Inspection system and control method thereof

Abstract

To enable an inspection device to be moved to a high place along a cable (rope) to be inspected without requiring a large-sized traveling device.SOLUTION: An inspection system comprises two climbable devices 20, 30. The climbable devices 20, 30 comprise: a frame 26 surrounding a longitudinally continuous striatum; a plurality of tires 22 attached to the frame 26, and pressed against an outer peripheral surface of a cable surrounded by the frame 26; and a motor 25 that is attached to the frame 26, and rotates the plurality of tires 22. The climbable devices 20, 30 and an inspection device for inspecting the cable are connected vertically in series by a coupling mechanism whose angle can be changed.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] This invention relates to an inspection system and a control method for the inspection system used to inspect on-site wires (cables, ropes) that connect the ground (bridge girders) and higher places diagonally or vertically, as used in cable-stayed bridges, suspension bridges, cranes, etc. [Background technology]

[0002] Metal cables (ropes), especially steel cables (ropes), used in cable-stayed bridges, suspension bridges, cranes, etc., are exposed to wind and rain outdoors. They are affected by salt water near the coast and sulfurous acid in industrial areas. For this reason, it is necessary to inspect cables on site regularly.

[0003] Patent Document 1 discloses an inspection device for determining the deterioration status and location of cables in a cable-stayed bridge. The inspection device comprises a frame member with a passage through which the cable passes, running support means formed on both ends of the frame member in the longitudinal direction, a light source, and a photographing means.

[0004] The inspection device described in Patent Document 1 is a self-propelled unit consisting of a frame member, traveling support means, light source, and photographing means, so the traveling support means requires a strong driving force to travel on the cable while supporting the weight of all of these, and in many cases, it needs to be designed for each cable diameter (rope diameter).In addition, a large motor is required, which inevitably makes it impossible to avoid the traveling support means becoming larger and heavier. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-163402 DISCLOSURE OF THE INVENTION

[0006] The object of this invention is to enable an inspection device to be moved to a high place along the line (cable, rope) to be inspected without requiring a large traveling device.

[0007] Another object of the present invention is to eliminate the need for dangerous work at heights.

[0008] A further object of the present invention is to make it possible to use filaments of various diameters.

[0009] The inspection system of the present invention comprises first and second climbing devices, each of which comprises a frame surrounding a longitudinally continuous wire, a plurality of tires attached to the frame and pressed against the outer surface of the wire surrounded by the frame, and a motor for rotating at least one of the plurality of tires, an inspection device for inspecting the wire surrounded by the frame, and a connecting mechanism for tandemly connecting the first and second climbing devices and the inspection device so that the angle can be changed.

[0010] In one embodiment, the inspection device is any one of an image inspection device, a leakage magnetic flux inspection device, a total magnetic flux inspection device, and an eddy current flaw detection inspection device, and one or more of these are interchangeably connected to the first and second climbing devices. By varying (replacing) the types of inspection devices used in the inspection system, various diagnostic items can be addressed.

[0011] According to this invention, the inspection system comprises first and second climbing devices, each equipped with a motor, and these two climbing devices and the inspection device are cascade-connected by a connecting mechanism. Because the driving force can be distributed to each of the two climbing devices, even if the inspection device is heavy, it can be made to climb to a high place along the umbilical cord. There is no need to manually transport the inspection device to a high place, which eliminates the need for dangerous work at heights. Because two climbing devices are used, it is also possible to avoid the climbing device becoming larger and heavier.

[0012] The first and second climbing devices and the inspection device are connected by an angle-changeable connecting mechanism. By connecting the first and second climbing devices and the inspection device by an angle-changeable connecting mechanism, even if the umbilical cord is curved, the positions of the first and second climbing devices and the inspection device can be adjusted in the connecting mechanism to follow the curvature of the umbilical cord, so that the inspection system (two climbing devices and an inspection device) can climb along the umbilical cord while following the curvature of the umbilical cord.

