Pipe inspection cart

Abstract

To provide a carriage for piping inspection, capable of moving in the lengthwise direction of piping by moving in the pipe peripheral direction for avoidance of any obstacle such as a pipe support member.SOLUTION: In a carriage for piping inspection, a carriage body 1 includes a first end 11 and a second end 21. Under such a state where the carriage body 1 is fitted on a pipe A, the carriage body 1 moves along a pipe A with the first end 11 and the second end 21 separated by a prescribed distance, and the carriage body 1 includes at least three omnidirectional wheels 30 abutting on an outer surface of the pipe A with the carriage body 1 fitted on the pipe A. Taking the driving direction of the driving wheel of at least one omnidirectional wheel 30 as the pipe peripheral direction of the pipe A and the driving direction of the driving wheel of at least one omnidirectional wheel 30 as the pipe lengthwise direction of the pipe A, the carriage body 1 is moved in the pipe lengthwise direction and moved in the pipe peripheral direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pipe inspection cart that is attached to the outer periphery of a pipe and moves along the pipe to inspect the pipe. [Background technology]

[0002] Many of the piping facilities that have already been constructed are inspected visually, and it is difficult to ensure safety when working at heights. With the declining birthrate and aging population, it will be even more difficult to secure workers in the future. Therefore, there is a demand for a pipe inspection cart that can be remotely controlled and does not require workers to work at heights. Patent Documents 1 to 3 propose a pipe inspection cart that is attached to the outer periphery of a pipe and can move along the pipe. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6454676 [Patent Document 2] Patent No. 6166280 [Patent Document 3] Patent No. 5327609 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the pipe inspection carriages described in Patent Documents 1 to 3 cannot move the carriage body in the circumferential direction of the pipe. Therefore, when a pipe support member for supporting the pipe is attached to the pipe, for example, these pipe inspection carts cannot move in the longitudinal direction of the pipe while avoiding the pipe support member.

[0005] An object of the present invention is to provide a pipe inspection cart that can move in the longitudinal direction of the pipe by moving the cart body in the circumferential direction of the pipe, avoiding obstacles such as pipe support members. [Means for solving the problem]

[0006] The pipe inspection cart of the present invention described in claim 1 is a cart for inspecting a pipe A, in which a cart body 1 is attached to the outer periphery of the pipe A, and the cart body 1 moves along the pipe A to inspect the pipe A, the cart body 1 has a first end 11 and a second end 21, and when the cart body 1 is attached to at least the pipe A, the first end 11 and the second end 21 are spaced apart from each other by a predetermined distance, and when the cart body 1 is attached to the pipe A, the first end 11 and the second end 21 are spaced apart from each other by a predetermined distance. The cart body 1 is a pipe inspection cart that moves along the pipe A in a spaced-apart state, and the cart body 1 is provided with at least three omnidirectional wheels 30 that come into contact with the outer surface of the pipe A when the cart body 1 is attached to the pipe A, and the driving direction of the drive wheel of at least one of the omnidirectional wheels 30 is the pipe longitudinal direction of the pipe A, and the driving direction of the drive wheels of the other omnidirectional wheels 30 is the pipe circumferential direction of the pipe A, so that the cart body 1 moves in the pipe longitudinal direction and in the pipe circumferential direction. The bogie body 1 has a first arm 10 forming the first end 11 and a second arm 20 forming the second end 21, and the omnidirectional wheels 30 include at least a first omnidirectional wheel 31, a second omnidirectional wheel 32, a third omnidirectional wheel 33, and a fourth omnidirectional wheel 34, the drive directions of the drive wheels of the first omnidirectional wheel 31 and the second omnidirectional wheel 32 are the longitudinal direction of the piping A, and the drive directions of the drive wheels of the third omnidirectional wheel 33 and the fourth omnidirectional wheel 34 are the circumferential direction of the piping A, the first omnidirectional wheel 31 and the third omnidirectional wheel 33 are arranged on the first arm 10, and the second omnidirectional wheel 32 and the fourth omnidirectional wheel 34 are arranged on the second arm 20. It is characterized by: Claim 2 The present invention as described is Claim 1 In the pipe inspection cart described above, the first arm 10 and the second arm 20 are each formed in an arc shape, and a main body fastening portion 40 is provided that connects the first arm 10 and the second arm 20, and the distance between the first end 11 and the second end 21 can be changed by changing the fastening angle between the first arm 10 and the second arm 20 using the main body fastening portion 40. Claim 3 The present invention as described above is characterized in that claim 1 or claim 2 In the pipe inspection cart described in the above, all of the omnidirectional wheels 30 are arranged on a virtual plane Z. Claim 4 The invention as described comprises claims 1 to Claim 3In the pipe inspection cart described in any one of the above, the cart body 1 has an obstacle detection unit 50 that detects the position of an obstacle B such as a pipe support member, and when the obstacle detection unit 50 detects the obstacle B, the cart body 1 is moved in a circumferential direction of the pipe to avoid the obstacle B. Claim 5 The invention as described comprises claims 1 to Claim 4 In the pipe inspection cart described in any one of the above, the cart body 1 has a pipe condition detection unit 60 that detects the condition of the pipe A, and the pipe condition detection unit 60 detects the condition of the pipe A at different positions in the circumferential direction of the pipe by moving the cart body 1 in the circumferential direction of the pipe, and detects the condition of the pipe A at different positions in the longitudinal direction of the pipe by moving the cart body 1 in the longitudinal direction of the pipe. [Effects of the Invention]

