Movement device, movement inspection device, and installation method for movement device

Abstract

To provide a movement device which enables both ease of installation and improvement in a positioning accuracy to be made compatible each other .SOLUTION: A movement inspection device 1 as an example of a movement device is relatively movable with respect to a piping rack 100 as an inspection target, and inspects the piping rack 100. The movement inspection device 1 includes: a first support part 2 and a second support part 3 that are slidably coupled to second beam members 113A1 and 113B1 that extend in parallel along a first direction (a X direction) of the piping rack 100; a wire 4 that is suspended between the first support part 2 and the second support part 3 and extends along a second direction (a Y direction) of the piping rack 100; a movement device main body part 5 slidably connected to the wire 4 and capable of mounting an imaging device 9; an elongated first operation rope 6 connected to the first support part 2; an elongated second operation rope 7 connected to the second support part 3; and an elongated third operation rope 8 connected to the movement device main body part 5.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile device, a mobile inspection device, and an installation method for the mobile device. [Background technology]

[0002] Patent document 1 describes a mobile work device in which a work machine is suspended and installed so that it can be moved in two perpendicular directions, thereby allowing the work machine to be moved without being affected by various conditions such as the state of the work area or the terrain. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-292407 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional technology described in Patent Document 1 and elsewhere requires large components such as track members and long support members, leaving room for improvement in ease of installation. Also, because the drive source is installed in the work machine itself, which is the main moving component, there is a limit to how light the work machine can be made, and the weight of the work machine itself may have an impact on positioning accuracy.

[0005] The present disclosure aims to provide a moving device, a mobile inspection device, and a method for installing a moving device that can achieve both ease of installation and improved positioning accuracy. [Means for solving the problem]

[0006] a first support section and a second support section slidably coupled to a first guide and a second guide, respectively, that extend parallel to a first direction of the structure; a third guide suspended between the first support section and the second support section and extending along a second direction of the structure that intersects with the first direction; a mobile device main body slidably coupled to the third guide and capable of carrying equipment; a long first operating section coupled to the first support section; a long second operating section coupled to the second support section; and a long third operating section coupled to the mobile device main body. The mobile device main body moves in the first direction by transmitting a driving force to the first support section via the first operating section to move it in the first direction, and by transmitting a driving force to the second support section via the second operating section to move it in the first direction, and the mobile device main body moves in the second direction by transmitting a driving force to the mobile device main body via the third operating section. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a moving device, a mobile inspection device, and an installation method for a moving device that can achieve both ease of installation and improved positioning accuracy. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing an example of a schematic configuration of a mobile inspection device and a piping rack according to an embodiment; [Figure 2] A top view of the mobile inspection device and piping rack shown in Figure 1. [Figure 3] Schematic diagram of the mobile inspection device and piping rack shown in Figure 1 viewed from the Y-negative side [Figure 4] FIG. 10 is a diagram showing an example of a connection structure between a first support portion and a second beam member. [Figure 5] FIG. 10 is a diagram showing an example of a connection structure between the moving device main body and the wire. [Figure 6] Control unit functional block diagram [Figure 7]Control unit hardware configuration diagram [Figure 8] FIG. 1 is a schematic diagram showing a first step of an installation method for a mobile inspection device according to an embodiment; [Figure 9] FIG. 10 is a schematic diagram showing a second stage of the installation method for the mobile inspection device according to the embodiment; [Figure 10] FIG. 10 is a schematic diagram showing a third step of the installation method for the mobile inspection device according to the embodiment; [Figure 11] FIG. 10 is a schematic diagram showing a fourth step of the installation method for the mobile inspection device according to the embodiment; [Figure 12] FIG. 10 is a schematic diagram showing a first modified example of the installation configuration of the imaging device; [Figure 13] FIG. 10 is a schematic diagram showing a second modified example of the installation configuration of the imaging device; DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. To facilitate understanding of the description, identical components in each drawing are denoted by the same reference numerals whenever possible, and redundant description will be omitted. In each drawing, the shape and dimensional ratios of each component are set for convenience to facilitate description and should not be interpreted as limiting unless otherwise specified. Furthermore, when terms such as "first" and "second" are used in this specification or claims, unless otherwise specified, they do not represent any order or importance, but are used to distinguish one component from another. In this specification or claims, "parallel" and "orthogonal" do not only refer to strictly parallel or orthogonal, but also include roughly parallel or orthogonal within the scope of the operational effects of the embodiment.

[0010] In the following description, the X, Y, and Z directions are perpendicular to one another. The X and Y directions are horizontal, and the Z direction is vertical. The X direction is the arrangement direction of the multiple pipes and the movement direction of the first support unit 2 and the second support unit 3. The Y direction is the extension direction of the multiple pipes, the extension direction of the wire 4 (third guide), and the movement direction of the movement device main body unit 5. For ease of explanation, the positive Z direction may also be referred to as the upper side and the negative Z direction may also be referred to as the lower side.

[0011] The mobile device according to this embodiment is a device that is installed within a structure and is movable relative to the structure. In the following description, a mobile inspection device 1 that is movable relative to an inspection object and that inspects the inspection object will be described as an example of the mobile device.

[0012] <Configuration of piping rack 100> FIG. 1 is a perspective view showing an example of a schematic configuration of a mobile inspection device 1 according to an embodiment and a piping rack 100 as an inspection target.

[0013] The inspection object is an example of a structure on which the mobile inspection device 1 is installed. As shown in FIG. 1 , in this embodiment, a piping rack 100 is illustrated as an example of the inspection object. The piping rack 100 is a frame that collectively supports pipes and cables that connect facilities and equipment in refineries, factories, plants, etc. The piping rack is also called a cable rack or a pipe rack.

[0014] First, the configuration of the piping rack 100 will be described. As shown in FIG. 1, the piping rack 100 includes a rack 110 and piping 120. The rack 110 and the piping 120 are both made of metal, for example. The outer periphery of the piping 120 may also be covered with an exterior material such as a thermal insulating material. The mobile inspection device 1 of this embodiment is installed on the rack 110 and inspects the piping 120.

[0015] The rack 110 is a structure erected on an installation surface G (see FIG. 3). The rack 110 supports the pipes 120. The rack 110 has multiple sets of columns arranged at predetermined intervals along the extension direction of the pipes 120. In the example of FIG. 1, the pipes 120 extend in one direction, the Y direction, and three sets of columns 111A, 111B, and 111C are arranged at predetermined intervals along the Y direction, similar to the extension direction of the pipes. Of the three sets of columns 111A, 111B, and 111C, the first set of columns 111A is arranged furthest from the negative Y direction, and the second set of columns 111B is arranged furthest from the positive Y direction. The third set of columns 111C is arranged between the other two sets of columns 111A and 111B. Note that multiple sets of columns may be arranged between the first set of columns 111A and the second set of columns 111B.

[0016] Each set of pillars includes two pillars arranged in the X direction. The first set of pillars 111A includes pillar 111A1 arranged on the X positive side and pillar 111A2 arranged on the X negative side. The second set of pillars 111B includes pillar 111B1 arranged on the X positive side and pillar 111B2 arranged on the X negative side. The third set of pillars 111C includes pillar 111C1 arranged on the X positive side and pillar 111C2 arranged on the X negative side. The lower end of each pillar is placed on a base 114 placed on an installation surface G, as shown in FIG. 1, for example.

[0017] The rack 110 has first beams 112 that extend in the arrangement direction (Y direction) of the multiple sets of pillars 111A to 111C and are suspended between the multiple sets of pillars 111A to 111C. The first beams 112 include one first beam 1121 that is suspended between pillars 111A1, 111C1, and 111B1, and the other first beam 1122 that is suspended between pillars 111A2, 111C2, and 111B2. Note that in the example of Fig. 1, the pair of first beams 1121, 1122 are both connected to the upper ends of the pillars 111, but they may also be configured to be connected at a predetermined height position of the pillars.

[0018] The rack 110 has second beams 113 that extend horizontally for each of the multiple sets of pillars 111A to 111C and are suspended between the pillars that make up each set. In the example of FIG. 1, all of the second beams 113 are provided extending in the X direction. The second beams 113 are disposed at a predetermined height position of each pillar. In the example of FIG. 1, between the two pillars 111A1 and 111A2 of the first set of pillars 111A, a first second beam 113A1 is provided that is connected to the upper end of each pillar, a second second beam 113A2 is disposed below the first second beam 113A1, and a third second beam 113A3 is disposed further below the second second beam 113A2. Similarly, between the two pillars 111B1, 111B2 of the second set of pillars 111B, there is provided a first second beam 113B1 connected to the upper end of each pillar, a second second beam 113B2 arranged below the first second beam 113B1, and a third second beam 113B3 arranged further below the second second beam 113B2. Between the two pillars 111C1, 111C2 of the third set of pillars 111C, there is provided a first second beam 113C1 connected to the upper end of each pillar, a second second beam 113C2 arranged below the first second beam 113C1, and a third second beam 113C3 arranged further below the second second beam 113C2.