[0013] Preferably, each of the first and second climbing devices is provided with a tachometer that measures the number of rotations per unit time of the motor, and a speed control device that controls the motor provided in each of the first and second climbing devices based on the number of rotations per unit time measured by the tachometer so that the speed of the first and second climbing devices becomes a predetermined speed. The first and second climbing devices can be made to climb along the linear body at the same speed.

[0014] Preferably, each of the first and second climbing devices is equipped with a current detection circuit that detects the current flowing through the motor, and a driving force control device that controls the voltage supplied to the motor provided in each of the first and second climbing devices so that the driving forces (output torques) of the first and second climbing devices, calculated based on the motor current values ​​detected by the current detection circuit, are distributed in a predetermined ratio. A predetermined ratio of driving force can be distributed to the first and second climbing devices. For example, of the two climbing devices, a larger driving force can be distributed to the climbing device located closer to the inspection device, and the driving force of the climbing device located closer to the inspection device can be supplemented by the other climbing device.

[0015] The voltage supplied to the motor is preferably controlled by PWM (Pulse Width Modulation). Of course, PWM control is not always necessary; the voltage supplied from the power supply to the motor itself may be controlled, or both PWM control and supply voltage control may be used.

[0016] In one embodiment, each of the first and second climbing devices is equipped with a transmission / reception circuit for transmitting and receiving data to and from the other. This allows for adjustment of the speed, driving force, etc. of each of the first and second climbing devices.

[0017] Preferably, each of the first and second climbing devices includes a measuring device that measures the force generated when the plurality of tires are pressed against the outer circumferential surface of the umbilical cord, and an actuator that moves the positions of the plurality of tires closer to or farther from the umbilical cord in accordance with the pressing force measured by the measuring device. A common inspection system can be used for umbilical cords with different diameters.

[0018] This invention also provides a method for controlling an inspection system. The control method for an inspection system according to this invention controls an inspection system including first and second climbing devices, each of which includes a frame surrounding a longitudinally continuous filament, a plurality of tires attached to the frame and pressed against the outer circumferential surface of the filament surrounded by the frame, and a motor for rotating at least one of the plurality of tires; an inspection device for inspecting the filament surrounded by the frame; and a connecting mechanism for tandemly connecting the first and second climbing devices and the inspection device so as to change the angle, characterized in that the output torque of the motor of the first climbing device and the output torque of the motor of the second climbing device are controlled to a predetermined torque distribution ratio. For example, a motor of a climbing device located near the inspection device can generate a large torque, and a motor of a climbing device located farther from the inspection device can be used as an auxiliary motor.

[0019] In one embodiment, the first climbing device acquires the current value of the motor of the second climbing device, calculates the ratio of the current value of the motor of the first climbing device to the current value of the motor of the second climbing device, and controls the voltage applied to the motor of the first climbing device and the motor of the second climbing device so that the calculated current ratio follows the predetermined torque distribution rate. Because the motor current is proportional to the output torque, the current output torque distribution can be detected from the ratio of the currents flowing through the motor of the first climbing device and the motor of the second climbing device. By controlling the voltage applied to the motor of the first climbing device and the motor of the second climbing device so that they follow the predetermined torque distribution rate, the output torque of the motor provided in the first climbing device and the output torque of the motor provided in the second climbing device can be controlled to be the predetermined torque distribution rate. [Brief explanation of the drawings]

[0020] [Figure 1] 1 shows a schematic representation of a cable-stayed bridge. [Figure 2] FIG. 2 is a front view schematically showing the inspection device. [Figure 3] FIG. 2 is a front view schematically showing the inspection device. [Figure 4] FIG. [Figure 5] FIG. 1 is a perspective view of a climbing device. [Figure 6] FIG. 2 is a block diagram showing the electrical configuration of the climbing device. [Figure 7] FIG. 2 is a block diagram showing the electrical configuration of a drive circuit of a tire drive motor. [Figure 8] 10 is a graph showing the relationship between the rotation speed and torque of a tire drive motor. [Figure 9] 10 is a flowchart showing the processing of two climbing devices. [Figure 10] 10 is a flowchart showing the processing of two climbing devices. DETAILED DESCRIPTION OF THE INVENTION

[0021] Figure 1 shows a schematic diagram of a part of a cable-stayed bridge spanning both sides of a river or strait, and shows the inspection of the stay cables of the cable-stayed bridge.

