JP6393647B2 - Inspection apparatus and inspection method - Google Patents

Description

  The present invention relates to an inspection apparatus and an inspection method for inspecting cables and wires such as overhead electric wires.

Overhead electric wires such as power transmission lines are subject to corrosion due to secular change, damage from lightning strikes, arc discharge, etc., and therefore must be inspected regularly.
In recent years, it has been proposed and in practical use to inspect an overhead electric wire by an inspection device that inspects the vehicle while traveling on the overhead electric wire. The inspection using the overhead wire inspection device is simpler and safer than, for example, a person actually rides the overhead wire and performs the inspection.

  By the way, various devices such as an insulator for connecting to a steel tower and a spacer for preventing contact of a plurality of electric wires are attached to an actual overhead electric wire. When the inspection apparatus travels on the overhead wires, the devices attached to these overhead wires become obstacles. Therefore, the inspection apparatus needs to travel avoiding these obstacles.

In Patent Document 1, in a self-propelled inspection device that inspects an overhead wire while traveling on the overhead wire, a part of a plurality of wheels mounted on the overhead wire is changed by changing the center of gravity of the inspection device. It is described that an operation of avoiding an obstacle on an overhead electric wire is performed. For example, when the inspection device approaches an obstacle, the center of gravity of the inspection device is changed from the center to the rear, so that the front wheels arranged in the inspection device and the front wheels of the rear wheels are lifted, and the inspection device is tilted. It will be in the state. Then, by moving the inspection device with the rear wheel while the front wheel is lifted, the lifted front wheel passes over the obstacle. When the front wheel passes over the obstacle, the center of gravity of the inspection device is returned to the center, and the front wheel is lowered onto the overhead wire. After that, the center of gravity of the inspection device is further changed to the front, the rear wheel is lifted, the vehicle runs with the front wheel, and after the rear wheel passes the obstacle, the center of gravity of the inspection device is returned to the center, and the rear wheel The processing to take down.
In addition, Patent Document 1 also describes that when an obstacle cannot be avoided simply by lifting a front wheel or a rear wheel, the front wheel or rear wheel that is further lifted is horizontally rotated with respect to an overhead electric wire. Has been.

JP 2006-254567 A

As described in Patent Document 1, by lifting some of the wheels of the inspection device, the inspection device continues over the overhead wire while avoiding obstacles such as insulators attached to the overhead wire. Can drive.
By the way, the state where the center of gravity of the inspection device is changed and the front wheel or the rear wheel is lifted is a state where the inspection device is supported at almost one point on the overhead electric wire, which is a state of poor stability. Usually, overhead cables are installed at relatively high locations, so there are many cases where wind is strong near the overhead cables, and the front or rear wheels of the inspection device may be lifted and swung by the wind.

  When the inspection device with the front wheel or the rear wheel floating in this manner is in a state of shaking, the operator operating the inspection device waits until the shaking is settled and then gives an instruction to move over the obstacle. This is because if the inspection device is forced to get over an obstacle while the inspection apparatus is shaking, the wheel that is swinging in the lifted state may come into contact with the obstacle such as an insulator to damage the insulator.

  In this way, when the inspection device gets over the obstacle on the overhead electric wire, it is necessary to wait for the shaking of the inspection device to stop before moving over, and the time required to get over the obstacle is prolonged. There is a problem of doing.

  It is an object of the present invention to suppress, with a simple configuration, shaking in a state where a wheel is lifted in an inspection apparatus that can get over an obstacle attached to a cable (or wire) such as an electric wire when the wheel is lifted. To do.

The inspection apparatus according to the present invention includes a first traveling unit having a wheel mounted on a cable or a wire, and a second traveling unit disposed at a position apart from the first traveling unit and having a wheel mounted on the cable or the wire. And a main body connected to both travel parts. And the inspection part which detects the state of a cable or a wire , the 1st drive part which drives the wheel of the 1st run part, and the 2nd drive part which drives the wheel of the 2nd run part are provided. The inspection unit inspects the cable or the wire while traveling along the cable or the wire by driving the wheels by the first and second driving units. Here, the inspection apparatus includes a balance adjustment unit that is connected to the main body unit via a movable mechanism and changes the center of gravity position of the entire apparatus by the movable mechanism, a sensor that detects shaking of the main body unit, and a control unit.
The controller detects the position of the center of gravity by the balance adjustment unit , and the sensor detects when avoiding an obstacle attached to the cable or wire, assuming that the wheel of one of the traveling units is lifted from the cable or wire. The process of canceling the swaying state is executed by driving by the first or second driving unit that drives the wheel of the other traveling unit not lifted from the cable or wire .

