Inspection device and method

Abstract

To provide an inspection device that enables a sensor to be arranged at an area to be inspected as well as an inspection method.SOLUTION: An inspection device is provided with a surveying device that self-runs and comprises a plurality of serially-connected extendable rods, a controller that provides power and a control signal to the surveying device through a composite cable, and a drum box into which the composite cable is taken and from which the same is taken out. The surveying device comprises a plurality of rod extending mechanisms, a rotating mechanism that supports a second-stage extendable rod at a tip of a first-stage extendable rod rotatable in a horizontal direction, a sensor cable for hanging down a sensor from the second-stage extendable rod, and a sensor cable winch. The controller provides power and control signals to the plurality of rod extending mechanisms and the rotating mechanism, and receives a sensor signal through the sensor cable. The composite cable comprises a cable included therein, and the power, the control signals and the sensor signal are separately arranged inside and outside the included cable. The drum box comprises a composite cable winch and an included cable winch.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an inspection device for inspecting buildings, structures, etc., and more particularly to an inspection device and method for accessing narrow spaces and complex structures that workers cannot enter and for remotely carrying out inspection work. [Background technology]

[0002] When inspecting or investigating the inside of tanks or structures at power plants, etc., remote operation is required in cases where workers cannot enter the target space due to narrowness, high radiation levels, high altitudes, etc. In particular, when operating in the air, it is necessary to configure an access device with a flexible mechanism combining lightweight materials.

[0003] In this regard, Patent Document 1 discloses a support device in which the investigation device is connected by a cable and remotely controlled, so that the range of movement of the investigation device is not restricted by the cable getting caught on an obstacle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-8689 Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Document 1 discloses a technology for sending out an investigation device, but if the investigation device is considered to be a sensor, it can be considered a technology for sending out a sensor. However, this invention has a problem in that the part for sending out the sensor cable is on the support device, so the sensor cannot be lowered to a position away from the support device.

[0006] SUMMARY OF THE INVENTION In view of the above, an object of the present invention is to provide an inspection device and method that allows sensors to be placed in the area to be inspected. [Means for solving the problem]

[0007] In view of the above, the present invention provides an inspection device comprising: "an investigation device that is self-propelled by power supplied via a composite cable and has a plurality of telescopic rods connected in series; a controller that provides power and control signals to the investigation device via the composite cable; and a drum box that is arranged between the investigation device and the controller and that extends and retracts the composite cable; the investigation device comprises a plurality of rod extension and retraction mechanisms for extending and retracting the plurality of telescopic rods, a rotation mechanism that supports the second-stage telescopic rod at the tip of the first-stage telescopic rod so that it can rotate horizontally, a sensor cable for suspending a sensor from the second-stage telescopic rod, and a sensor cable winch that extends and retracts the sensor cable; the controller provides power and control signals to the plurality of rod extension and retraction mechanisms and the rotation mechanism and receives sensor signals from the sensor cable; the composite cable has an internal cable therein, and the power, control signals, and sensor signals are divided and arranged inside and outside the internal cable within the composite cable; and the drum box comprises a composite cable winch that extends and retracts the composite cable, and an internal cable winch that extends and retracts the internal cable."

[0008] Also 、In the present invention, an inspection device is provided which is "powered via a composite cable and self-propelled, and which has a plurality of telescopic rods connected in series; a controller which gives power and control signals to the investigation device via the composite cable; and a drum box which is arranged between the investigation device and the controller and which takes in and out the composite cable; the investigation device is equipped with a plurality of rod extension mechanisms for extending and retracting the plurality of telescopic rods, a rotation mechanism which supports the second-stage telescopic rod at the tip of the first-stage telescopic rod so that it can rotate horizontally, a sensor cable for suspending a sensor from the second-stage telescopic rod, and a sensor cable winch which takes in and out the sensor cable; the controller gives power and control signals to the plurality of rod extension mechanisms and the rotation mechanism and receives sensor signals from the sensor cable; the composite cable has an internal cable inside it, and the power, signal, and sensor signal are arranged separately inside and outside the internal cable of the composite cable; and the drum box is equipped with a composite cable winch which takes in and out the composite cable, and an internal cable winch which takes in and out the internal cable." Points This is an inspection method characterized by the fact that the combination of multiple winches and multiple rod telescopic mechanisms in the inspection device allows the investigation device to self-propel, the multiple telescopic rods to telescope, the second-stage telescopic rod to rotate, and the sensor cable to hang down. Points "Testing method." [Effects of the Invention]