[0022] A cable-stayed bridge consists of erected towers 2, bridge girders 1 spanning both banks, and multiple stay cables 3. A tower 2 is erected on each side of the bridge girder 1 where vehicles and other vehicles pass (only one tower 2 is shown in Figure 1), and the bridge girder 1 passes between the two towers 2 on one side and the other. Multiple stay cables 3 are strung diagonally from the tower 2 to the bridge girder 1 on each side of the tower 2. One end of each stay cable 3 is fixed to the tower 2, and the other end to the bridge girder 1. The bridge girder 1 is suspended in a balanced manner by the multiple stay cables 3 strung diagonally on the left and right sides of the tower 2.

[0023] The stay cables 3 that suspend the bridge girders 1 of a cable-stayed bridge are inspected by an inspection system 10, the details of which will be described later. The inspection system 10 includes an inspection device, such as a portable total magnetic flux meter, and uses measurements based on the magnetic flux (total magnetic flux) passing through the stay cables 3 to measure the loss of cross-sectional area of ​​the stay cables 3 due to corrosion or wear. The total magnetic flux meter includes a pair of magnets (magnetizers) spaced apart and a search coil positioned between the pair of magnets and surrounding the stay cables 3. When the total magnetic flux meter is stationary, there is no output from the search coil. During inspection, the inspection system 10, including the total magnetic flux meter, is moved along the stay cables 3. When the search coil passes over a portion of the stay cables 3 with a small cross-sectional area, i.e., a portion where corrosion or wear has occurred, the time change in the magnetic flux of the stay cables 3 is generated in the search coil as an induced electromotive force. The amount of magnetic flux reduction, i.e., the amount of reduction in cross-sectional area, can be determined based on the time integral of the induced electromotive force generated in the search coil. By using a total magnetic flux measuring device (inspection signal output from a search coil), corrosion or wear of the stay cable 3 can be quantitatively measured, and the soundness of the stay cable 3 can be evaluated.

[0024] The total magnetic flux meter is, for example, made up of two semi-cylindrical members connected by a hinge and equipped with a cylindrical central hole in the center. The total magnetic flux meter is placed over the diagonal cable 3, and the diagonal cable 3 is passed through the central hole.

[0025] Instead of or in addition to the total magnetic flux measuring device, an imaging device may be included in the inspection system 10. The imaging device captures an image of the outer surface (surface) of the stay cable 3, and the appearance of the stay cable 3 is inspected based on the image data obtained by the image capture. In addition, the inspection system 10 may also include a leakage magnetic flux measuring device and an eddy current flaw measuring device.

[0026] The inspection system 10 includes a climbing device, which will be described in detail below, for allowing the above-mentioned inspection devices (total magnetic flux measuring device, imaging device, etc.) to move autonomously along the stay cable 3. The inspection device and the climbing device are connected to each other, and the inspection device moves up and down the stay cable 3 by the climbing device.

[0027] 2 and 3 are front views that schematically show the entire inspection system 10 including the climbing devices 20 and 30 and the inspection device 40. Fig. 4 is an enlarged front view of a connecting member 50 that connects the climbing devices 20 and 30 and the inspection device 40.

[0028] 2, both climbing devices 20 and 30 have inspection devices 40 that run (move) automatically along stay cables 3 and are connected to each other by connecting members 50. In FIGS. 2 and 3, two climbing devices 20 and 30 are connected by connecting members 50, and the inspection device 40 is connected to the climbing device 30 by connecting members 50. The inspection device 40 may be placed between the climbing devices 20 and 30.