[0007] According to the present invention, the carriage body moves along the pipe with the first end and the second end separated by a predetermined distance, and at least three omnidirectional wheels that abut the outer surface of the pipe are provided on the carriage body with different drive directions, allowing movement in the circumferential direction of the pipe, thereby allowing movement in the longitudinal direction of the pipe while avoiding obstacles such as pipe support members. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a front view of a pipe inspection cart according to an embodiment of the present invention. [Figure 2] FIG. 10 is a perspective view of the piping inspection cart. [Figure 3] 1A and 1B are side, top, and bottom views of the piping inspection cart; [Figure 4] FIG. 10 is a perspective view showing the state in which the piping inspection cart is attached to the piping. [Figure 5] A diagram showing the obstacle avoidance operation of the pipe inspection cart. DETAILED DESCRIPTION OF THE INVENTION

[0009] A pipe inspection cart according to a first embodiment of the present invention has a cart body having a first end and a second end, and when the cart body is attached to the pipe, the cart body moves along the pipe with the first end and the second end spaced apart by a predetermined distance, and the cart body is provided with at least three omnidirectional wheels that come into contact with the outer surface of the pipe when the cart body is attached to the pipe, and the drive direction of the drive wheel of at least one omnidirectional wheel is the longitudinal direction of the pipe and the drive direction of the drive wheels of the other omnidirectional wheels is the circumferential direction of the pipe, so that the cart body moves in the longitudinal direction of the pipe and in the circumferential direction of the pipe. The bogie body has a first arm forming a first end and a second arm forming a second end, and is provided with at least a first omnidirectional wheel, a second omnidirectional wheel, a third omnidirectional wheel, and a fourth omnidirectional wheel as omnidirectional wheels, the drive direction of the drive wheels of the first omnidirectional wheel and the second omnidirectional wheel is the longitudinal direction of the piping, and the drive direction of the drive wheels of the third omnidirectional wheel and the fourth omnidirectional wheel is the circumferential direction of the piping, the first omnidirectional wheel and the third omnidirectional wheel are arranged on the first arm, and the second omnidirectional wheel and the fourth omnidirectional wheel are arranged on the second arm. It is something. According to this embodiment, the carriage body moves along the pipe with the first end and the second end separated by a predetermined distance, and at least three omnidirectional wheels that abut the outer surface of the pipe are provided on the carriage body with different drive directions, allowing movement in the circumferential direction of the pipe, so that the carriage can move in the longitudinal direction of the pipe while avoiding obstacles such as pipe support members, and when stopped, the movement of any of the omnidirectional wheels in the drive direction is restricted, so the carriage body will not rotate around the pipe due to its own weight or slide down a pipe that is inclined in the vertical direction. In addition, the first arm is provided with a first omnidirectional wheel whose drive wheel is driven in the longitudinal direction of the piping, and a third omnidirectional wheel whose drive wheel is driven in the circumferential direction of the piping, and the second arm is provided with a second omnidirectional wheel whose drive wheel is driven in the longitudinal direction of the piping, and a fourth omnidirectional wheel whose drive wheel is driven in the circumferential direction of the piping.This allows for stable movement in the longitudinal direction of the piping and movement in the circumferential direction of the piping, and also allows for reliable posture maintenance even when stopped.