[0009] This configuration makes it possible to freely change the inspection area in three dimensions, and provides an inspection device and method that allows sensors to be arranged in the inspection area. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing a schematic configuration example of an inspection device according to a first embodiment of the present invention; [Figure 2] FIG. 2 is a diagram showing a detailed structural example of the inspection device according to the first embodiment of the present invention. [Figure 3] A diagram showing the change in state when the first-stage telescopic rod and the second-stage telescopic rod are combined. [Figure 4] A diagram showing the connection status of the control equipment (survey device, drum box, controller). [Figure 5] 10 is a flow chart of an inspection method (sensor installation) according to a second embodiment of the present invention. [Figure 6] 10 is a flow chart of an inspection method (changing a sensor position) according to a second embodiment of the present invention. [Figure 7] A diagram summarizing the relationship between the operating status of the inspection device and the control functions used at that time. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Example]

[0012] The configuration of an inspection device according to an embodiment of the present invention will be described below with reference to FIGS.

[0013] FIG. 1 is a diagram showing a schematic configuration example of an inspection device according to an embodiment of the present invention.

[0014] The inspection device in Figure 1 is composed mainly of an investigation device 4, a first-stage telescopic rod 5, a second-stage telescopic rod 6, a rod tip pulley 7, a sensor cable 8, a sensor 9 (camera / dosimeter), a composite cable 10 for the investigation device, a drum box 11, and a controller 12, and is used to inspect the condition inside the container 1. Figure 1 shows an example in which deposits 2 have accumulated inside the container 1.

[0015] In the inspection device according to the embodiment of the present invention, the investigation device 4 moves autonomously along the container top floor 3 to approach the container 1 and access the inside of the container 1. The investigation device 4 is equipped with a foldable investigation rod, and as shown in FIG. 1, it extends a first-stage telescopic rod 5 and a second-stage telescopic rod 6, and brings the tip of the second-stage telescopic rod 6 close to the top of the area to be inspected on the container. A sensor cable 8 is extended via a rod tip pulley 7 installed at the tip of the second-stage telescopic rod 6, and a sensor 9 is lowered near the area to be inspected to perform the inspection.

[0016] Here, the first-stage telescopic rod 5 and the second-stage telescopic rod 6 are telescopic, and the second-stage telescopic rod 6 is rotatably supported so that it can rotate horizontally at the tip of the first-stage telescopic rod 5. With this configuration, by adjusting the telescopic distance and horizontal angle of the telescopic rods 5, 6, it is possible to bring the sensor 9 hanging from the tip of the second-stage telescopic rod 6 close to the upper position of any point on the circular container 1 that requires inspection, for example.

[0017] The investigation device 4 and drum box 11 are connected by a composite cable 10 for the investigation device, which transmits various power sources, including the self-propelled power of the investigation device 4, the telescopic power for the telescopic movement of the first-stage telescopic rod 5 and the second-stage telescopic rod 6, the horizontal rotation power of the second-stage telescopic rod 6, and the sensor drive power for driving the sensor 9 according to the detection principle. Here, the power can be electric or air, and can be selected according to the application. Furthermore, the composite cable 10 for the investigation device houses a sensor cable 8 for transmitting signals detected by the sensor, as well as control lines and cables for transmitting various detection signals required to control the investigation device 4, the first-stage telescopic rod 5, and the second-stage telescopic rod 6.

[0018] The length of the composite cable 10 for the investigation device is adjusted by storing it in and unwinding it from the drum box 11 in accordance with the movement of the investigation device 4. The investigation device 4 is controlled by a controller 12 connected to the drum box 11.

[0019] Figure 2 shows an example of the detailed structure of the inspection device. Here, the transmission of power and various signals mentioned above is carried out via a composite cable 10 for the inspection device, which connects the drum box 11 and the inspection device 4.

[0020] For this reason, a composite cable 26 for sensor cable and investigation device drive and a cylinder 24 for the internal cable are installed within the composite cable 10 for the investigation device, the former transmitting electrical power and various signals including the output of the sensor 9, and the latter supplying air as power.

