To provide an in-pipe travel device which is simply constituted and travels stably and smoothly in a pipeline.SOLUTION: An in-pipe travel device 1 which travels independently while keeping constantly the device position in a pipeline by applying a prescribed force to an inner wall of the pipeline comprises a pair of straight drive means 18 to make the device proceed straight, a pair of rotating drive means 19 to rotate the device around a longitudinal axis, a pair of first distance detecting means 14 arranged separately in a line up direction of the pair of straight drive means, bend determining means 32 to determine an existence of a bend part 100b forward in the travel direction based on an output from the first distance detecting means, attitude determining means 33 which calculates a ratio of the outputs when the bend part is determined to be exist and determines the rotation direction and position of the device with respect to the rotation reference position based on the calculated value, and a drive control part 34 to control driving of the rotating drive means based on the calculated value and the drive control part controls driving of the rotating drive means and makes the in-pipe travel device rotate to the rotation direction and position at which the calculated value becomes a specified value.SELECTED DRAWING: Figure 2
【課題】簡単な構成で配管内部を安定的かつ円滑に走行する管内走行装置を提供する。【解決手段】配管の内壁に所定の力を付与して配管内の位置を一定に保持しつつ自走する管内走行装置1であって、直進させる一対の直進駆動手段18と、長手軸周りに回転させる一対の回転駆動手段19と、一対の直進駆動手段の並び方向に離間して配置された一対の第1の距離検出手段14と、第1の検出距離手段からの出力に基づき進行方向前方の曲がり部100bの存在を判定する曲がり判定手段32と、曲がり部が存在すると判定された際に出力比を演算し、その演算値に基づき回転基準位置に対する自己の回転方向及び位置を判定する姿勢判定手段33と、演算値に基づき回転駆動手段を駆動制御する駆動制御部34とを備え、駆動制御部は回転駆動手段を駆動制御して演算値が所定値となる回転方向及び位置まで管内走行装置を回転させる。【選択図】図2
IN-PIPE TRAVEL DEVICE
管内走行装置
2019-07-18
Patent
Electronic Resource
Japanese
IPC: | B61B RAILWAY SYSTEMS , Eisenbahnanlagen |