[0010] The present invention No. 2 The embodiment of the present invention is No. 1 In the embodiment of the pipe inspection cart, the first arm and the second arm are each formed in an arc shape and are provided with a main body fastening portion that connects the first arm and the second arm, and the distance between the first end and the second end can be changed by changing the fastening angle between the first arm and the second arm using the main body fastening portion. According to this embodiment, by changing the fastening angle between the first arm and the second arm using the main body fastening portion, the carriage main body can be easily attached to pipes of different pipe diameters.

[0011] The present invention Third The first embodiment of the present invention is or second In the pipe inspection cart according to the embodiment, all of the omnidirectional wheels are arranged on a virtual plane. According to this embodiment, all omnidirectional wheels are arranged on a virtual plane, which reduces the longitudinal dimensions of the carriage body along the pipe, making it possible to easily move around curved pipes such as U-shaped pipes.

[0012] The present invention Fourth The embodiments are as follows: Third In any of the embodiments of the pipe inspection cart, the cart body has an obstacle detection unit that detects the position of an obstacle such as a pipe support member, and when the obstacle detection unit detects an obstacle, the cart body is moved in a circumferential direction of the pipe to avoid the obstacle. According to this embodiment, the carriage body moves along the pipe with the first end and the second end separated by a predetermined distance, and the carriage body can be moved circumferentially around the pipe, thereby making it possible to avoid obstacles such as pipe support members.

[0013] The present invention No. 5 The embodiments are as follows: Fourth In the pipe inspection cart according to any one of the above embodiments, the cart body has a piping condition detection unit that detects the condition of the piping, and the piping condition detection unit detects the condition of the piping at different positions in the circumferential direction of the piping by moving the cart body in the circumferential direction of the piping, and detects the condition of the piping at different positions in the longitudinal direction of the piping by moving the cart body in the longitudinal direction of the piping. According to this embodiment, the state of the pipe can be detected over the entire circumference of the pipe. [Example]

[0014] A pipe inspection cart according to one embodiment of the present invention will now be described. FIG. 1 is a front view of a pipe inspection cart according to this embodiment, where FIG. 1(a) shows the state when the cart body is attached to the pipe, and FIG. 1(b) shows the state after the cart body has been attached to the pipe. In the pipe inspection cart according to this embodiment, a cart body 1 is attached to the outer periphery of a pipe A, and the cart body 1 moves along the pipe A. The bogie body 1 has a first end 11 and a second end 21, and at least when the bogie body 1 is attached to the pipe A, the first end 11 and the second end 21 are spaced apart by a distance greater than the outer diameter dimension of the pipe A, and when the bogie body 1 is attached to the pipe A, the bogie body 1 moves along the pipe A with the first end 11 and the second end 21 spaced apart by a predetermined distance.