[0021] In addition, various mechanisms for guiding the sensor 9 to the target position include a second-stage telescopic rod direction adjustment motor 21, a cable 22 for the second-stage telescopic rod direction adjustment motor, a telescopic air hose 23a for the first-stage telescopic rod, a telescopic air hose 23b for the second-stage telescopic rod, a winch 25a for the enclosed cable, a winch 25b for the composite cable, a winch 25c for the sensor cable, and a telescopic rod angle adjustment unit 27.

[0022] These mechanisms enable various operations. First, when the investigation device 4 moves under its own power, it stores and pays out the composite cable 10 for the investigation device, and at this time, the composite cable winch 25b and the sensor cable winch 25c are controlled to rotate in unison at the same rotation speed so that they are always retracted and retracted the same distance.

[0023] The relative angle between the first-stage telescopic rod 5 attached to the main body of the investigation device 4 and the second-stage telescopic rod 6 attached to the tip of the first-stage telescopic rod 5 is 2 This is adjusted by the second-stage telescopic rod direction adjustment motor 21. This allows the second-stage telescopic rod 6 to rotate horizontally around the tip of the first-stage telescopic rod 5 as an axis, and it can be guided to any rotation position.

[0024] 2 The stage telescopic rod direction adjustment motor 21 、2 Rotation is controlled by supplying power through a cable 22 for the second-stage telescopic rod direction adjustment motor. The angle of the first-stage telescopic rod 5 from the horizontal plane is adjusted by a telescopic rod angle adjustment unit 27.

[0025] The telescopic rod angle adjustment unit 27 combines a general motor, slide base, and shaft (none of which are shown) to adjust the vertical angle between the investigation device 4 and the first-stage telescopic rod 5. The first-stage telescopic rod 5 has an airtight structure, and is extended by applying compressed air, compressed nitrogen, or the like to the telescopic air hose 23a for the first-stage telescopic rod via the cylinder 24 for the internal cable.

[0026] At this time, the winch 25a for the included cable rotates in accordance with the extension of the first-stage telescopic rod 5, and the cable 22 for the second-stage telescopic rod direction adjustment motor and the telescopic air hose 23b for the second-stage telescopic rod are paid out. At the same time, the winch 25c for the sensor cable is also started, and the sensor cable 8 is paid out in accordance with the extension of the first-stage telescopic rod 5.

[0027] Similarly, the second-stage telescopic rod 6 also has an airtight structure, and is extended by pressurizing the second-stage telescopic rod telescopic air hose 23b with compressed air or compressed nitrogen via the internal cable cylinder 24. Since the only cable contained within the second-stage telescopic rod 6 is the sensor cable 8, the sensor cable winch 25c is activated, and the sensor cable 8 is paid out in accordance with the extension of the second-stage telescopic rod 6.

[0028] Finally, the sensor cable winch 25c is driven to lower the sensor cable 8 from the rod tip pulley 7 at the tip of the second-stage telescopic rod 6. This completes the sensor installation procedure. On the other hand, the procedure for retrieving the sensor 9 and the investigation device 4 is carried out in the reverse order, although a detailed explanation will be omitted.

[0029] Figure 3 is a detailed diagram illustrating the changes in the state when the first-stage telescopic rod 5 and the second-stage telescopic rod 6 are combined. The upper part 31 of Figure 3 shows the telescopic rods when they are stored. At this time, only the first section 5a at the tip of the first-stage telescopic rod 5 is deployed, and the second-stage telescopic rod 6 is rotatably supported on the first section 5a at the tip, and when stored, the second-stage telescopic rod 6 is attached in the opposite direction (towards the first-stage telescopic rod 5).

[0030] The second stage 32 in Fig. 3 shows the second stage telescopic rod deployed. At this time, the second stage telescopic rod direction adjustment motor 21 in Fig. 2 is driven to change the direction of the second stage telescopic rod 6, which was facing backward, to the forward direction.

[0031] The third diagram 33 in Fig. 3 shows the first-stage telescopic rod extended. At this time, the telescopic air hose 23a for the first-stage telescopic rod in Fig. 2 is pressurized with compressed air or the like, and the first-stage telescopic rod 5 Stretch the

[0032] The fourth diagram 34 in Fig. 3 shows the second-stage telescopic rod 6 at its fully extended state. At this time, the telescopic air hose 23b for the second-stage telescopic rod in Fig. 2 is pressurized with compressed air or the like, and the second-stage telescopic rod 6 is extended.