[0029] 4, the connecting member 50 includes a first joint 51 and a second joint 52 that are connected to each other rotatably and angularly changeably, a round bar 53 extending from the other end of the first joint 51, and a round bar 54 extending from the other end of the second joint 52. The other end of the round bar 53 is connected to a fixing member 21 (31, 41) described below so that the angle can be changed, and the other end of the round bar 54 is fixed to a fixing member 31 (21, 41) so that the angle can be changed. That is, the connecting member 50 has variable angles at three points: the connection portion between the first joint 51 and the second joint 52, the connection portion between the fixing member 21 (31, 41) and the round bar 53, and the connection portion between the fixing member 31 (21, 41) and the round bar 54, and further has a rotatable configuration at the connection portion between the first joint 51 and the second joint 52.

[0030] 2 and 3, a plurality of fixing members 21 are provided at each of the upper and lower ends of the climbing device 20. For convenience of illustration, two fixing members 21 are shown at each of the upper and lower ends of the climbing device 20 in FIGS. 2 and 3, but as will be described later, the climbing device 20 has a triangular structure when viewed from above, and three fixing members 21 are provided at each of the upper and lower ends corresponding to this. Similarly, a plurality of fixing members 31, 41 are provided at each of the upper and lower ends of the climbing device 30 and the inspection device 40. The fixing member 21 at the lower end of the climbing device 20 and the fixing member 31 at the upper end of the climbing device 30 are connected by a connecting member 50. Similarly, the fixing member 31 at the lower end of the climbing device 30 and the fixing member 41 at the upper end of the inspection device 40 are connected by a connecting member 50.

[0031] The stay cable 3 does not necessarily extend in a straight line over its entire length, but may be curved entirely or partially. Comparing Figures 3 and 4, the inspection system 10 is configured by connecting two climbing devices 20, 30 and the inspection device 40 using a connecting member 50 having the above-mentioned structure, so even if the stay cable 3 is curved as shown in Figure 4, the climbing devices 20, 30 and the inspection device 40 can be moved along the stay cable 3 so as to follow the curvature of the stay cable 3.

[0032] 5 is a perspective view showing the climbing device 20. The climbing device 30 also has a similar configuration.

[0033] The climbing device 20 comprises a frame 26 arranged in a triangular shape when viewed from above, with a pair of tires 22 arranged at each of the vertices of the triangle, spaced apart above and below. A diagonal cable 3 is passed through the space within the frame 26, and a total of six tires 22 are pressed against the outer circumferential surface of the passed diagonal cable 3 from three sides. Note that the fixing member 21 described above is not shown in Figure 5.

[0034] The rotation shaft of one (lower) tire 22 of a pair of tires 22 arranged vertically is connected to the rotation shaft of a tire drive motor 25. The rotation force of the tire drive motor 25 is transmitted to the tire 22, thereby moving the climbing device 20 along the diagonal cable 3. The climbing device 20 is provided with three tire drive motors 25.

[0035] An endless belt (not shown) is hung around the rotating shafts of a pair of tires 22 lined up vertically, thereby transmitting the rotational force of the tire drive motor 25 to the other (upper) tire 22 of the pair of tires 22 lined up vertically, to which the tire drive motor 25 is not connected, via the endless belt.

[0036] In order to firmly press the pair of tires 22 located at each vertex of the triangle against the outer circumferential surface of the diagonal cable 3 from three sides, two of the pair of tires 22 located at each vertex of the triangle (the two pairs of upper and lower tires 22 at the front in Figure 5) are movable along rails 23 extending parallel to the frame 26. A ball screw 24 is provided parallel to the rail 23, and by rotating this ball screw 24 with a ball screw drive motor (not shown) (hereinafter, the ball screw 24 and ball screw drive motor may be referred to as an actuator), the two tires 22 can be moved toward or away from the remaining tire 22. The climbing device 20 is provided with two ball screw drive motors for driving the two ball screws 24, respectively. The pair of tires 22 that do not move (the pair of upper and lower tires at the back in Figure 5; hereinafter, referred to as the fixed tires 22) is stored in a storage box 29 with a portion of it exposed to the outside.

