in the lower direction.

Here, even if the first and second rotating rods 23 and 24 are rotated in the second direction P2, when the driving wheel 21 does not contact the ground 101 in the lower direction, the operator remotely controls It is possible to drive and control the third drive unit M3 through the terminal 40. In this case, as shown in FIG. 6 where the second rotation rod 24 is attached to the first rotation rod 23, the fourth direction ( While being drawn out to P4), the driving wheel 21 may come into contact with the ground 101.

In addition, the spherical rolling roller 31 included in the driving support part 30 formed on the bottom side of the body part 10 can also come into contact with the ground 101 .

At this time, if the main body 10 is too close to the ground 101, the photographing by the photographing module 11 cannot be properly performed, so the operator operates the fourth driving unit M4 through the remote control terminal 40 In this case, the lifting rod 33 included in the driving support part 30 is lowered in the sixth direction P6 as shown in FIG. 7, and the body part 10 is to be able to maintain a certain distance from the ground 101.

Then, as described above, when the driving wheel 21 and the rolling roller 31 are stably contacted with the ground 101, and the main body 10 is spaced apart from the ground 101 by a certain distance, the operator The first driving unit M1 is driven through the remote control terminal 40, and accordingly, the main body unit 10 can travel along the facility 100, which is a narrow space, and the main body unit 10 The photographing module 11, which is seated as a ring-shaped structure on the seating portion 10a, which is a ring-shaped structure, uses the lighting provided by the lighting module to detect the ground surface 101, which is the structural wall of the facility 100 to be inspected, and the inclined side surface. 102 and the upper surface 103 can be photographed selectively or simultaneously, and cracks or damages in the structural walls 101, 102, 103 can be confirmed through information photographed through the photographing module 11. It can.

That is, the facility inspection device according to the embodiment of the present invention can drive under optimal conditions while being put into a narrow space, and simultaneously inspects the ground 101, the side surface 102, and the upper surface 103 constituting the wall of the structure in the driving state. Alternatively, while selectively photographing, it is possible to check the state of cracks or damage to the structural walls (101, 102, 103).

In the above, the technical concept of the facility inspection device A of the present invention has been described along with the accompanying drawings, but this is an exemplary description of the best embodiment of the present invention, but does not limit the present invention.

Therefore, the present invention is not limited to the specific preferred embodiments described above, and various modifications can be made by anyone having ordinary knowledge in the art to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course it is possible, and such variations are within the scope of the claims.

10; body portion 10a; seating part
11; photographing module 20; propulsion drive
21; driving wheel 22; shaft load
23; first rotating rod 24; 2nd rotating rod
30; driving support 31; rolling roller
32; support rod 33; lift rod
40; remote control terminal 100; Facility subject to inspection
101; ground 102; side
103; top surface 200; main facility

Claims (6)

A lighting module and a photographing module for inspecting cracks or damages on the structural wall of the facility to be inspected in a narrow space are mounted, and the structural wall of the facility to be inspected is photographed at least 360 ° through the lighting module and the photographing module. a main body portion having a ring-shaped seating portion in which at least one lighting module and the photographing module are seated and disposed in a ring-shaped structure; a propulsion driving unit rotatably coupled in a first direction and a second direction opposite to the first direction in the front and rear of the main body and providing a driving force for driving the main body; And, At least one or more traveling support portion is formed on the lower surface of the main body portion and supports the main body portion traveling when the main body portion travels through the propulsion drive unit; including,
The propulsion drive unit includes a drive wheel that rotates by driving the first drive unit, and the travel support unit includes a spherical rolling roller that supports the body portion traveling from the rotation of the drive wheel,
The propulsion driving unit, the shaft rod that rotates according to the driving of the second driving unit to be coupled to the front and rear of the main body, respectively; a first rotating rod coupled to and fixed to the axial rod and rotating in the first direction or the second direction by the rotating axial rod; and a second rotating rod linearly moving in a third direction of storage or a fourth direction opposite to the third direction to adjust the length of the first rotating rod according to the driving of the third driving unit. The facility inspection apparatus further includes, wherein the driving wheel, which rotates according to the driving of the first driving unit, is rotatably coupled to the second rotating rod. delete delete According to claim 1,
A pair of extension rods facing each other are formed on the second rotation rod, the drive wheels rotatably shaft-coupled to each of the pair of extension rods, and the first drive unit for rotating the drive wheels are formed Facility inspection device, characterized in that. According to claim 4,
The driving support part,
Support rods respectively formed at the corners of the lower surface of the main body; and,
a lifting rod that linearly moves from the support rod in a fifth direction of storage or a sixth direction of withdrawal opposite to the fifth direction according to the driving of the fourth driving unit; Including more,
Facility inspection apparatus, characterized in that the rolling roller made of a spherical body is seated at one end of the elevating rod so as to be rotatable in a 360 ° direction. According to claim 5,
The rolling roller is a facility inspection device, characterized in that the spherical body made of a rubber material.

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