[0033] In addition, in the extended state of the fourth stage 34 in FIG. 3, the second-stage telescopic rod 6 can rotate around the tip of the first-stage telescopic rod 5 as an axis, and the sensor 9 can be suspended from the tip at any position.

[0034] 4 is a diagram showing the connection state of each control device in Example 1. Here, the specific connection relationship between the investigation device 4, the drum box 11, and the controller 12 is shown.

[0035] The investigation device 4 includes various operation terminal devices for executing the above-mentioned operations, such as a winch 605 for a sensor cable, a camera 606 for the investigation device body, and a traveling claw. La 607, extension rod angle adjustment unit (motor) 608 、1 It is equipped with a telescopic section 610 for the first telescopic rod, a direction adjustment motor 611 for the second telescopic rod, a tip camera 612 for the first telescopic rod, and a telescopic section 613 for the second telescopic rod.

[0036] On the other hand, the controller 12 has a function of providing power and operation signals to various operation terminal devices mounted on the investigation device 4, and receiving detected signals, and is equipped with a dose rate recorder 619, monitors 620, 622, 629, recorders 621, 623, 630, switches 624, 625, 、6 28 ,workmanAsswitch 62 6 , 631, etc.

[0037] The drum box 11 connects the investigation device 4 and the controller 12 with a composite cable 26 for driving the sensor cable and investigation device, where 615 is the first stage telescopic rod telescopic air hose, 616 is the second stage telescopic rod telescopic air hose, 617 is a winch for the composite cable, and 618 is a winch for the internal cable.

[0038] As shown in Fig. 4, a sensor (camera / dosimeter) 9 is attached to the tip of the investigation device 4, and is connected to the drum box 11 by a composite cable 26 that is a sensor cable and for driving the investigation device. The drum box 11 is connected to the controller 12 by the composite cable 26 that is a sensor cable and for driving the investigation device.

[0039] The sensor (camera / dosimeter) 9 is directly connected to a sensor cable winch 605, and its position is controlled by raising and lowering it. Its signal is connected to a controller 12 via a drum box 11, and input to a dose rate recorder 619, a monitor 620, and a recorder 621, where the image is recorded.

[0040] The camera 606 of the investigation device body is connected to the controller 12 via the drum box 11, and the video is input to the monitor 622 and recorder 623 and recorded.

[0041] Survey equipment 4 A traveling crawler 607 is attached to the controller 12 Switch 62 4 The drive is controlled by

[0042] In addition, the extension rod angle adjustment unit (motor) 608 、 controller 12 The drive is controlled by the switch 625 inside. 5 The length of , for the first stage telescopic rodThe first stage telescopic rod telescopic air hose 615 connected to the telescopic part 610 is pressurized with compressed air or the like and extends it. 12 Air switch 62 6 This is done.

[0043] Second stage telescopic rod 6 The deployment, storage and installation angle of the second-stage telescopic rod are changed by controlling and driving the second-stage telescopic rod direction adjustment motor 611 with a switch 628. The first-stage telescopic rod tip camera 612 is connected to the controller 12 via the drum box 11, and the video is input to a monitor 629 and a recorder 630 for recording. 6 The length of , for second stage telescopic rod The second stage telescopic rod telescopic air hose 616 connected to the telescopic part 613 is pressurized with compressed air or the like and extends it. 、 controller 12 This is done using the air switch 631 inside.

[0044] In the composite cable of Figure 4, the enclosed cable is divided into an inside and an outside, so how do we utilize these two spaces?In the present invention, we use them as air passages to drive the two telescopic rods.

[0045] Also 、 One of the two spaces (inside the enclosed cable in the example in Figure 4) is connected to the second telescopic rod. 6 (stretching and horizontal rotation) 、 It is assigned to the monitoring camera (first stage telescopic rod tip camera 612), others Self-propelled and first stage telescopic rod in the space 5 (extension and elevation control) 、 The surveillance camera (surveillance equipment) Place book This is assigned to the body camera 606. [Example]

[0046] In the second embodiment, a method for inspecting a narrow space using an inspection device will be described with reference to Figures 5 to 7. Figure 5 is a diagram illustrating the flow of installing a sensor in an inspection operation.