[0037] A load sensor (load cell) (not shown) that detects the pressing force of the tire 22 pressed against the outer circumferential surface of the diagonal cable 3 is attached to the rotation axis of the fixed tire 22 stored in the storage box 29. The pressing force of the tire 22 against the diagonal cable 3 is detected by the load sensor.

[0038] A control box 27 that houses a control device (control board) for controlling the tire drive motor 25, the ball screw drive motor, and the load sensor is attached to the storage box 29. A battery 28 is replaceably attached to the storage box 29, and power is supplied from the battery 28 to the tire drive motor 25, the ball screw drive motor, the load sensor, etc. via the control device in the control box 27.

[0039] FIG. 6 is a block diagram showing the electrical configuration of the climbing device 20.

[0040] As described above, the control device 60 is housed in the control box 27 of the climbing device 20. The control device 60 is connected to three tire drive motors 25, two ball screw drive motors 65, a load sensor 67, and a battery 28. The control device 60 also includes a CPU 61 that controls the overall operation of the control device 60, a memory 62, and a wireless circuit 63, and the operation of the climbing device 20 (tire drive motors 25 and ball screw drive motor 65) is controlled by the data and programs stored in the memory 62 and the data (signals) sent and received by the wireless circuit 63. Details of the operation of the climbing device 20 will be described later.

[0041] 7 is a block diagram showing the electrical configuration of the drive circuit of the tire drive motor 25. The drive circuit may be provided integrally with the control device 60, or may be provided separately between the control device 60 and the tire drive motor 25.

[0042] The drive circuit of the tire drive motor 25 includes a motor driver circuit 25A and a current detection circuit 25B.

[0043] The control device 60 supplies the motor driver circuit 25A with a supply voltage V and a PWM frequency f of a predetermined duty ratio D. PWM is given, and a motor applied voltage according to the supply voltage V and duty ratio D is given to the tire drive motor (brushless motor) 25. By controlling the duty ratio D, the motor applied voltage is PWM (Pulse Width Modulation) controlled. In addition to controlling the duty ratio D, the motor applied voltage can also be controlled by the supply voltage.

[0044] The tire drive motor 25 provides the control device 60 with the motor current I detected by the current detection circuit 25B and the rotation speed ω of the tire drive motor 25 per unit time detected by, for example, a Hall element (tachometer). As will be explained below, the motor current I provided to the control device 60 from the tire drive motor 25 is used to feedback control the duty ratio D and the supply voltage V, thereby controlling the motor applied voltage. The rotation speed ω provided to the control device 60 from the tire drive motor 25 is used to calculate the PWM frequency f PWM is feedback-controlled, thereby controlling the rotation speed of the tire drive motor 25 (i.e., the speed of the climbing device 20). The output torque (driving force) of the tire drive motor 25 is proportional to the motor current I, so by detecting the motor current I, the torque generated by the tire drive motor 25 can be estimated.

[0045] The ball screw drive motors 65 are controlled according to the pressing force of the tires 22 against the diagonal cables 3, which is measured by a load sensor in the storage box 29. The two ball screw drive motors 65 (actuators) are controlled so as to generate a predetermined pressing force, thereby bringing the three tires 22 closer or farther apart.

[0046] FIG. 8 is a graph showing the rotation speed-torque characteristics of the tire drive motor (brushless motor) 25.

[0047] The tire drive motor 25 rotates at a maximum rotation speed (maximum speed) when there is no load, and decreases as the load torque increases. The tire drive motor 25 rotates at the point where the load torque and the output (generated) torque are balanced; for example, when a load torque T1 is applied when the motor applied voltage is V1, the tire drive motor 25 rotates at a rotation speed ω.