In the inspection method of the present invention, the first and second traveling parts arranged at a predetermined distance from the main body are placed on the cable or the wire, and the wheels provided in the respective traveling parts are driven. While traveling on the cable or wire by driving by the first and second driving units , the traveling unit or the inspection unit attached to the main body inspects the state of the cable or wire.
Then, by adjusting the position of the center of gravity of the device main body, the avoidance process for avoiding the obstacle attached to the cable or the wire and the avoidance process are performed by setting the wheel of one of the traveling parts to be lifted from the cable or the wire. And the process of canceling the shaking of the apparatus main body.
In the process of canceling the shaking, the wheel of the other running unit not lifted from the cable or the wire is driven by the first or second driving unit so as to detect the shaking of the apparatus body and cancel the detected shaking state. Let

According to the present invention, when one of the traveling parts is lifted and an operation for avoiding an obstacle on the cable or wire is performed, an operation for canceling the shaking is performed using a traveling mechanism provided in the inspection device, It is possible to minimize the shaking during the obstacle avoidance operation.
In this way, it is possible to suppress the shaking when performing the operation to avoid the obstacle, so that it is not necessary to wait for the shaking to be naturally small during the operation to avoid the obstacle, in order to avoid the obstacle The required time can be shortened.

It is a perspective view showing the example of whole composition of the inspection device by the example of one embodiment of the present invention. It is a block diagram which shows the internal structural example of the test | inspection apparatus by one embodiment of this invention. It is the top view which looked at the running state of the inspection device by one example of the present invention from the side. It is explanatory drawing which shows the outline | summary of the example of a change when the test | inspection apparatus by one embodiment of this invention avoids an obstruction. It is the top view which looked at the example of the state when the test | inspection apparatus by one embodiment of this invention avoids an obstruction from the side. It is a flowchart which shows the operation example when the test | inspection apparatus by one embodiment of this invention avoids an obstruction.

Hereinafter, an embodiment of the present invention (hereinafter referred to as “this example”) will be described with reference to the accompanying drawings.
[1. Overall configuration of inspection device]
FIG. 1 shows the overall configuration of the inspection apparatus 100 of this example. The inspection apparatus 100 shown in FIG. 1 shows a state where it is placed on the overhead electric wire 11.
The inspection device 100 includes a first traveling unit 110 and a second traveling unit 120. Here, the first traveling unit 110 includes two wheels 101 and 102, and the second traveling unit 120 includes two wheels 103 and 104. In the following description, the wheels 101 and 102 may be referred to as front wheels, and the wheels 103 and 104 may be referred to as rear wheels.
In FIG. 1, the inspection apparatus 100 travels from the lower right to the upper left direction A. Before and after described in the following description, before and after viewed from the traveling direction A are shown. Left and right indicate left and right directions when the inspection apparatus 100 is viewed from the front.

Each wheel 101-104 rotates by the drive by the motors 113,114 for driving | running | working incorporated in each traveling part 110,120. The traveling motors 113 and 114 can be driven either forwardly or backwardly.
An inspection unit 170 is attached to the first traveling unit 110. Inside the inspection unit 170, a camera, a sensor, and the like that perform inspection are arranged. The inspection unit 170 can be rotated via a rotation fulcrum 171. FIG. 1 shows a state in which the electric wire proximity portion 172 is close to the overhead electric wire 11. As will be described later, at the time of the obstacle avoidance operation, the inspection unit 170 jumps upward by rotation about the rotation fulcrum 171 and moves away from the overhead wire 11.

  The first traveling unit 110 and the second traveling unit 120 are connected by the main body unit 130. That is, the predetermined length of the first support 111 suspended from the first traveling unit 110 and the lower end of the second support 121 suspended from the second traveling unit 120 are connected to each other. A main body 130 is attached. The first support column 111 is suspended so as to be swingable at a fulcrum 112 of the first traveling unit 110. The second support column 121 is suspended so as to be swingable at a fulcrum 122 of the second traveling unit 120.