[0047] In the flow of Figure 5, when an instruction to start processing is given (S100), the system is started (S101) and the movement of the inspection device 4 begins. It is determined whether the inspection device 4 has reached the specified installation position (S102), and if it has not, the composite cable and the enclosed cable are simultaneously paid out (S103). At the same time, the inspection device 4 is run (S104), and the reached position is determined (S102).

[0048] When the investigation device 4 reaches the predetermined position, the installation angle of the telescopic rod is changed (S105). When stored, the telescopic rod is horizontal, but it is recommended to angle it from the horizontal plane by about 10 to 45 degrees depending on the investigation location. Next, the orientation of the second-stage telescopic rod 6 is rotated 180 degrees and deployed (S106).

[0049] Next, the process enters a step of extending the first-stage telescopic rod 5. It is determined whether the extension is complete (S107), and if not, the enclosed cable is paid out (S108), and the first-stage rod 5 is extended (S109).

[0050] When the extension of the first-stage rod 5 is completed (S107), the process proceeds to a step of extending the second-stage telescopic rod 6. It is determined whether the extension is completed (S110), and if not, the sensor cable 8 is reeled out (S111), and the second-stage telescopic rod 6 is extended (S112). The extension length at this time corresponds to the distance from the tip of the first-stage rod 5 to the sky above the monitoring point.

[0051] Furthermore, when it is necessary to rotate the second-stage telescopic rod 6 horizontally by a predetermined angle relative to the extension direction of the first-stage telescopic rod 5 in order to reach above the monitoring point, it goes without saying that the process of determining whether extension is complete (S110) also includes processing of the rotation angle to determine whether the second-stage telescopic rod 6 has been extended.

[0052] Finally, when extension is complete, the process enters the step of lowering the sensor 9. It is determined whether the sensor descent is complete (S113), and if not, the sensor cable 8 is paid out (S114). Note that the operator determines whether the sensor descent is complete based on the image from the camera mounted on the sensor 9. When the sensor descent is complete, the sensor installation is considered complete (S115).

[0053] 6 is a diagram illustrating the procedure for changing the inspection position during inspection work. After starting (S200), the sensor cable winch 25c in FIG. 2 is driven to wind up the installed sensor 9, and it is determined whether the winding is complete (S201). If the winding is not complete, the sensor cable is wound up (S202).

[0054] When the winding is complete, the second-stage telescopic rod direction adjustment motor 21 in Figure 2 is driven to change the horizontal angle (S203), and then the process enters the step of changing the length of the second-stage telescopic rod. It is determined whether the change is complete (S204), and if not, the enclosed cable is wound (S205), and at the same time the second-stage telescopic rod is retracted (S206).

[0055] When the change of the rod length is completed (S204), the process proceeds to a step of lowering the sensor 9. It is determined whether the lowering of the sensor 9 is completed (S207). If not, Sensor The cable 8 is paid out and lowered (S208). Descent If this is completed (S207), the sensor Cable 8 The installation is completed (S209).

[0056] Figure 7 is a diagram summarizing the relationship between the operating states of the inspection device and the control functions used at that time. Four operating modes are assumed: the investigation device traveling state, the first-stage telescopic rod telescopic state, the second-stage telescopic rod telescopic state, and the sensor lifting / lowering state, and the control functions are assumed to be the composite cable winch 617, the enclosed cable winch 618, the sensor cable winch 605, the first-stage telescopic rod telescopic unit 610, and the second-stage telescopic rod telescopic unit 613.

[0057] As is clear from this table, when the investigation device is traveling, the composite cable winch 617 and the internal cable winch 618 are operated; when the first-stage telescopic rod is telescopic, the internal cable winch 618, the sensor cable winch 605 and the first-stage telescopic rod telescopic section 610 are operated; when the second-stage telescopic rod is telescopic, the sensor cable winch 605 and the second-stage telescopic rod telescopic section 613 are operated; and when the sensor is raised and lowered, the sensor cable winch 605 is operated. [Explanation of symbols]