[0048] As mentioned above, the output torque of the tire drive motor 25 is proportional to the motor current I, so when the motor applied voltage is increased from V1 to V2, the motor current I increases and the rotation speed-torque characteristics change. When the motor applied voltage is increased from V1 to V2 with the load torque being constant, the rotation speed ω of the tire drive motor 25 increases. When the motor applied voltage is kept constant and the load torque increases from T1 to T2, the rotation speed ω of the tire drive motor 25 decreases. However, under the characteristics of the graph shown in Figure 8, when the motor applied voltage is increased from V1 to V2, the output torque of the tire drive motor 25 changes from T1 to T2, so it is possible to operate with the rotation speed ω kept constant.

[0049] As described above, the climbing device 30 has a similar structure to the climbing device 20. However, as will be explained in detail below, the climbing devices 20 and 30 perform different operational controls, which are based on the differences in the programs executed by the CPUs 61 of the control devices 60 of the climbing devices 20 and 30. That is, the climbing device 20 executes a control program for the climbing device 20, and the climbing device 30 executes a control program for the climbing device 30. At least the control program for the climbing device 20 is stored in the memory 62 of the control device 60 of the climbing device 20, and at least the control program for the climbing device 30 is stored in the memory 62 of the control device 60 of the climbing device 30. Both programs can also be stored in the memory 62 of both climbing devices 20, 30, and in this case, by selecting the program to be executed by the CPU 61, the same climbing device can be operated as both climbing device 20 and climbing device 30.

[0050] 9 and 10 are flowcharts showing the operation of the two climbing devices 20, 30 (operation of the tire drive motors 25) provided in the inspection system 10. In the following explanation, the climbing device 20 located at the head of the arrangement will be referred to as the "master 20," and the climbing device 30 closest to the inspection device 40 will be referred to as the "slave 30." As described above, both the master 20 and the slave 30 have three tire drive motors 25, and the control described below is performed in the same way for both the three tire drive motors 25 of the master 20 and the three tire drive motors 25 of the slave 30.

[0051] 9, the target rotation speed and motor applied voltage (initial values) of the tire drive motor 25 are set (step 71). The target rotation speed and motor applied voltage (initial values) are set using values ​​stored in the memory 62 of the control device 60 included in the master 20.

[0052] The tire drive motor 25 starts to rotate. The output torque of the tire drive motor 25 is determined by the motor rotation speed and the set voltage applied to the motor (see FIG. 8).

[0053] As described above, the tire drive motor 25 feeds back the motor rotation speed ω to the control device 60 (FIG. 7). The motor rotation speed is calculated from the motor rotation speed ω that is fed back (step 72).

[0054] The deviation between the calculated motor rotation speed and the target rotation speed is calculated (step 73), and the PWM frequency f is applied to the motor driver circuit 25A in accordance with the calculated deviation so that the motor rotation speed follows the target rotation speed. PWM is increased or decreased (step 74). PWM As the PWM frequency f increases, the motor rotation speed increases. PWM The motor rotation speed decreases as the value of the rotation speed decreases. The processing from steps 72 to 74 is repeatedly executed until the motor rotation speed becomes equal to the target rotation speed.

[0055] 9 (steps 91 to 94). The same values ​​as the target rotation speed and motor applied voltage (initial values) set in the master 20 are also set in the slave 30.

[0056] As described above, the motor current I is also fed back from the tire drive motor 25 to the control device 60. Referring to FIG. 10, the motor current value I S (In the following, the master 20 will be referred to as the master 20, and the slave 30 as the slave 30) is transmitted to the master 20 and received (steps 95 and 75). S The wireless circuits 63 provided in the control devices 60 of the master 20 and the slave 30 are used for transmitting and receiving the above signals.

[0057] The master 20 receives the motor current value I S is compared with "maximum current allowable value x 0.8" of the tire drive motor 25 (step 76). This is to prevent excessive load from being applied to the tire drive motor 25 of the slave 30. As will be explained below, the master 20 and the slave 30 are controlled so that a larger output torque (driving force) is allocated to the slave 30 located near the inspection device 40 than to the master 20, and therefore confirmation that excessive load is not being applied is determined only for the slave 30.