[0019] The second beams 113A1, 113B1, and 113C1 are aligned in height with the upper ends of the respective pillars 111. The second beams 113A2, 113B2, and 113C2 are aligned in height below the upper ends of the respective pillars 111. The second beams 113A3, 113B3, and 113C3 are also aligned in height with the respective pillars 111.

[0020] The pipes 120 are supported by the rack 110. For example, as shown in Fig. 1, a plurality of pipes are arranged in the X direction and placed on a plurality of second beams of the same height, so that the pipes are supported from below by the second beams at predetermined intervals along the longitudinal direction.

[0021] 1, the piping 120 includes a first piping group 1201 and a second piping group 1202. The first piping group 1201 is supported by second beams 113A1, 113B1, and 113C1, and is placed along the upper end portion of the rack 110. The pipes of the first piping group 1201 are arranged along the extension direction (X direction) of the second beams 113A1, 113B1, and 113C1.

[0022] The second pipe group 1202 is supported by second beams 113A2, 113B2, and 113C2, and is placed on the rack 110 at a lower level than the first pipe group 1201. The pipes of the second pipe group 1202 are arranged along the extension direction (X direction) of the second beams 113A2, 113B2, and 113C2.

[0023] In the example of Fig. 1, the object to be inspected by the mobile inspection device 1 of this embodiment is a second pipe group 1202 of the pipes 120 that is arranged at a height position below the upper end of the rack 110. In the example of Fig. 1, second beams 113A1 and second beams 113B1 that are arranged above the second pipe group 1202 function as "first guide and second guide extending parallel to each other along the first direction (X direction) of the object to be inspected." In addition, in the case of a configuration in which pipe groups are arranged at multiple height positions below the upper end of the rack 110 (see Figs. 8 to 10), the pipe groups at each level at multiple height positions can be the object to be inspected.

[0024] 1, the mobile inspection device 1 of this embodiment is installed between the pillar 111A arranged furthest on the Y negative side and the pillar 111B arranged furthest on the Y positive side. In this case, in the extension direction (Y direction) of the piping 120, the range between the pillars 111A and 111B is the movable range of the mobile inspection device 1, which is the inspectable range. In addition, in the arrangement direction (X direction) of the piping 120, the range between the pair of first beams 1121, 1122 of the rack 110 is the movable range of the mobile inspection device 1, which is the inspectable range.

[0025] 1 illustrates three pairs of pillars 111A, 111B, and 111C of the rack 110, but the rack 110 may be a structure in which even more pillars are arranged along the extension direction (Y direction) of the piping 120. That is, in FIG. 1, another pillar is arranged further toward the Y-negative side than pillar 111A, which is arranged on the furthest Y-negative side, and another pillar is arranged further toward the Y-positive side than pillar 111B, which is arranged on the furthest Y-positive side. The mobile inspection device 1 of this embodiment can be installed between any two pairs of pillars 111A and 111B of the multiple pillars arranged along the extension direction of the piping 120 in this manner.

[0026] The mobile inspection device 1 of this embodiment inspects the piping 120 of the inspection target within the thus-set inspectable range. Here, "inspection" in this embodiment refers to the operation of monitoring the appearance of the metal piping 120 for abnormalities or potential abnormalities, such as discoloration, scratches, or corrosion cracks, based on captured images of the piping 120. This type of inspection work is also called a pipe exterior corrosion inspection. Furthermore, in the case of piping 120 whose outer surface is covered with an exterior material such as insulation, "inspection" also includes the operation of indirectly diagnosing the possibility of abnormalities, such as corrosion, of the piping 120 inside the exterior material based on the presence or absence of external abnormalities, such as discoloration or scratches, of the exterior material. The mobile inspection device 1 is particularly useful when used to inspect, for example, the erected portions of structures that are difficult to photograph or inspect directly from the ground, narrow spaces that are difficult to enter with aircraft such as drones, or locations requiring explosion protection, such as the piping 120 of the piping rack 100 of this embodiment.

[0027] <Configuration of mobile inspection device 1> Next, the configuration of the mobile inspection device 1 according to this embodiment will be described with reference to Fig. 2 and Fig. 3 in addition to Fig. 1. Fig. 2 is a plan view of the mobile inspection device 1 and piping rack 100 shown in Fig. 1 viewed from above. Note that in Fig. 2, the piping 120 is omitted to make it easier to see the components of the mobile inspection device 1. Fig. 3 is a schematic view of the mobile inspection device 1 and piping rack 100 shown in Fig. 1 viewed from the Y negative direction.

[0028] As shown in Figures 1 and 2, the mobile inspection device 1 comprises a first support part 2, a second support part 3, a wire 4 (third guide), a mobile device main body part 5, a first operating rope 6 (first operating part), a second operating rope 7 (second operating part), and a third operating rope 8 (third operating part).

[0029] The first support part 2 is a support element and a moving element slidably connected along the X direction to a second beam 113A1 (first guide) extending parallel to the X direction (first direction) of the rack 110. The second support part 3 is a support element and a moving element slidably connected along the X direction to a second beam 113B1 (second guide) extending parallel to the X direction (first direction) of the rack 110. The connection structure between the first support part 2 and the second support part 3 and the second beam 113A1 and the second beam 113B1 will be described later with reference to FIG. 4.

[0030] The wire 4 is a support element and a guide element that is suspended between the first support part 2 and the second support part 3 and extends along a second direction (Y direction) of the rack 110 that is perpendicular to the first direction (X direction) of the rack 110. In the example of FIGS. 1 and 2, two wires 4 are provided that are arranged in parallel and equidistantly spaced apart in the X direction. Note that the extension direction of the wires 4 may be a direction other than perpendicular to the first direction (X direction) of the rack 110 as long as it intersects with the first direction (X direction) of the rack 110. Furthermore, the number of wires 4 may be a number other than two.

[0031] The moving device main body 5 is a moving element connected to the wire 4 (third guide) so as to be slidable along the Y direction. The moving device main body 5 is installed so as to be slidable in the Y direction by having the wire 4 pass through it. An inspection device for inspecting the second piping group 1202, which is the object to be inspected, is mounted on the moving device main body 5. In this embodiment, an imaging device 9 is mounted on the moving device main body 5 as an example of the inspection device. The imaging device 9 photographs the piping 120 at the position where the moving device main body 5 is placed.

[0032] The first operating rope 6 is a long member connected to the first support part 2. The second operating rope 7 is a long member connected to the second support part 3. The third operating rope 8 is a long member connected to the moving device main body.

[0033] In the mobile inspection device 1, a driving force is transmitted to the first support unit 2 via the first operating rope 6, thereby moving the first support unit 2 in the X direction along the second beam 113A1 as shown by arrow A in FIGS. 2 and 3 . A driving force is transmitted to the second support unit 3 via the second operating rope 7, thereby moving the second support unit 3 in the X direction along the second beam 113B1 as shown by arrow B in FIG. 2 , thereby moving the mobile device main unit 5 in the X direction. In this case, by setting the operating amounts of the first operating rope 6 and the second operating rope 7 to the same, the mobile device main unit 5 can be moved the same amount in the X direction as the first support unit 2 and the second support unit 3. On the other hand, by setting the operating amounts of the first operating rope 6 and the second operating rope 7 to different amounts, the amount of movement of the mobile device main unit 5 in the X direction can be changed. In this case, the amount of movement of the moving device main body 5 in the X direction is determined, for example, by the amount of movement of the first support part 2 in the X direction, the amount of movement of the second support part 3 in the X direction, and the Y direction position of the moving device main body 5 between the first support part 2 and the second support part 3.

[0034] Similarly, in the mobile inspection device 1, a driving force is transmitted to the mobile device main body 5 via the third operating rope 8, thereby allowing the mobile device main body 5 to be moved in the Y direction as shown by arrow C in Figure 2.

[0035] Therefore, in the mobile inspection device 1 of this embodiment, the mobile device body 5 can be moved to any position on a predetermined virtual plane by combining the X-direction movement of the mobile device body 5 according to the amount of operation of the first operating rope 6 and the second operating rope 7 and the Y-direction movement of the mobile device body 5 according to the amount of operation of the third operating rope 8. This virtual plane is the XY plane, which includes the X and Y directions at a predetermined height in the Z direction where the mobile inspection device 1 is installed. As a result, the mobile inspection device 1 of this embodiment does not require a drive source to be mounted on the mobile device body 5 itself, and can move the mobile device body 5 to any position on the XY plane by operating the three operating ropes 6, 7, and 8. This makes it easy to reduce the weight of the mobile device body 5, thereby minimizing the impact of its own weight on positioning accuracy. For example, reducing the weight of the mobile device body 5 can shorten the time it takes for the mobile device body 5 to stop shaking due to the reaction force when it stops after being moved to a desired position by the mobile inspection device 1. This reduces the weight of the moving device main body 5, thereby improving the positioning accuracy of the moving device main body 5. Furthermore, because the moving device main body 5 is moved by operating the three operating ropes 6, 7, and 8, the structure for moving the moving device main body 5 can be simplified, and installation can be made easier.