[0015] The bogie body 1 has a first arm 10 forming a first end 11 and a second arm 20 forming a second end 21, and is equipped with at least a first omnidirectional wheel 31, a second omnidirectional wheel 32, a third omnidirectional wheel 33, and a fourth omnidirectional wheel 34 as omnidirectional wheels 30. The first arm 10 and the second arm 20 are each formed in an arc shape. The first arm 10 and the second arm 20 are connected by a main body tightening portion 40. The main body tightening portion 40 can change the tightening angle between the first arm 10 and the second arm 20, and changing the tightening angle between the first arm 10 and the second arm 20 changes the distance between the first end 11 and the second end 21. The main body tightening portion 40 preferably includes an elastic member that applies a biasing force in a direction that brings the first end 11 and the second end 21 closer together. The biasing force that applies in a direction that brings the first end 11 and the second end 21 closer together can press the omnidirectional wheel 30 against the pipe A. In addition to or instead of providing the main body tightening portion 40 with an elastic member, the first arm 10 and the second arm 20 may be provided with an elastic member that presses each omnidirectional wheel 30 against the pipe A. Note that if the first arm 10 and the second arm 20 are integrated into a U-shape in advance, the first end 11 and the second end 21 can slide relative to the first arm 10 and the second arm 20, respectively, and at least a portion of the arm that slides the first end 11 and the second end 21 can be stored in the first arm 10 and the second arm, the main body tightening unit 40 can be eliminated. In this case, when the cart main body 1 is attached to the piping A, at least a portion of the arm that slides the first end 11 and the second end 21 is stored in the arm 10 and the second arm 20, respectively, so that the first end 11 and the second end 21 are spaced apart by a distance greater than the outer diameter of the piping A, and when the cart main body 1 is attached to the piping A, the first end 11 and the second end 21 are pulled out from the first arm 10 and the second arm 20, so that the first end 11 and the second end 21 are spaced apart by a predetermined distance. The carriage body 1 moves along the pipe A with the first end 11 and the second end 21 spaced apart by a predetermined distance.

[0016] The first arm 10 is provided with a first omnidirectional wheel 31 and a third omnidirectional wheel 33, and the second arm 20 is provided with a second omnidirectional wheel 32 and a fourth omnidirectional wheel 34. 1(b), when the carriage body 1 is attached to the pipe A, it is preferable that the first omnidirectional wheel 31 and the fourth omnidirectional wheel 34 are positioned symmetrically with respect to the center point X of the cross section of the pipe A, and the second omnidirectional wheel 32 and the third omnidirectional wheel 33 are positioned symmetrically with respect to the center point X of the cross section of the pipe A. However, it is sufficient that the imaginary line Y connecting the third omnidirectional wheel 33 located on the first end 11 side and the fourth omnidirectional wheel 34 located on the second end 21 side is positioned outward from the center point X of the cross section of the pipe A. The first omnidirectional wheel 31 and the second omnidirectional wheel 32 are positioned inward from the center point X of the cross section of the pipe A.

[0017] The omnidirectional wheel 30 is a wheel that has a driving direction and also passively rotates in a direction different from the driving direction, and examples thereof include Omniwheel (registered trademark, manufactured by Fuji Seisakusho Co., Ltd.) and Mecanum wheel (registered trademark, manufactured by Vstone Co., Ltd.). In the drawing, the omnidirectional wheel 30 is drawn so as to show the driving direction of the omnidirectional wheel 30, and does not show the exact wheel structure. As shown in FIG. 1, the driving direction of the first omnidirectional wheel 31 and the second omnidirectional wheel 32 is the longitudinal direction of the pipe A, and the driving direction of the third omnidirectional wheel 33 and the fourth omnidirectional wheel 34 is the circumferential direction of the pipe A.

[0018] The carriage body 1 has an obstacle detection unit 50 that detects the position of an obstacle B (see FIG. 5) such as a pipe support member, and a pipe state detection unit 60 that detects the state of the pipe A. FIG. 1 shows a contact detection unit 51 that detects an obstacle B by contact, a distance measurement unit 52 that measures the distance to the obstacle B using a laser or the like, and a camera unit 61 that can take an image. The contact detection unit 51 , the distance measurement unit 52 , and the camera unit 61 can be used as an obstacle detection unit 50 , and the contact detection unit 51 and the camera unit 61 can be used as a piping condition detection unit 60 . It is preferable that the contact detection unit 51, the distance measurement unit 52, and the camera unit 61 are provided on the first arm 10 and the second arm 20, respectively.