[0058] Motor current value I of slave 30 S If the motor current value I of the master 20 exceeds the "maximum allowable current value x 0.8", M and the motor current value I of slave 30. S A slight decrease in the torque is instructed (YES in step 76, step 79A). The instruction to the slave 30 is transmitted from the master 20 to the slave 30 via the wireless circuit 63, and is received by the slave 30 via the wireless circuit 63 (steps 80 and 96). As a result, the distribution of the output torque of the tire drive motor 25 of the master 20 and the tire drive motor 25 of the slave 30 is made larger on the master 20 side and smaller on the slave 30 side.

[0059] In each of the master 20 and the slave 30, the PWM frequency f is given to the motor driver circuit 25A from the control device 60. PWM Duty ratio D M ,D S is adjusted (steps 81 and 97). Specifically, the motor current value I M Since a slight increase in is instructed, the PWM frequency f given to the motor driver circuit 25A from the control device 60 is PWM Duty ratio D M The slave 30 receives the motor current value I S Since a slight decrease in is instructed, the PWM frequency f given to the motor driver circuit 25A from the control device 60 is PWM Duty ratio D S is lowered.

[0060] Duty ratio D M In some cases, the motor current I does not increase even if the supply voltage V is increased, and in this case the supply voltage V given to the motor driver circuit 25A from the control device 60 is increased (step 81).

[0061] Motor current value I of slave 30 S If the motor current value I does not exceed the "maximum current allowable value x 0.8" (NO in step 76), M / Motor current value I S is calculated (step 77), and this value is compared with a predetermined torque distribution rate Uk (step 78).

[0062] The torque distribution ratio Uk is determined in advance as a value between approximately 1 and 0.6 based on the diagonal angle of the diagonal cable 3, the weight of the inspection system 10 (inspection device 40), etc., and is stored in the memory 62 of the master 20. For example, if the torque distribution ratio Uk is 0.6, this means that the output torque of the entire inspection system 10 is distributed between the master 20 and the slave 30 at a ratio of 0.6:1.0. If the torque distribution ratio Uk is 1.0, this means that the output torque of the entire inspection system 10 is distributed between the master 20 and the slave 30 at a ratio of 1.0:1.0. A large output torque can be generated in the slave 30 provided in a position close to the inspection device 40, and the master 20 can be used as an auxiliary.

[0063] Torque distribution ratio Uk<(Master 20 motor current value I M / Motor current value I of slave 30 S ), the motor current value I M and the motor current value I of slave 30 S The current state of the motor current value I of the master 20 is maintained (step 79B). M In order to slightly reduce the PWM frequency f given to the motor driver circuit 25A from the control device 60 of the master 20, PWM Duty ratio D M is lowered, and the supply voltage V M The motor current value I of the slave 30 is decreased. S is maintained and the motor current value I M becomes smaller, the output torque of the master 20 is reduced while the output torque of the slave 30 is maintained. The distribution of the output torque between the master 20 and the slave 30 approaches a predetermined torque distribution ratio Uk.

[0064] Torque distribution ratio Uk>(Master 20 motor current value I M / Motor current value I of slave 30 S ), the motor current value I M and the motor current value I of slave 30. S A slight decrease in the motor current value I of the master 20 is instructed (step 79C). MIn order to slightly increase the PWM frequency f given to the motor driver circuit 25A from the control device 60 of the master 20, PWM Duty ratio D M is increased, and the supply voltage V M The motor current value I of the slave 30 is increased. S In order to slightly reduce the PWM frequency f given to the motor driver circuit 25A from the control device 60 of the slave 30, PWM Duty ratio D S is lowered, and the supply voltage V S As a result, the output torque of the master 20 increases and the output torque of the slave 30 decreases. The distribution of the output torque between the master 20 and the slave 30 approaches a predetermined torque distribution ratio Uk.