[0036] The mobile inspection device 1 also includes a first drive source 11, a second drive source 12, a third drive source 13, and control units 10A and 10B.

[0037] The first driving source 11 is connected to the first operating rope 6 and transmits a driving force to the first support part 2 via the first operating rope 6 .

[0038] The second drive source 12 is connected to the second operating rope 7 and transmits a driving force to the second support part 3 via the second operating rope 7 .

[0039] The third drive source 13 is mounted on the first support part 2 and transmits a drive force to the moving device main body part 5 via the third operating rope 8. The third drive source 13 may be configured to be mounted on the second support part 3 instead of the first support part 2.

[0040] In the mobile inspection device 1, the first driving source 11 transmits a driving force to the first support part 2 via the first operating rope 6, causing the first support part 2 to move in the X direction along the second beam 113A1 as shown by arrow A in Figures 2 and 3, and the second driving source 12 transmits a driving force to the second support part 3 via the second operating rope 7, causing the second support part 3 to move in the X direction along the second beam 113B1 as shown by arrow B in Figure 2, thereby moving the mobile device main body part 5 in the X direction.

[0041] Similarly, in the mobile inspection device 1, the third drive source 13 transmits a drive force to the mobile device main body 5 via the third operating rope 8, thereby moving the mobile device main body 5 in the Y direction as shown by arrow C in Figure 2.

[0042] Control units 10A and 10B control the operations of first drive source 11, second drive source 12, and third drive source 13. Control units 10A and 10B can move movement device main body 5 in the X direction by controlling the amount of operation of first operation rope 6 and second operation rope 7 using first drive source 11 and second drive source 12. Similarly, control units 10A and 10B can move movement device main body 5 in the Y direction by controlling the amount of operation of third operation rope 8 using third drive source 13.

[0043] 1 to 3, the first control unit 10A is installed on the installation surface G near the pillar 111A of the rack 110 on which the first support unit 2 is installed, and the second control unit 10B is installed on the installation surface G near the pillar 111B of the rack 110 on which the second support unit 3 is installed. Each control unit 10A, 10B is connected to the first drive source 11, the second drive source 12, and the third drive source 13 so that they can communicate with each other, for example, by wireless communication. In this configuration, for example, the first control unit 10A controls the operation of the first drive source 11 and the third drive source 13, and the second control unit 10B controls the operation of the second drive source 12. Note that instead of dividing the control units into multiple units as in the examples of FIGS. 1 to 3, a single control unit 10 (see FIG. 7) may be used.

[0044] In the mobile inspection device 1 of this embodiment, the first drive source 11, the second drive source 12, and the third drive source 13 transmit driving force to the first operating rope 6, the second operating rope 7, and the third operating rope 8, thereby controlling the amount of operation of each operating rope. This configuration reduces the burden of operating the first operating rope 6, the second operating rope 7, and the third operating rope 8, making it easier to position the mobile device main body 5. Furthermore, by configuring the operation of the first operating source 11, the second driving source 12, and the third operating source 13 to be controlled by the control unit 10, it is possible to control the operation of each driving source 11, 12, and 13 with high precision, and the amount of operation of the first operating rope 6, the second operating rope 7, and the third operating rope 8 can also be controlled with high precision, so the positioning of the mobile device main body 5 can be performed with higher precision.

[0045] Furthermore, the control units 10A and 10B can move the mobile device main body 5 in the X direction while maintaining the wire 4 in a state along the Y direction by using the first drive source 11 and the second drive source 12 to synchronize the operation amounts of the first operating rope 6 and the second operating rope 7. By performing such synchronous control, the mobile inspection device 1 can further stabilize the movement of the mobile device main body 5 in the X direction and improve the positioning accuracy of the mobile device main body 5.

[0046] The imaging device 9 mounted on the movable device main body 5 can be moved to any position on the XY plane as the movable device main body 5 moves, and can capture images of the piping 120 at the position where the movable device main body 5 is located. The control units 10A and 10B also control the operation of the imaging device 9. Thus, for example, the control units 10A and 10B can control the imaging operation of the imaging device 9 while moving the movable device main body 5 along a desired path, to sequentially capture images of the piping 120 to be inspected. Alternatively, the control units 10A and 10B can control the positioning of the movable device main body 5 at a desired position, and then control the imaging operation of the imaging device 9 to acquire images of the piping 120 to be inspected at the desired position. The control units 10A and 10B can also perform inspection work, such as checking for abnormalities in the piping 120, based on image information of the piping 120 captured by the imaging device 9.

[0047] The imaging device 9 mounted on the mobile device main body 5 may be any device that acquires image information to be used in the inspection work of the pipe 120. As the imaging device 9, for example, a camera that captures still images or videos, a thermo camera that detects the temperature distribution of the object to be inspected using far-infrared rays, an X-ray radiation inspection device, or the like can be used.

[0048] Here, the connection structure between the first operating rope 6, the first support unit 2, and the first drive source 11 will be described. As shown in FIGS. 1 to 3, the first operating rope 6 is arranged along the horizontal direction (X direction) at an arbitrary height position (here, a height position directly below the second beam 113A1) within the movement range of the first support unit 2, i.e., between both ends of the second beam 113A1 in the X direction, in the same manner as the movement direction of the first support unit 2. Also, as shown in FIG. 3, the end of the first operating rope 6 on the X positive side hangs down from the end of the second beam 113A1 on the X positive side toward the installation surface G. The first drive source 11 is connected to the end of the first operating rope 6 on the X positive side hanging down toward the installation surface G.

[0049] More specifically, as shown in Figures 2 and 3, a first fixed pulley 14A is installed at the end of the second beam 113A1 on the X-negative side. The first fixed pulley 14A is installed so that the Z direction is its axial direction, and the end of the first operating rope 6 on the X-negative side is wound around it. The first driving source 11 is installed on the side surface of the pillar 111A1 on the X-positive side, at a height position near the installation surface G. The end of the first operating rope 6 on the X-positive side is wound around the first driving source 11.

[0050] That is, the first operating rope 6 is attached in a loop between the first fixed pulley 14A and the first driving source 11, and circulates between the first fixed pulley 14A and the first driving source 11 by the driving force of the first driving source 11. In other words, the first operating rope 6 has two rope portions 6A and 6B arranged between the first fixed pulley 14A and the first driving source 11. The two rope portions 6A and 6B move in opposite directions.

[0051] A pair of second fixed pulleys 15A, 16A are installed at the end of the second beam 113A1 on the X positive side. The pair of second fixed pulleys 15A, 16A are installed so that the axial direction is the X direction or the Y direction, and two rope portions 6A, 6B of the first operating rope 6 are wound around each of them. The pair of second fixed pulleys 15A, 16A are configured to be independently rotatable. As a result, the extension direction of the two rope portions 6A, 6B of the first operating rope 6 is changed from the X direction to the Z direction at the position of the pair of second fixed pulleys 15A, 16A. The lower end portions of the two rope portions 6A, 6B of the first operating rope 6, whose extension direction has been changed to the Z direction, are wound around the first drive source 11.

[0052] The first driving source 11 drives a rotating element such as a pulley or winch using the driving force output by an actuator such as a motor, thereby retracting one of the two rope portions 6A, 6B and pulling out the other, thereby causing the first operating rope 6 to circulate between itself and the first fixed pulley 14A.

[0053] The first support part 2 is connected to a portion of one rope part 6A of the first operating rope 6 between the first fixed pulley 14A and the pair of second fixed pulleys 15A, 16A. As a result, the first support part 2 can move to any position in the X direction between the first fixed pulley 14A and the pair of second fixed pulleys 15A, 16A, i.e., along the extension direction of the second beam 113A1, in conjunction with the first operating rope 6 circulating between the first fixed pulley 14A and the first driving source 11 by the driving force of the first driving source 11.

[0054] 3 illustrates only the arrangement of the first operating rope 6, but the arrangement of the second operating rope 7 is similar. That is, as shown in FIG. 2, the first fixed pulley 14B installed at the end of the second beam 113B1 on the negative X-direction side corresponds to the first fixed pulley 14A shown in FIG. 3. The pair of second fixed pulleys 15B, 16B installed at the end of the second beam 113B1 on the positive X-direction side corresponds to the second fixed pulleys 15A, 16A shown in FIG. 3. As shown in FIG. 1 and other figures, the second driving source 12 is installed at a height position near the installation surface G on the side surface of the pillar 111B1 on the positive X-direction side. The second driving source 12 corresponds to the first driving source 11 shown in FIG. 3.