[0019] As described above, the first arm 10 is provided with the first omnidirectional wheel 31, whose drive wheel is driven in the longitudinal direction of the pipe A, and the third omnidirectional wheel 33, whose drive wheel is driven in the circumferential direction of the pipe A, and the second arm 20 is provided with the second omnidirectional wheel 32, whose drive wheel is driven in the longitudinal direction of the pipe A, and the fourth omnidirectional wheel 34, whose drive wheel is driven in the circumferential direction of the pipe A.This allows for stable movement in the longitudinal direction of the pipe and movement in the circumferential direction of the pipe, and also allows for reliable posture maintenance even when stopped. Furthermore, by changing the fastening angle between the first arm 10 and the second arm 20 using the main body fastening portion 40, the carriage main body 1 can be easily attached to pipes A having different pipe diameters.

[0020] Fig. 2 is a perspective view of the pipe inspection cart, with Fig. 2(a) showing the state shown in Fig. 1(a) and Fig. 2(b) showing the state shown in Fig. 1(b). Fig. 3 is a side view, a top view, and a bottom view of the pipe inspection cart, with Fig. 3(a) being the side view, Fig. 3(b) being the top view, and Fig. 3(c) being the bottom view. As shown in Figures 2 and 3, the contact detection unit 51, distance measurement unit 52, and camera unit 61 are provided on one end surface 12A and the other end surface 12B of the first arm 10, and on one end surface 22A and the other end surface 22B of the second arm 20. In this way, by providing the contact detection unit 51, distance measurement unit 52, and camera unit 61 on one end face 12A of the first arm 10 and one end face 22A of the second arm 20, the cart body 1 can be moved with one end face 12A of the first arm 10 and one end face 22A of the second arm 20 as the direction of travel, and by providing the contact detection unit 51, distance measurement unit 52, and camera unit 61 on the other end face 12B of the first arm 10 and the other end face 22B of the second arm 20, the cart body 1 can be moved with the other end face 12B of the first arm 10 and the other end face 22B of the second arm 20 as the direction of travel.

[0021] As shown in Figures 2 and 3(a) and (b), the second arm 20 is provided with a motor 70 that drives the second omnidirectional wheel 32. Figure 3(b) shows the motor 70 that drives the first omnidirectional wheel 31. As described above, the first omnidirectional wheel 31, the second omnidirectional wheel 32, the third omnidirectional wheel 33, and the fourth omnidirectional wheel 34 each have a motor 70 for driving them, and the motor 70 for driving the first omnidirectional wheel 31 and the motor 70 for driving the third omnidirectional wheel 33 are provided on the first arm 10, while the motor 70 for driving the second omnidirectional wheel 32 and the motor 70 for driving the fourth omnidirectional wheel 34 are provided on the second arm 20. The direction driven by the motor 70 is the driving direction of the drive wheels.

[0022] Furthermore, as shown in particular in FIG. 3(c), all omnidirectional wheels 30, i.e., in this embodiment, the first omnidirectional wheel 31, the second omnidirectional wheel 32, the third omnidirectional wheel 33, and the fourth omnidirectional wheel 34, are arranged on a virtual plane Z. In this way, by arranging all omnidirectional wheels 30 on the virtual plane Z, the dimensions of the carriage body 1 in the longitudinal direction of the pipe can be reduced, making it possible to easily move around curved pipes such as U-shaped pipes.