[0065] Torque distribution ratio Uk = (Master 20 motor current value I M / Motor current value I of slave 30 S ), the motor current value I M and the motor current value I of slave 30 S The distribution of the output torque between the master 20 and the slave 30 is maintained according to the predetermined torque distribution ratio Uk (step 79D).

[0066] The control of the output torque of the master 20 and the slave 30 described above is also repeatedly executed, so that the master 20 and the slave 30 operate in accordance with a predetermined torque distribution ratio Uk. [Explanation of symbols]

[0067] 3 Diameter cable 10 Inspection System 20 Climbing Device (Master) 21, 31, 41 Fixing member 22 Tires 23 Rail 24 ball screw 25 Tire drive motor 25A motor driver circuit 25B Current detection circuit 26 frames 27 Control Box 28 Battery 30 Climbing Device (Slave) 40 Inspection equipment 50 Connecting member 51 First joint 52 Second joint 53,54 Round bar 60 Control device 61 CPU 62 memory 63 Radio circuit 65 Ball screw drive motor 67 Load Sensor

Claims

1. a first climbing device and a second climbing device each including a frame surrounding a longitudinally continuous filament; a plurality of tires attached to the frame and pressed against an outer circumferential surface of the filament surrounded by the frame; and a motor for rotating at least one of the plurality of tires; an inspection device that inspects the linear object surrounded by the frame; and A connecting mechanism is provided that connects the first and second climbing devices and the inspection device in tandem so as to change the angle. Inspection system.

2. Each of the first and second climbing devices includes a tachometer that measures the number of rotations per unit time of the motor; and a speed control device that controls the motors of the first and second climbing devices so that the speeds of the first and second climbing devices become predetermined speeds based on the number of rotations per unit time measured by the tachometer; The inspection system of claim 1 .

3. Each of the first and second climbing devices includes a current detection circuit that detects a current flowing through the motor; and The inspection system described in claim 1, further comprising a driving force control device that controls the voltage supplied to the motors provided in each of the first and second climbing devices so that the driving forces of the first and second climbing devices, calculated based on the motor current values ​​detected by the current detection circuit, are distributed in a predetermined ratio.

4. 2. The inspection system of claim 1, wherein the first and second climbing devices each include a transceiver circuit for transmitting and receiving data to and from each other.

5. Each of the first and second climbing devices includes a measuring device that measures a force generated when the plurality of tires are pressed against the outer circumferential surface of the umbilical cord, and an actuator that moves the positions of the plurality of tires closer to or farther away from the umbilical cord according to the pressing force measured by the measuring device. The inspection system of claim 1 .

6. The inspection device is any one of an image inspection device, a leakage magnetic flux inspection device, a total magnetic flux inspection device, and an eddy current flaw detection inspection device, and one or more of these are interchangeably connected. The inspection system of claim 1 .

7. A method for controlling an inspection system comprising: first and second climbing devices, each of which comprises a frame surrounding a longitudinally continuous filament; a plurality of tires attached to the frame and pressed against an outer circumferential surface of the filament surrounded by the frame; and a motor for rotating at least one of the plurality of tires; an inspection device for inspecting the linear body surrounded by the frame; and a connecting mechanism for tandemly connecting the first and second climbing devices and the inspection device in an angle-changeable manner, the method comprising: The output torque of the motor provided in the first climbing device and the output torque of the motor provided in the second climbing device are controlled to have a predetermined torque distribution ratio. A method for controlling an inspection system.

8. The first climbing device acquires a current value of a motor of the second climbing device; Calculating a ratio of a current value of the motor of the first climbing device to a current value of the motor of the second climbing device in the first climbing device; controlling the voltages applied to the motors of the first climbing device and the second climbing device so that the calculated current ratio follows the predetermined torque distribution rate; The method for controlling an inspection system according to claim 7.

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