[0055] The second operating rope 7 is attached in a loop between the first fixed pulley 14B and the second driving source 12, and circulates between the first fixed pulley 14B and the second driving source 12 by the driving force of the second driving source 12. In other words, the second operating rope 7 has two rope portions 7A and 7B arranged between the first fixed pulley 14B and the second driving source 12. The two rope portions 7A and 7B move in opposite directions.

[0056] 2, the second support part 3 is connected to a portion of one rope part 7A of the second operating rope 7 between the first fixed pulley 14B and the pair of second fixed pulleys 15B, 16B. As a result, the second support part 3 can move to any position in the X direction between the first fixed pulley 14B and the pair of second fixed pulleys 15B, 16B, i.e., along the extension direction of the second beam 113B1, in conjunction with the second operating rope 7 circulating between the first fixed pulley 14B and the second driving source 12 by the driving force of the second driving source 12.

[0057] As described above, in the mobile inspection device 1 of this embodiment, one end of the first operating rope 6 and the second operating rope 7 hangs down toward the installation surface G from the end of the second beams 113A1 and 113B1 on the X-positive side, which are disposed at a predetermined height position on the piping rack 100, and the first driving source 11 and the second driving source 12 are connected to one end of the first operating rope 6 and the second operating rope 7 hanging down toward the installation surface G. This configuration enables the first driving source 11 and the second driving source 12 to be installed near the installation surface G of the piping rack 100. Generally, the first driving source 11 and the second driving source 12 tend to be relatively heavy because they are equipped with heavy objects such as motors. Therefore, when the first driving source 11 and the second driving source 12 need to be installed at a height position of the mobile device main body 5, the first driving source 11 and the second driving source 12 need to be lifted up to that height position, which is considered to increase the burden of the installation work. In contrast to this, in this embodiment, the first drive source 11 and the second drive source 12, which are heavy objects, only need to be installed near the installation surface G of the piping rack 100, so the work of lifting the first drive source 11 and the second drive source 12 to the height position of the moving device main body 5 can be omitted, thereby reducing the burden of the installation work.

[0058] Next, referring to Fig. 4, an example of the connection structure between the first support 2 and the second beam 113A1 and the connection structure between the second support 3 and the second beam 113B1 will be described. Fig. 4 is a diagram showing an example of the connection structure between the first support 2 and the second beam 113A1. In Fig. 4, the cross-sectional shape of the second beam 113A1 along the YZ plane is shown. Although not shown, the connection structure between the second support 3 and the second beam 113B1 is also the same as Fig. 4.

[0059] As shown in FIG. 4, the first support portion 2 is disposed so as to be slidable in the X direction along the second beam material 113A1 by sandwiching the second beam material 113A1 from both sides in the Y direction.

[0060] In the example of FIG. 4, the second beam 113A1 is an H-shaped steel cross section and includes a first horizontal portion 1131, a second horizontal portion 1132, and a vertical portion 1133. The first horizontal portion 1131 is a portion located on the Z positive direction side and extending horizontally. The second horizontal portion 1132 is a portion located on the Z negative direction side and extending horizontally. The vertical portion 1133 is a portion extending vertically and connecting the first horizontal portion 1131 and the second horizontal portion 1132. The vertical portion 1133 is connected to the first horizontal portion 1131 and the second horizontal portion 1132 at the center of the first horizontal portion 1131 and the second horizontal portion 1132 in the Y direction, respectively.

[0061] The first support portion 2 has a first roller group 21 that clamps the portion of the second horizontal portion 1132 of the second beam member 113A1 that is on the Y-positive side of the vertical portion 1133 from three directions, and a second roller group 22 that clamps the portion of the second horizontal portion 1132 that is on the Y-negative side of the vertical portion 1133 from three directions.

[0062] The first roller group 21 has an upper roller 21A that contacts the upper surface of the Y positive direction end of the second horizontal portion 1132, a lower roller 21B that contacts the lower surface, and a lateral roller 21C that contacts the side surface on the Y positive direction side. The first roller group 21 can sandwich the Y positive direction end of the second horizontal portion 1132 from three directions, the upper surface, the lower surface, and the side surface on the Y positive direction side, using the upper roller 21A, the lower roller 21B, and the lateral roller 21C.

[0063] The second roller group 22 has an upper roller 22A that contacts the upper surface of the Y negative direction end of the second horizontal portion 1132, a lower roller 22B that contacts the lower surface, and a lateral roller 22C that contacts the side surface on the Y negative direction side. The second roller group 22 can sandwich the Y negative direction end of the second horizontal portion 1132 from three directions, the upper surface, the lower surface, and the side surface on the Y positive direction side, using the upper roller 22A, lower roller 22B, and lateral roller 22C.

[0064] In this way, the first support part 2 is suspended from the second beam 113A1, which is an H-shaped steel cross section, by clamping the second beam 113A1 from both sides in the Y direction between the first roller group 21 and the second roller group 22. Furthermore, the driving force output by the first drive source 11 and transmitted via the first operating rope 6 rotates the rollers of the first roller group 21 and the second roller group 22, allowing the first support part 2 to slide in the X direction along the second beam 113A1.

[0065] In this embodiment, the second beams 113A1, 113B1 are H-shaped steel cross sections, but the cross-sectional shape of the second beams 113A1, 113B1 may be any shape that allows at least the first support portion 2 and the second support portion 3 to sandwich the second beams 113A1, 113B1 from both sides in the Y direction, and may be a shape other than an H shape, such as a rectangular cross section. However, when the second beams 113A1, 113B1 are H-shaped steel cross sections, as described with reference to FIG. 4, the second beams 113A1, 113B1 include plate-shaped horizontal members (e.g., second horizontal portion 1132) extending in the Y direction, which is particularly effective because it allows the first support portion 2 and the second support portion 3 to maintain sandwiched state of the second beams 113A1, 113B1 from both sides in the Y direction and facilitates sliding in the X direction.

[0066] Furthermore, the connection structure between the second beam members 113A1, 113B1 and the first support member 2 and the second support member 3 need only be such that at least the first support member 2 and the second support member 3 are slidably connected to the second beam members 113A1, 113B1, and may be a method other than a structure in which the first support member 2 and the second support member 3 clamp the second beam members 113A1, 113B1 from both sides in the Y direction.

[0067] In addition, in this embodiment, a configuration in which each element (rack 110, piping 120) of the piping rack 100, which is an example of an object to be inspected, is made of metal has been exemplified, but the object to be inspected may also be formed of a material other than metal, such as resin.

[0068] Next, with reference to Fig. 5, a description will be given of an example of a connection structure between the moving device main body 5 and the wire 4, and an example of installation of the imaging device 9. Fig. 5 is a diagram showing an example of a connection structure between the moving device main body 5 and the wire 4. Fig. 5(A) is a schematic enlarged view of the periphery of the moving device main body 5 as viewed from the Y positive direction, and Fig. 5(B) is a schematic enlarged view as viewed from the X positive direction.

[0069] As shown in FIG. 5(A), the movement device main body 5 has a pair of rollers 51, 52. The rollers 51, 52 are disposed at both ends of the movement device main body 5 in the X direction, and are disposed so that the X direction is the axis of rotation. The rollers 51, 52 are disposed in positions where they can contact the two wires 4 from below. The movement device main body 5 also has a pair of wire pressers 53, 54 disposed in positions where they can contact the two wires 4 from above. The wire 4 on the positive X direction side is clamped from both vertical sides by the roller 51 and the wire presser 53, and the wire 4 on the negative X direction side is clamped from both vertical sides by the roller 52 and the wire presser 54.

[0070] In this way, the moving device main body 5 is suspended from the two wires 4 by sandwiching the two wires 4 from above and below between the pair of rollers 51, 52 and the pair of wire pressers 53, .

[0071] 5 is merely an example, and the connection structure between the moving device main body 5 and the wire 4 is not limited to this structure. For example, the wire 4 may be arranged below the rollers 51 and 52, and the rollers 51 and 52 may be placed on the wire 4.

[0072] As shown in FIG. 2 and other figures, the end of the third operating rope 8 on the Y-negative / positive side is wound around the third driving source 13 mounted on the first support part 2. Meanwhile, the end of the third operating rope 8 on the Y-positive side is wound around a rotating element, such as a fixed pulley, at the second support part 3. That is, the third operating rope 8 is attached in a loop between the first support part 2 and the second support part 3, and rotates between the first support part 2 and the second support part 3 by the driving force of the third driving source 13. That is, the third operating rope 8 is arranged in two rope portions 8A and 8B between the first support part 2 and the second support part 3. The two rope portions 8A and 8B move in opposite directions.

[0073] The third driving source 13 uses the driving force output by an actuator such as a motor to drive a rotating element such as a pulley or winch, thereby retracting one of the two rope portions 8A, 8B and pulling out the other, thereby causing the third operating rope 8 to circulate between the first support portion 2 and the second support portion 3.