[0023] FIG. 4 is a perspective view showing the pipe inspection cart attached to the pipe. The carriage body 1 can be moved in the longitudinal direction of the pipe A and can also be moved in the circumferential direction of the pipe A. Therefore, the piping condition detection unit 60 can detect the condition of the piping A at different positions in the circumferential direction of the piping by moving the cart body 1 in the circumferential direction of the piping, and can detect the condition of the piping A at different positions in the longitudinal direction of the piping by moving the cart body 1 in the longitudinal direction of the piping. In this way, the state of the pipe A can be detected for the entire circumference of the pipe A. When the contact detection unit 51 is used as the piping state detection unit 60, data regarding the unevenness of the piping A detected by the contact detection unit 51 can also be stored together with data on the movement distance in the piping longitudinal direction and position data of the cart body 1. When the camera unit 61 is used as the piping condition detection unit 60, the image captured by the camera unit 61 can be viewed in real time from a remote location, or the image data can be stored.

[0024] Figure 5 shows the obstacle avoidance operation of the same pipe inspection cart, where Figure 5(a) shows the cart body 1 moving along the pipe, Figure 5(b) shows the state of the cart body 1 at the position of obstacle B1 in Figure 5(a), and Figure 5(c) shows the state of the cart body 1 at the position of obstacle B2 in Figure 5(a). As shown in FIG. 5, when the obstacle detector 50 detects an obstacle B, the carriage body 1 is moved in the circumferential direction of the piping to avoid the obstacle B. In this way, the cart body 1 moves along the pipe A with the first end 11 and the second end 21 spaced a predetermined distance apart, and the cart body 1 can be moved circumferentially around the pipe, thereby avoiding obstacles B such as pipe support members. When the contact detection unit 51 and the distance measurement unit 52 are used as the obstacle detection unit 50, a control unit is provided which inputs data from the contact detection unit 51 and the distance measurement unit 52, calculates the distance of movement required in the circumferential direction of the pipe to avoid the obstacle B, and outputs an operation signal to the motor 70 which drives the omnidirectional wheels 30. This control unit is preferably provided in the bogie body 1, but the calculation processing function of the control unit can also be separated from the bogie body 1 and processed at a remote location. When the camera unit 61 is used as the obstacle detection unit 50, the image from the camera unit 61 can be viewed from a remote location, and operation instructions can be given to the motor 70 that drives the omnidirectional wheels 30 from the remote location.

[0025] As described above, the pipe inspection cart according to this embodiment has a cart body 1 having a first end 11 and a second end 21, and when the cart body 1 is attached to the pipe A, the cart body 1 moves along the pipe A with the first end 11 and the second end 21 spaced apart by a predetermined distance, and the cart body 1 is provided with at least three omnidirectional wheels 30 that abut against the outer surface of the pipe A when the cart body 1 is attached to the pipe A, and the drive direction of the drive wheel of one omnidirectional wheel 30 is the longitudinal direction of the pipe A, and the drive direction of the drive wheels of the other omnidirectional wheels 30 is the circumferential direction of the pipe A, so that the cart body 1 moves in both the longitudinal direction and the circumferential direction of the pipe. In other words, the drive directions of the drive wheels of all omnidirectional wheels 30 are not all in the same direction, and the cart body 1 is provided with an omnidirectional wheel 30 whose drive direction is the circumferential direction of the pipe A and an omnidirectional wheel 30 whose drive direction is the longitudinal direction of the pipe A. For example, when three omnidirectional wheels 30 are provided, one omnidirectional wheel 30 is oriented in the longitudinal direction of the pipe and the other two omnidirectional wheels 30 are oriented in the circumferential direction of the pipe, or two omnidirectional wheels 30 are oriented in the longitudinal direction of the pipe and the other one omnidirectional wheel 30 is oriented in the circumferential direction of the pipe. In this way, the trolley body 1 moves along the pipe A with the first end 11 and the second end 21 spaced a predetermined distance apart, and since the trolley body 1 is equipped with at least three omnidirectional wheels 30 that abut the outer surface of the pipe A with different driving directions, it can move in the longitudinal direction of the pipe and the circumferential direction of the pipe, and when stopped, the movement of any of the omnidirectional wheels 30 in the driving direction is restricted, so the trolley body 1 will not rotate around the pipe A or slide off the pipe A due to its own weight. Piping generally refers to pipes or tubes that transport fluids such as liquids, gases, or powders, but in the present invention it also includes pipes that are not used to transport fluids, such as pipes that make up the track of a roller coaster, reinforcing pipes that maintain the track, or cables or wire ropes used in suspension bridges such as the Seto Ohashi Bridge. [Industrial Applicability]

