In-pipe work device

Abstract

According to an embodiment, an in-pipe work device is inserted into a pipe and remotely controlled by a control device to perform an operation for an inner surface of the pipe. The in-pipe work device has: a main unit; a main-unit support unit; a rotation arm; a process head; a first distance sensor; and a process head position adjustment mechanism that changes a distance from a rotation center of the rotation arm to the process head. The control device makes the process head position adjustment mechanism expand and contract based upon a result of measurement by the first distance sensor and operation condition information that is input in advance.

1 . An in-pipe work device that is inserted into a pipe and remotely controlled by a control device to perform an operation for an inner surface of the pipe, the in-pipe work device comprising:
 a main unit;   a main-unit support unit that comes in contact with the pipe to position and fix the main unit in the pipe;   a rotation arm that rotates around a rotation axis that is parallel with a long axis of the pipe;   a process head that is attached to the rotation arm to perform processes for the inner surface of the pipe;   a first distance sensor that is placed ahead of the process head in a rotation direction of the rotation arm to measure a distance to the inner surface of the pipe; and   a process head position adjustment mechanism that changes a distance from a rotation center of the rotation arm to the process head, wherein   the control device makes the process head position adjustment mechanism expand and contract based upon a result of measurement by the first distance sensor and operation condition information that is input in advance.   
     
     
         2 . The in-pipe work device according to  claim 1 , wherein:
 the main-unit support unit includes a plurality of support legs that come in contact with the pipe and expand and contract in response to a control signal from the control device; and   the control device includes a function of calculating a positional difference between the rotation axis of the rotation arm and the long axis of the pipe and correcting position of the rotation axis of the rotation arm by making the support legs expand and contract based upon the calculated positional difference.   
     
     
         3 . The in-pipe work device according to  claim 1 , comprising
 a second distance sensor that is attached to the rotation arm and measures a distance to the inner surface of the pipe, wherein   the control device includes a function of using the second distance sensor to collect data concerning a distance between the rotation axis of the rotation arm and the inner surface of the pipe, calculating a difference in position between the rotation axis of the rotation arm and the long axis of the pipe based upon the collected distance data, and making corrections so that the rotation axis of the rotation arm is positioned at the center of the pipe.   
     
     
         4 . The in-pipe work device according to  claim 3 , wherein
 the control device calculates the difference in position between the rotation axis of the rotation arm and the long axis of the pipe based upon a relationship between a rotation angle of the rotation arm and the distance data.   
     
     
         5 . The in-pipe work device according to  claim 1 , wherein
 the first distance censor is a magnetic distance sensor.   
     
     
         6 . The in-pipe work device according to  claim 1 , wherein:
 the first distance sensor is a laser scanner; and   the control device includes an output unit and displays three-dimensional graphics on the output unit based upon a result of scanning by the laser scanner to show the shape of the inner surface of the pipe.