[0074] The moving device main body 5 is connected to one rope portion 8A of the third operating rope 8, and is installed so as to be movable in the Y direction integrally with the rope portion 8A. The other rope portion 8B of the third operating rope 8 is passed through the moving device main body 5, and the moving device main body 5 is installed so as to be movable in the Y direction relative to the rope portion 8B. As a result, the moving device main body 5 can move to any position in the Y direction between the first support portion 2 and the second support portion 3, i.e., along the extension direction of the first beam 112, in conjunction with the third operating rope 8 circulating between the first support portion 2 and the second support portion 3 by the driving force of the third driving source 13.

[0075] In this embodiment, the imaging device 9 is attached below the moving device main body 5. In the example of FIG. 5, two imaging devices 9A and 9B are installed. One of the imaging devices 9A is installed so that its optical axis D faces the positive Y direction. The other imaging device 9B is installed so that its optical axis E faces the negative Y direction. The two imaging devices 9A and 9B can capture images of the same pipe 120 viewed from above and from opposite directions along the longitudinal direction.

[0076] The moving device main body 5 includes adjustment units 55A and 55B for adjusting the directions of the optical axes D and E of the imaging devices 9A and 9B. The adjustment units 55A and 55B are elements that can adjust the height positions or imaging directions of the imaging devices 9A and 9B relative to the piping 120.

[0077] The adjustment unit 55A includes a pillar 55A1 and an angle adjustment unit 55A2. The pillar 55A1 is a longitudinal member, such as a rod, extending in the vertical direction (Z direction). The angle adjustment unit 55A2 is connected to the lower end of the pillar 55A1. The angle adjustment unit 55A2 adjusts the tilt angle of the imaging device 9A relative to the vertical direction. In the example of FIG. 5, the angle adjustment unit 55A2 is installed to be rotatable around a rotation axis parallel to the X direction, thereby enabling adjustment of the tilt angle of the imaging device 9A along the YZ plane. The adjustment unit 55A can adjust the vertical distance between the inspection target pipe 120 and the imaging device 9A by adjusting the length dimension of the pillar 55A1 in the Z direction. The angle adjustment unit 55A2 can adjust the tilt direction of the optical axis D of the imaging device 9A relative to the inspection target pipe 120 by adjusting the tilt angle.

[0078] Adjustment unit 55B includes a pillar portion 55B1 and an angle adjustment unit 55B2. The configurations of pillar portion 55B1 and angle adjustment unit 55B2 are similar to those of pillar portion 55A1 and angle adjustment unit 55B2. Adjustment unit 55B can adjust the vertical distance between the inspection target pipe 120 and image capture device 9B by adjusting the length dimension of pillar portion 55B1 in the Z direction. Angle adjustment unit 55B2 can adjust the tilt direction of the optical axis E of image capture device 9B relative to the inspection target pipe 120 by adjusting the tilt angle.

[0079] 5, the length of pillar portion 55A1 of adjustment portion 55A is longer than pillar portion 55B1 of adjustment portion 55B, and as a result, the height position of angle adjustment portion 55A2 of adjustment portion 55A is lower than the height position of angle adjustment portion 55B2 of adjustment portion 55B. However, the lengths of pillar portions 55A1 and 55B1 are not limited to this example. Conversely to the example of FIG. 5, the length of pillar portion 55A1 of adjustment portion 55A may be shorter than pillar portion 55B1 of adjustment portion 55B.

[0080] In addition, the adjustment units 55A and 55B may be configured so that the length of the pillars 55A1 and 55B1 can be changed, or so that the height positions of the angle adjustment units 55A2 and 55B2 can be changed by applying a configuration that allows the angle adjustment units 55A2 and 55B2 to be fixed at any height position on the pillars 55A1 and 55B1.

[0081] By configuring the mobile device main body 5 to have adjustment units 55A and 55B in this manner, it is possible to adjust parameters such as the height position or imaging direction of the imaging devices 9A and 9B relative to the piping 120 to be inspected as desired, thereby enabling more detailed inspection work.

[0082] Furthermore, the control units 10A and 10B may be configured to control the operation of the adjustment units 55A and 55B in addition to the operation of the imaging device 9 itself. This makes it possible to remotely adjust various parameters such as the imaging angle of the imaging device 9 and the distance to the inspection target, thereby improving the convenience of the inspection work and enabling more detailed inspection work.

[0083] Fig. 6 is a functional block diagram of the control units 10A and 10B. Figs. 1 to 3 illustrate a configuration in which the mobile inspection device 1 includes two control units 10A and 10B, but as shown in Fig. 6, the mobile inspection device 1 may be configured to include a single control unit 10 that combines the functions of the two control units 10A and 10B. Furthermore, the functions of the control unit 10 shown in Fig. 6 may be distributed across the two control units 10A and 10B shown in Figs. 1 to 3, or the same functions may be provided in both.

[0084] The control unit 10 is connected to the first drive source 11, the second drive source 12, the third drive source 13, and the imaging device 9 wirelessly (or by wire) so as to be able to communicate with them.

[0085] The control unit 10 includes a calculation unit 17 , a position determination unit 18 , a movement control unit 19 , and an imaging control unit 20 .

[0086] The calculation unit 17 calculates the operation amount of the first operation rope 6 and the second operation rope 7, and the operation amount of the third operation rope 8, according to the desired movement position of the movement device main body 5. The calculation unit 17 can acquire the desired movement position based on information such as a predetermined inspection route within the piping rack 100, a position command input from a higher-level device or an operator, etc. The calculation unit 17 outputs information on the calculation result to the movement control unit 19, for example.

[0087] The position determination unit 18 determines the position of the mobile device main body 5 in the X and Y directions by calculation based on the amount of operation of the first operating rope 6 and the second operating rope 7, and the amount of operation of the third operating rope 8. The mobile inspection device 1 has measuring elements such as encoders at the positions where each of the ropes 6, 7, and 8, for example, the first driving source 11, the second driving source 12, and the third driving source 13, passes, and the position determination unit 18 can obtain information on the amount of operation of each of the ropes 6, 7, and 8, based on information obtained by such measuring elements, for example. The position determination unit 18 outputs information on the result of the position determination to the mobile control unit 19, for example.

[0088] The movement control unit 19 controls the operation of the first drive source 11, the second drive source 12, and the third drive source 13 to move the moving device main body 5 to a desired position in the X and Y directions. The movement control unit 19 can control the movement of the moving device main body 5 to a desired position based on, for example, information on the calculation results of the operation amounts of the operating ropes 6, 7, and 8 input from the calculation unit 17. In this case, the movement control unit 19 calculates and outputs a control command to the first drive source 11, the second drive source 12, or the third drive source 13 based on the information on the calculation results of each operation amount. Furthermore, if the current position of the moving device main body 5 is deviated from the desired position based on information on the position determination result input from the position determination unit 18, the movement control unit 19 may perform feedback control using the first drive source 11, the second drive source 12, or the third drive source 13 as appropriate to eliminate the deviation.

[0089] The imaging control unit 20 controls the operation of the imaging device 9 to capture images of the piping 120 to be inspected. The imaging control unit 20 may analyze the captured images to determine whether or not there is an abnormality, or may be configured to output the captured images to a higher-level device or an external device so that the abnormality determination is performed externally. When the abnormality determination is performed externally, any method can be applied, such as a configuration in which the higher-level device or the external device automatically determines the abnormality, or a configuration in which an operator of each device visually checks the images to check whether or not there is an abnormality.

[0090] FIG. 7 is a hardware configuration diagram of the control unit 10. As shown in FIG. 7, the control unit 10 (10A, 10B) can be physically configured as a computer system including a CPU (Central Processing Unit) 101, a GPU (Graphics Processing Unit) 108, a RAM (Random Access Memory) 102 and a ROM (Read Only Memory) 103 as main storage devices, an input device 104 such as a keyboard and a mouse as input devices, an output device 105 such as a display, a communication module 106 as a data transmission / reception device such as a network card, an auxiliary storage device 107 such as a hard disk, etc. Each function of the control unit 10 shown in FIG. 6 is realized by loading predetermined computer software onto hardware such as the CPU 101 and RAM 102, thereby operating the communication module 106, the input device 104, and the output device 105 under the control of the CPU 101, and reading and writing data from and to the RAM 102 and the auxiliary storage device 107.

[0091] Here, when the piping rack 100 is a piping facility in an oil refinery, the space around the piping 120 of the piping rack 100 is an explosion-proof area. In this case, when the mobile inspection device 1 according to this embodiment is applied to the piping rack 100 as shown in FIGS. 1 to 3, the mobile device main body 5 and the imaging device 9 are disposed in the explosion-proof area, and the control unit 10 is disposed in a non-explosion-proof area. The first support unit 2, the second support unit 3, and the third drive source 13 are also disposed in the explosion-proof area. In this case, the mobile device main body 5, the imaging device 9, the first support unit 2, the second support unit 3, and the third drive source 13 disposed in the explosion-proof area are explosion-proof certified products having an explosion-proof structure. This configuration prevents elements of the mobile inspection device 1, particularly elements disposed in the explosion-proof area, from becoming ignition sources and causing fires or explosions in locations where an explosive atmosphere may occur, such as near the piping 120 of the piping rack 100. This allows inspection work to be performed in an explosion-proof area while ensuring safety. Furthermore, the degree of freedom in arranging each element of the mobile inspection device 1 can be improved.