[0026] The pipe inspection cart according to the present invention is particularly suitable for visual inspection of pipes, and can be used for safety inspection of piping equipment within facilities and periodic inspection of bridge infrastructure. [Explanation of symbols]

[0027] 1. Cart body 10 First Arm 11 First end 12A One end face 12B Other end face 20 Second Arm 21 Second end 22A One end face 22B Other end face 30 omnidirectional wheels 31 1st omnidirectional wheel 32 Second omnidirectional wheel 33 Third omnidirectional wheel 34 4th omnidirectional wheel 40 Main body tightening part 50 Obstacle detection unit 51 Contact detection unit 52 Distance measurement unit 60 Piping condition detection unit 61 Camera Department 70 Motor A Piping B, B1, B2 Obstacles X: Center point of pipe cross section Y virtual line Z virtual plane

Claims

1. A pipe inspection cart in which a cart body is attached to the outer periphery of a pipe, and the cart body moves along the pipe to inspect the pipe, The carriage body has a first end and a second end, At least when the carriage body is attached to the piping, the first end and the second end are spaced apart from each other by a distance greater than an outer diameter dimension of the piping; When the carriage body is attached to the piping, the carriage body moves along the piping with the first end and the second end spaced apart by a predetermined distance, The carriage body includes at least three omnidirectional wheels that contact an outer surface of the pipe when the carriage body is attached to the pipe, a driving direction of a driving wheel of at least one of the omnidirectional wheels is set to a longitudinal direction of the piping; The driving direction of the driving wheels of the other omnidirectional wheels is set to the circumferential direction of the piping, The carriage body is moved in the longitudinal direction of the pipe and in the circumferential direction of the pipe, the carriage body has a first arm forming the first end and a second arm forming the second end, the omnidirectional wheels include at least a first omnidirectional wheel, a second omnidirectional wheel, a third omnidirectional wheel, and a fourth omnidirectional wheel; the driving direction of the driving wheels of the first omnidirectional wheel and the second omnidirectional wheel is set to the longitudinal direction of the piping; the driving direction of the driving wheels of the third omnidirectional wheel and the fourth omnidirectional wheel is the circumferential direction of the piping, The first arm is provided with the first omnidirectional wheel and the third omnidirectional wheel, The second arm is provided with the second omnidirectional wheel and the fourth omnidirectional wheel. A pipe inspection cart characterized by:

2. The first arm and the second arm are each formed in an arc shape, a main body tightening portion that connects the first arm and the second arm, The main body fastening portion changes the fastening angle between the first arm and the second arm, thereby changing the distance between the first end and the second end.

2. The piping inspection cart according to claim 1.

3. All the omnidirectional wheels are arranged on a virtual plane.

3. The pipe inspection cart according to claim 1 or 2.

4. The carriage body has an obstacle detection unit that detects the position of an obstacle such as a pipe support member, When the obstacle is detected by the obstacle detection unit, the carriage body is moved in the circumferential direction of the piping to avoid the obstacle. The pipe inspection cart according to any one of claims 1 to 3.

5. The carriage body has a piping state detection unit that detects the state of the piping, The piping state detection unit The carriage body is moved in a circumferential direction of the pipe to detect a state of the pipe at a different position in the circumferential direction of the pipe; The carriage body is moved in the longitudinal direction of the pipe to detect the state of the pipe at different positions in the longitudinal direction of the pipe. The pipe inspection cart according to any one of claims 1 to 4.

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