[0058] 1...Container, 2...Sediment, 3...Container top floor, 4...Investigation device, 5...First stage telescopic rod, 6...Second stage telescopic rod, 7...Rod tip pulley, 8...Sensor cable, 9...Sensor (camera / dosimeter), 10...Composite cable for investigation device, 11...Drum box, 12...Controller 21...Second-stage telescopic rod direction adjustment motor, 22...Cable for second-stage telescopic rod direction adjustment motor, 23a...Telescopic air hose for first-stage telescopic rod, 23b...Telescopic air hose for second-stage telescopic rod, 24...Cylinder for internal cable, 25a...Winch for internal cable, 25b...Winch for composite cable, 25c...Winch for sensor cable, 26...Composite cable for driving sensor cable and investigation device, 27...Telescopic rod angle adjustment unit

Claims

1. The survey device is self-propelled by power supplied via a composite cable and includes a plurality of serially connected telescopic rods; a controller that provides power and control signals to the survey device via the composite cable; and a drum box that is disposed between the survey device and the controller and that inserts and removes the composite cable. The investigation device includes a plurality of rod telescopic mechanisms for extending and retracting a plurality of telescopic rods, a rotation mechanism for supporting a second-stage telescopic rod at the tip of a first-stage telescopic rod so that the second-stage telescopic rod can rotate horizontally, a sensor cable for hanging a sensor from the second-stage telescopic rod, and a sensor cable winch for extending and retracting the sensor cable, the controller provides power and control signals to the plurality of rod extension / retraction mechanisms and the rotation mechanism, and receives sensor signals from the sensor cable; The composite cable has an internal cable therein, and the power, control signals, and sensor signals are divided and arranged inside and outside the internal cable within the composite cable, The inspection device is characterized in that the drum box is equipped with a composite cable winch for inserting and removing the composite cable, and an enclosed cable winch for inserting and removing the enclosed cable.

2. The inspection device according to claim 1, The inspection device is characterized in that the sensor includes a camera unit.

3. The inspection device according to claim 1, The inspection device is characterized in that the investigation device is equipped with an arm angle adjustment mechanism that can change the angle of multiple telescopic rods from a horizontal plane.

4. The inspection device according to claim 1, An inspection device characterized in that one of the spaces within the composite cable that is divided into the inside and outside of the enclosed cable supplies air to extend and retract one of a plurality of telescopic rods connected in series, and a cable for a camera signal is arranged to monitor the movement of one of the telescopic rods, and the other of the spaces supplies air to extend and retract the other of the plurality of telescopic rods connected in series, and a cable for a camera signal is arranged to monitor the movement of the other of the telescopic rods.

5. an inspection method using an inspection device comprising: an investigation device that is self-propelled by being supplied with power via a composite cable and that has a plurality of telescopic rods connected in series; a controller that provides power and control signals to the investigation device via the composite cable; and a drum box that is arranged between the investigation device and the controller and that extends and retracts the composite cable, wherein the investigation device comprises a plurality of rod extension and retraction mechanisms for extending and retracting the plurality of telescopic rods, a rotation mechanism that supports a second-stage telescopic rod at the tip of a first-stage telescopic rod so that the second-stage telescopic rod can rotate horizontally, a sensor cable for suspending a sensor from the second-stage telescopic rod, and a sensor cable winch that extends and retracts the sensor cable, wherein the controller provides power and control signals to the plurality of rod extension and retraction mechanisms and the rotation mechanism and receives sensor signals from the sensor cable, wherein the composite cable has an internal cable therein, and the power, control signals, and sensor signals are arranged separately inside and outside the internal cable within the composite cable, and the drum box comprises a composite cable winch that extends and retracts the composite cable, and an internal cable winch that extends and retracts the internal cable, An inspection method characterized by the combination of multiple winches and multiple rod telescopic mechanisms in the inspection device, which allows the investigation device to self-propel, multiple telescopic rods to telescope, the second-stage telescopic rod to rotate, and the sensor cable to hang down.

6. 6. The inspection method according to claim 5, An inspection method characterized by operating the composite cable winch and the enclosed cable winch while the investigation device is self-propelled.

7. 6. The inspection method according to claim 5, An inspection method characterized by operating the included cable winch, the sensor cable winch, and the first stage rod extension / retraction mechanism when operating the first stage extension rod.

8. 6. The inspection method according to claim 5, An inspection method characterized by operating the sensor cable winch and the second-stage rod extension / retraction mechanism when operating the second-stage extension rod.

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