[0092] 1 to 3, the first drive source 11 and the second drive source 12 are disposed near the control unit 10 and in a non-explosion-proof area, but it is preferable to use explosion-proof certified products for the first drive source 11 and the second drive source 12 as well. This configuration makes it possible to dispose the first drive source 11 and the second drive source 12 in an explosion-proof area, thereby further improving the degree of freedom in disposing the elements of the mobile inspection device 1 while ensuring safety in the explosion-proof area.

[0093] 1 to 3, the installation surface G on which the first drive source 11, the second drive source 12, and the control unit 10 are installed or the vicinity thereof directly above the installation surface G may be an explosion-proof area. In this case, too, by using explosion-proof certified products for the first drive source 11, the second drive source 12, and the control unit 10, it becomes possible to perform inspection work in the explosion-proof area while ensuring the safety of the mobile inspection device 1.

[0094] <Installation method of mobile inspection device 1> Next, a method for installing the mobile inspection device 1 (mobile device) according to this embodiment will be described with reference to FIGS.

[0095] 8 to 11, the pipes 120 are installed in three tiers on the piping rack 100. Here, an example is shown in which the mobile inspection device 1 is installed between the second beam 113A2 and the second beam 113B2 to inspect the piping group 1203 in the third tier from the top.

[0096] 8 to 11, unlike Fig. 1, a plurality of pillars (three pairs in this example) are arranged between the first pair of pillars 111A and the second pair of pillars 111B. In other words, the mobile inspection device 1 is installed so that the space between the five pairs of pillars is the inspection range.

[0097] Fig. 8 is a schematic diagram showing a first stage of the installation method of the mobile inspection device 1 according to the embodiment. In the first stage shown in Fig. 8, scaffolding 200 is installed at four locations along the height direction of each pillar: pillars 111A1 and 111A2 of the first set of pillars 111A and pillars 111B1 and 111B2 of the second set of pillars 111B.

[0098] 9 is a schematic diagram showing a second stage of the installation method for the mobile inspection device 1 according to the embodiment. In the second stage shown in FIG. 9, the first support part 2 is slidably installed on each of the second beams 113A1 and 113A2, and the second support part 3 is slidably installed on each of the second beams 113B1 and 113B2. In addition, the first drive source 11 is installed on the pillar 111A1, and the second drive source 12 is installed on the pillar 111B1.

[0099] 10 is a schematic diagram showing a third stage of the installation method of the mobile inspection device 1 according to the embodiment. In the third stage shown in FIG. 10, a wire 4 is suspended between the first support portion 2 of the second beam 113A2 and the second support portion 3 of the second beam 113B2 so as to extend along the Y direction. Similarly, a wire 4 is suspended between the first support portion 2 of the second beam 113A1 and the second support portion 3 of the second beam 113B1 so as to extend along the Y direction.

[0100] In the third stage, the first operating rope 6 is laid across the second beam 113A2 and the portion of the pillar 111A1 below the second beam 113A2. At this time, the portion of the first operating rope 6 laid along the second beam 113A2 is stretched between the first fixed pulley 14A and the pair of second fixed pulleys 15A, 16A, as described with reference to Figures 2 and 3, and the first support part 2 is connected to the rope portion 6A of this portion.

[0101] The portion of the first operating rope 6 that is laid along the pillar 111A1 hangs down from the end of the second beam 113A2 on the X positive side (the position where it is wound around the pair of second fixed pulleys 15A, 16A) toward the installation surface G. Then, this hanging end of the first operating rope 6 is connected to the first driving source 11.

[0102] Similarly, in the third stage, the second operating rope 7 is laid across the second beam 113B2 and the portion of the pillar 111B1 below the second beam 113B2. At this time, the portion of the second operating rope 7 laid along the second beam 113B2 is hung between the first fixed pulley 14B and the pair of second fixed pulleys 15B, 16B, as described with reference to Figures 2 and 3, and the second support part 3 is connected to the rope portion 7A of this portion.

[0103] The portion of the second operating rope 7 that is laid along the pillar 111B1 hangs down from the end of the second beam 113B2 on the X positive direction side (the position where it is wound around the pair of second fixed pulleys 15B, 16B) toward the installation surface G. Then, this hanging end of the second operating rope 7 is connected to the second drive source 12.

[0104] FIG. 11 is a schematic diagram showing a fourth stage of the installation method of the mobile inspection device 1 according to the embodiment. In the fourth stage shown in FIG. 11, the mobile device main body 5 is slidably connected to the wire 4 suspended between the first support 2 of the second beam 113A2 and the second support 3 of the second beam 113B2. An imaging device 9 is also installed on the mobile device main body 5 and adjusted to enable imaging at a desired angle of view. Furthermore, in the fourth stage, although not shown in FIG. 11, a third operating rope 8 is laid along the wire 4 suspended between the first support 2 of the second beam 113A2 and the second support 3 of the second beam 113B2, and the third operating rope 8 is connected to the first support 2 of the second beam 113A2, the second support 3 of the second beam 113B2, and the mobile device main body 5 on the wire 4.

[0105] 11 is completed, the installation work of the mobile inspection device 1 for inspecting the piping group 1203 in the third row from the top of the piping rack 100 is completed. After that, the position of the mobile device main body 5 is controlled, and the inspection work of the piping group 1203 to be inspected is carried out.

[0106] After the inspection work of piping group 1203 is completed, the inspection target shifts to piping group 1202, the second highest. The work of the third stage in Fig. 10 and the fourth stage in Fig. 11 is performed by changing from second beams 113A2 and 113B2 to second beams 113A1 and 113B1. Thereafter, the position of moving device main body 5 is controlled, and the inspection work of piping group 1202, the inspection target, is performed.

[0107] These procedures are carried out for all of the multiple tiers of piping groups to be inspected in the piping rack 100.

[0108] Then, when the inspection work on all the piping groups in the inspection area between the two pairs of pillars 111A, 111B illustrated in FIGS. 8 to 11 is completed, the inspection area is transitioned to another pair of pillars 111A, 111B in the rack 110. For example, the scaffolding 200 on one of the two pairs of pillars 111A, 111B at both ends of the current inspection area is left as is, and the scaffolding 200 is set up on another pillar that is spaced apart in the Y direction the same as the current inspection area, and work similar to the first stage of FIG. 8 is performed. Thereafter, in the inspection area between the new two pairs of pillars, work in the second stage of FIG. 9, the third stage of FIG. 10, and the fourth stage of FIG. 11 is performed, and the mobile inspection device 1 is relocated. Then, similar inspection work is performed in the new inspection area using the relocated mobile inspection device 1.

[0109] The inspection work according to these procedures is performed, for example, over a predetermined range in the extension direction of the piping 120 of the piping rack 100, while the scaffolding 200 and the mobile inspection device 1 are moved. Note that the installation work of the scaffolding 200 in the first stage of Fig. 8 may be performed all at once at the start of the inspection work, by installing the scaffolding 200 on the pillars of the rack 110 at predetermined intervals over the entire range of the inspection work.

[0110] 8 to 11, the installation method of the mobile inspection device 1 of this embodiment can utilize the second beams 113A1, 113A2, 113B1, and 113B2 of the piping rack 100, which is the object to be inspected, as the first guide and the second guide for moving the first support unit 2 and the second support unit 3 in the X direction, thereby reducing the number of parts of the mobile inspection device 1. Furthermore, the first drive source 11 and the second drive source 12, which are relatively heavy, can be installed near the installation surface G without being lifted up to the height position where the mobile device main body 5 is installed, so the work of lifting the first drive source 11 and the second drive source 12 can be omitted, thereby reducing the burden of the installation work.

[0111] Furthermore, it is only necessary to suspend two wires 4 between second beams 113A1, 113A2 on which first support section 2 is installed and second beams 113B1, 113B2 on which second support section 3 is installed, and lay third operating rope 8. This allows for a relatively small number of elements to be stretched between scaffolding 200 installed on pillar 111A and scaffolding 200 installed on pillar 111B, and also does not require strict installation precision, further reducing the burden of installation work.

[0112] Furthermore, as shown in FIGS. 8 to 11 , the rack 110 of the piping rack 100 has multiple pairs of columns arranged at predetermined intervals along the extension direction of the piping 120. The mobile inspection device 1 can be installed between any two pairs of columns 111A, 111B. In other words, the mobile inspection device 1 does not necessarily have to be installed between two adjacent pairs of columns of the rack 110. At least one other pair of columns may be arranged between the two pairs of columns 111A, 111B on which the first support unit 2 and the second support unit 3 of the mobile inspection device 1 are installed. In the example of FIGS. 8 to 11 , three other pairs of columns are arranged between the two pairs of columns 111A, 111B. In this case, the scaffolding 200 used to install the mobile inspection device 1 only needs to be installed every four pairs of columns of the rack 110. In this case, the scaffolding 200 installed on each of the two pairs of pillars 111A, 111B can be spaced apart, for example, at intervals of about 35 m along the Y direction. In this way, the number of scaffolding 200 installed to install the mobile inspection device 1 can be reduced compared to conventional methods, which also reduces the burden of the installation work for the mobile inspection device 1.

[0113] For the above reasons, the installation method of the mobile inspection device 1 of this embodiment can improve the ease of installation of the mobile inspection device 1 on an inspection target object. Improving the ease of installation can shorten the time required for installation work, which in turn shortens the overall time required for inspection work, making the inspection work more efficient.

[0114] In the installation method of the mobile inspection device 1 of this embodiment, in the second stage shown in FIG. 9, the time required for the installation work of the first support unit 2, the second support unit 3, the first drive source 11, and the second drive source 12 is, for example, within 20 minutes. In the third stage shown in FIG. 10, the time required for the work of suspending the wire 4 and the work of laying the first operating rope 6 and the second operating rope 7 is, for example, within 30 minutes. In the fourth stage shown in FIG. 11, the time required for the work of shifting the inspection target to the second-highest piping group 1202 after the inspection work of the piping group 1203 to be inspected is completed is, for example, approximately 10 minutes. In other words, in the installation method of the mobile inspection device 1 of this embodiment, the time required for installing the mobile inspection device 1 in a specified inspection area can be reduced to approximately one hour.

[0115] <Modification of the installation configuration of the imaging device 9> 12 and 13, modified examples of the installation configuration of the imaging device 9 will be described. In the above embodiment, as described with reference to Fig. 5, the configuration in which the imaging device 9 is installed above the piping 120 to be inspected is exemplified, but the installation position of the imaging device 9 is not limited to the example of Fig. 5.

[0116] Fig. 12 is a schematic diagram showing a first modified example of the installation configuration of the imaging device 9. The outline of Fig. 12(A) and (B) is similar to Fig. 5(A) and (B). As in the first modified example shown in Fig. 12, the imaging device 9 may be configured to be inserted into the gap between two adjacent pipes 120.

[0117] The imaging device 9 of the first modified example is attached below the moving device main body 5. In the example of FIG. 12, two imaging devices 9C and 9D are installed. As shown in FIG. 12(A), one imaging device 9C is installed so that its optical axis F faces the negative X direction. The other imaging device 9D is installed so that its optical axis G faces the positive X direction. The two imaging devices 9C and 9D are inserted into the gap between two adjacent pipes 120. One imaging device 9C can capture an image of the pipe 120 on the negative X direction side viewed from a central position in the height direction. The other imaging device 9D can capture an image of the pipe 120 on the positive X direction side viewed from a central position in the height direction.

[0118] The moving apparatus main body 5 of the first modified example includes adjustment units 55C and 55D for adjusting the directions of the optical axes F and G of the imaging devices 9C and 9D. The adjustment units 55C and 55D have pillars 55C1 and 55D1 and angle adjustment units 55C2 and 55D2 similar to the adjustment units 55A and 55B in Fig. 5. In the example of Fig. 12, the angle adjustment units 55C2 and 55D2 are installed to be rotatable about a rotation axis parallel to the Y direction, thereby enabling adjustment of the tilt angle of the imaging devices 9C and 9D with respect to the vertical direction along the XZ plane.

[0119] As shown in Fig. 12(B), adjustment units 55C and 55D are installed below movement apparatus main body 5 at positions where imaging devices 9C and 9D can be arranged in series along the Y direction. Note that, in the example of Fig. 12, a configuration is illustrated in which pillar portion 55C1 of adjustment unit 55C and pillar portion 55D1 of adjustment unit 55D have substantially the same length, but the lengths of pillar portions 55C1 and 55D1 are not limited to this example. A configuration in which pillar portions 55C1 and 55D1 have different lengths, resulting in different height positions of angle adjustment units 55C2 and 55D2, may also be used.

[0120] Fig. 13 is a schematic diagram showing a second modified example of the installation configuration of the imaging device 9. The overview of Figs. 13(A) and (B) is the same as Figs. 5(A) and (B). As in the second modified example shown in Fig. 13, the imaging device 9 may be attached above the mobile device main body 5.

[0121] In the example of Fig. 13, two imaging devices 9E and 9F are installed. As shown in Fig. 13(B), one imaging device 9E is installed so that its optical axis H faces the positive Y direction. The other imaging device 9F is installed so that its optical axis I faces the negative Y direction. As shown in Figs. 13(A) and 13(B), the two imaging devices 9E and 9F can capture images of the same pipe 120 viewed from below and from opposite directions along the longitudinal direction.

[0122] The moving apparatus main body 5 of the second modified example includes adjustment units 55E and 55F for adjusting the directions of the optical axes H and I of the imaging devices 9E and 9F. The adjustment units 55E and 55F have pillar portions 55E1 and 55F1 and angle adjustment units 55E2 and 55F2 similar to the adjustment units 55A and 55B in FIG.

[0123] 13 illustrates a configuration in which the length of the pillar portion 55E1 of the adjustment portion 55E and the length of the pillar portion 55F1 of the adjustment portion 55F are substantially the same, but the lengths of the pillar portions 55E1, 55F1 are not limited to this example. The lengths of the pillar portions 55E1, 55F1 may be different, and as a result, the height positions of the angle adjustment portions 55E2, 55F2 may be different.

[0124] The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art as appropriate are also included within the scope of the present disclosure as long as they comprise the features of the present disclosure. The elements of the above-described specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and can be modified as appropriate. The elements of the above-described specific examples can be combined in various ways as appropriate, as long as no technical contradictions arise.

[0125] In the above embodiment, the mobile inspection device 1, which is movable relative to an inspection object (the piping 120 of the piping rack 100) and is used to inspect the inspection object, is exemplified as an example of a mobile device according to the embodiment. However, any mobile device that is installed at least within a structure and movable relative to the structure may be used, and the mobile device may be applied to purposes other than inspecting the inspection object. Here, the term "structure" includes man-made structures similar to the piping rack 100 and naturally occurring structures. Furthermore, the inspection object may also include piping equipment similar to the piping rack 100 and structures including an elevated portion elevated above a bridge or the like.

[0126] In the above embodiment, the imaging device 9 that captures images of the piping 120 to be inspected is exemplified as an example of an inspection device mounted on the mobile device main body 5 of the mobile inspection device 1. However, the inspection device may be any device that can detect abnormalities in the object to be inspected using at least some method, and may be, for example, equipment related to a non-destructive inspection method that uses information other than image information, such as ultrasonic flaw detection or magnetic flaw detection, or a leak detection device that detects leaks of gas or fluid flowing through the piping 120. Furthermore, a configuration in which multiple types of inspection devices are mounted on the mobile device main body 5 may be adopted. Note that even when equipment other than the imaging device 9 is used as the inspection device, if the mobile inspection device 1 is used in an explosion-proof area, the applied equipment must also have an explosion-proof structure.

[0127] In the above embodiment, the second beams 113A1, 113A2, 113B1, and 113B2 of the piping rack 100 are used as an example of the "first guide and second guide" that extend parallel to the first direction (X direction) of the object to be inspected (the piping 120 of the piping rack 100) by the mobile inspection device 1 and slidably connect the first support unit 2 and the second support unit 3. However, other elements may be used as the "first guide and second guide." If the object to be inspected does not have an element that slidably connects the first support unit 2 and the second support unit 3 in the X direction within the desired inspection range of the mobile inspection device 1, for example, a beam may be attached horizontally between two of the multiple scaffoldings 200 illustrated in FIGS. 8 to 11 that are arranged opposite each other in the X direction. Such beams may be installed at both ends of the inspection range in the Y direction, and these two beams may be used as the "first guide and second guide." With this configuration, the first guide and second guide can be placed at any position in the Y direction regardless of the structure of the object to be inspected, thereby improving the degree of freedom in setting the inspection range of the mobile inspection device 1.

[0128] In the above embodiment, a configuration has been exemplified in which the first drive source 11 outputs the drive force that the first operating rope 6 transmits to the first support unit 2, the second drive source 12 outputs the drive force that the second operating rope 7 transmits to the second support unit 3, and the third drive source 13 outputs the drive force that the third operating rope 8 transmits to the mobile device main body 5. However, the mobile inspection device 1 may be configured without at least some of the first drive source 11, the second drive source 12, and the third drive source 13. In this case, a drive force can be transmitted to an operating rope that does not have a drive source by applying an external force, such as human power.

[0129] In the above embodiment, a configuration has been exemplified in which the control unit 10 (10A, 10B) controls the operations of the first drive source 11, the second drive source 12, the third drive source 13, and the imaging device 9, but the mobile inspection device 1 may be configured not to include the control unit 10. In this case, the first drive source 11, the second drive source 12, the third drive source 13, and the imaging device 9 can be individually controlled to operate or stop, for example, by operation by an operator.

[0130] In the above embodiment, a configuration was exemplified in which the first support part 2 is operated using the first operating rope 6, the second support part 3 is operated using the second operating rope 7, and the moving device main body part 5 is operated using the third operating rope 8, but the first operating rope 6, the second operating rope 7, and the third operating rope 8 can be any long element that can operate the object to be operated, and materials other than ropes, such as wires or narrow film materials, can also be used. [Explanation of symbols]

[0131] 1 Mobile inspection equipment (mobile equipment) 2 First support part 3 Second support part 4 Wire (third guide) 5. Mobile device main body 6 First operating rope (first operating part) 7 Second operating rope (second operating part) 8 Third operating rope (third operating part) 9 Imaging device (inspection device) 10, 10A, 10B Control section 11 First driving source 12 Second driving source 13 Third driving source 55A, 55B, 55C, 55D, 55E, 55F adjustment section 100 Piping rack (inspection object, structure) 110 racks 120 Piping 113A1, 113A2 Second beam (first guide) 113B1, 113B2 Second beam (second guide)

Claims

1. A moving device that is installed within a structure and is movable relative to the structure, a first support portion and a second support portion slidably connected to a first guide and a second guide, respectively, which extend parallel to each other along a first direction of the structure; a third guide suspended between the first support portion and the second support portion and extending along a second direction of the structure that intersects with the first direction; a moving device main body portion slidably connected to the third guide and capable of mounting equipment; a first operating portion having an elongated shape and connected to the first support portion; a second operating portion having an elongated shape and connected to the second support portion; a third operating unit having an elongated shape and connected to the moving device main body; Equipped with a driving force is transmitted to the first support portion via the first operation portion to move it in the first direction, and a driving force is transmitted to the second support portion via the second operation portion to move it in the first direction, thereby moving the moving device main body in the first direction; a driving force being transmitted to the moving device main body via the third operation unit, thereby causing the moving device main body to move in the second direction; Mobile device.

2. a first drive source connected to the first operation unit and transmitting a drive force to the first support unit via the first operation unit; a second drive source connected to the second operation portion and transmitting a drive force to the second support portion via the second operation portion; a third drive source mounted on the first support portion or the second support portion and configured to transmit a drive force to the movement device main body portion via the third operation portion; Equipped with the first driving source moves the first support part in the first direction via the first operation part, and the second driving source moves the second support part in the first direction via the second operation part, thereby moving the moving device main body in the first direction; the third driving source transmits a driving force to the moving device main body via the third operation unit, thereby moving the moving device main body in the second direction; The mobile device of claim 1 .

3. a control unit that controls operations of the first drive source, the second drive source, and the third drive source; The control unit the first driving source and the second driving source are used to control the operation amounts of the first operating unit and the second operating unit, thereby moving the moving device main body in the first direction; The third driving source is used to control the operation amount of the third operation unit, thereby moving the movement device main body in the second direction. The mobile device of claim 2 .

4. the control unit synchronizes the operation amounts of the first operation unit and the second operation unit using the first driving source and the second driving source, thereby moving the movement device main body in the first direction while maintaining a state in which the third guide is aligned with the second direction. The mobile device of claim 3 .

5. the control unit calculates the operation amounts of the first operation unit and the second operation unit and the operation amount of the third operation unit in accordance with a desired movement position of the movement device main body unit.

5. A moving device according to claim 3 or 4.

6. the control unit determines the position of the movable device body by calculation based on the operation amounts of the first operation unit and the second operation unit and the operation amount of the third operation unit.

5. The moving device according to claim 3 or 4.

7. the first direction and the second direction are directions perpendicular to each other and are horizontal directions at an arbitrary height position within the structure, one end of the first operating unit and one end of the second operating unit hangs down from one end of the first guide and one end of the second guide arranged at the height position toward an installation surface, the first driving source and the second driving source are coupled to one end of the first operating unit and one end of the second operating unit, The mobile device of claim 2 .

8. the first guide and the second guide are beams extending in the first direction and provided on the structure or a frame installed on the outside of the structure, the first support portion and the second support portion are installed to be slidable in the first direction by sandwiching the beam material, the third guide is a wire suspended between the first support portion and the second support portion, the wire is passed through the moving device main body, and the moving device main body is installed so as to be slidable in the second direction; The mobile device of claim 1 .

9. A mobile inspection device that is movable relative to an inspection object and is used to inspect the inspection object, a first support portion and a second support portion slidably connected to a first guide and a second guide, respectively, which extend parallel to a first direction of the inspection object; a third guide suspended between the first support portion and the second support portion and extending along a second direction of the inspection object that intersects with the first direction; a moving device main body that is slidably connected to the third guide and that can carry an inspection device for inspecting the inspection object; a first operating portion having an elongated shape and connected to the first support portion; a second operating portion having an elongated shape and connected to the second support portion; a third operating unit having an elongated shape and connected to the moving device main body; Equipped with a driving force is transmitted to the first support portion via the first operation portion to move it in the first direction, and a driving force is transmitted to the second support portion via the second operation portion to move it in the first direction, thereby moving the moving device main body in the first direction; a driving force being transmitted to the moving device main body via the third operation unit, thereby causing the moving device main body to move in the second direction; Mobile inspection equipment.

10. the inspection object includes a metal rack and a metal pipe supported by the rack, The inspection device inspects the piping. The mobile inspection device according to claim 9.

11. the inspection device is an imaging device, The imaging device photographs the piping at a position where the moving device main body is disposed. The mobile inspection device according to claim 10.

12. the moving device main body has an adjustment unit that can adjust the height position or the imaging direction of the imaging device relative to the piping, The mobile inspection device according to claim 11.

13. a control unit that controls operations of the moving device main body and the imaging device, the moving device main body and the imaging device are placed in an explosion-proof area, The control unit is disposed in a non-explosion-proof area. The mobile inspection device according to claim 11 or 12.

14. a first drive source connected to the first operation unit and transmitting a drive force to the first support unit via the first operation unit; a second drive source connected to the second operation portion and transmitting a drive force to the second support portion via the second operation portion; a third drive source mounted on the first support portion or the second support portion and configured to transmit a drive force to the movement device main body portion via the third operation portion; Equipped with the control unit controls operations of the first drive source, the second drive source, and the third drive source; the first support portion, the second support portion, and the third drive source are disposed in the explosion-proof area. The mobile inspection device according to claim 13.

15. the first driving source and the second driving source are disposed in the explosion-proof area; The mobile inspection device of claim 14.

16. 1. A method for installing a moving device that is installed in a structure and is movable relative to the structure, comprising: Slidably connecting a first support portion and a second support portion to a first guide and a second guide, respectively, extending parallel to each other along a first direction of the structure; suspending a third guide between the first support portion and the second support portion so as to extend along a second direction of the structure that intersects with the first direction; connecting an elongated first operating portion and an elongated second operating portion to the first support portion and the second support portion, respectively; a step of slidably connecting a moving device main body, on which equipment can be mounted, to the third guide; connecting an elongated third operating unit to the moving device main body; A method for installing a mobile device, comprising:

17. the step of connecting the first support portion and the second support portion includes a step of installing a first drive source that transmits a drive force to the first support portion via the first operation portion and a second drive source that transmits a drive force to the second support portion via the second operation portion; the step of connecting the first operating unit and the second operating unit includes the steps of connecting the first driving source to the first operating unit and connecting the second driving source to the second operating unit. The method for installing a mobile device according to claim 16.

18. the step of connecting the first support portion and the second support portion and the step of suspending the third guide are performed such that the first direction and the second direction are perpendicular to each other and are horizontal at an arbitrary height position within the structure; In the step of connecting the first operating unit and the second operating unit, one end of the first operating unit and one end of the second operating unit hang down toward the ground from one end of the first guide and one end of the second guide that are disposed at the height position, the step of installing the first driving source and the second driving source includes connecting the first driving source and the second driving source to one end of the first operating unit and one end of the second operating unit, respectively; The method for installing a mobile device according to claim 17.

19. the first guide and the second guide are beams extending in the first direction and provided on the structure or a frame installed on the outside of the structure, the third guide is a wire suspended between the first support portion and the second support portion, the step of connecting the first support portion and the second support portion includes: sandwiching the first support portion and the second support portion between the beam members to allow the first support portion and the second support portion to slide in the first direction; the step of suspending the third guide includes suspending the wire between the first support portion and the second support portion so as to extend along the second direction; the step of connecting the moving device body includes connecting the moving device body slidably in the second direction by passing the wire through the moving device body; The method for installing a moving device according to any one of claims 16 to 18.

Images