A motor 131 and a rotation mechanism unit 133 are disposed at a connection portion between the lower end portion of the first support column 111 and the main body unit 130, and the main body unit 130 with respect to the first support column 111 is driven by the rotation mechanism unit 133 driven by the motor 131. The angle θ1 can be varied. Similarly, a motor 132 and a rotation mechanism unit 134 are disposed at a connection portion between the lower end portion of the second support column 121 and the main body unit 130, and the rotation mechanism unit 134 is driven by the motor 132 to the second support column 121. The angle θ2 of the main body 130 can be varied.
The main body 130 is provided with an inclination sensor 161 and an acceleration sensor 162 (see FIG. 2), which will be described later.

  A balance weight 153 is attached to the main body 130 via the first arm 140 and the second arm 150. That is, one end portion of the first arm 140 having a predetermined length is attached to the lower end of the third support column 135 attached to substantially the center of the main body 130, and the fourth support post 143 is attached to the other end portion of the first arm 140. Is attached. Then, one end portion of the second arm 150 having a predetermined length is attached to the lower end of the fourth support column 143, and a relatively heavy balance weight 153 is attached to the other end portion of the second arm 150.

  A motor 141 and a rotation mechanism 142 are disposed at a connection portion between the lower end of the third support column 135 and the first arm 140, and the first support with respect to the third support column 135 is driven by the drive of the rotation mechanism 142 by the motor 141. The angle θ3 of the arm 140 can be varied. Similarly, a motor 151 and a rotation mechanism unit 152 are arranged at a connection portion between the lower end portion of the fourth support column 143 and the second arm 150, and the second arm with respect to the fourth support column 143 is driven by driving the motor 151. The angle θ4 of 150 can be varied.

  The first arm 140, the second arm 150, and the balance weight 153 attached to the second arm 150 function as a balance adjustment unit that changes the position of the center of gravity of the entire inspection apparatus 100. That is, by adjusting the rotation angles θ3 and θ4 by the motors 141 and 151, the position of the balance weight 153 can be set forward or rearward. By setting the position of such a balance weight 153, the position of the center of gravity of the entire inspection apparatus 100 can be changed in a plurality of stages. The balance adjustment processing by setting the position of the balance weight 153 is performed almost simultaneously with the avoidance processing in which the inspection apparatus 100 avoids the obstacle on the overhead wire 11. Specific description will be described later.

[2. Internal structure of inspection equipment]
FIG. 2 shows an internal configuration example of the inspection apparatus 100 of this example.
The inspection apparatus 100 includes a control unit 201, and the control unit 201 controls the operation of each unit. A storage unit 202 and a wireless communication unit 203 are connected to the control unit 201. The storage unit 202 stores a program that controls the operation of the inspection apparatus 100. In addition, an image captured by the camera and data detected by the sensor are stored in the storage unit 202. The wireless communication unit 203 performs wireless communication with a ground-side controller (not shown) via the connected antenna 204. Then, an instruction from the controller received by the wireless communication unit 203 is transmitted to the control unit 201. In addition, an image captured by the camera and data detected by the sensor are transmitted from the wireless communication unit 203 to the controller side. The control unit 201, the storage unit 202, and the wireless communication unit 203 are built in the main body unit 130, for example.
In addition, the inspection apparatus 100 is provided with an inclination sensor 161, an acceleration sensor 162, and a travel distance sensor 163, and detection data of these sensors 161, 162, and 163 are transmitted to the control unit 201.

In addition, the inspection apparatus 100 includes a travel drive unit 211 and an arm drive unit 212.
The traveling drive unit 211 rotationally drives the traveling motors 113 and 114 based on an instruction from the control unit 201. The two traveling motors 113 and 114 are driven to rotate the front wheels 101 and 102 and the rear wheels 103 and 104 simultaneously during normal traveling. Then, in the avoidance process described later, when either one of the first traveling unit 110 and the second traveling unit 120 is levitated from the overhead electric wire 11, the traveling driving unit 211 is selected based on an instruction from the control unit 201. Only one of the traveling motors 113 and 114 is rotationally driven. As the rotational drive of one of the traveling motors 113 and 114 during the avoidance process, there is a rotational drive for preventing the inspection apparatus 100 from shaking in addition to the rotational drive for causing the inspection apparatus 100 to travel. The details of the rotational drive for preventing the inspection apparatus 100 from shaking will be described later.

  The arm drive unit 212 adjusts the rotational positions of the first arm 140 and the second arm 150 (FIG. 1) based on an instruction from the control unit 201. By adjusting the rotational positions of the first arm 140 and the second arm 150, the balance weight 153 is used to adjust the weight balance of the inspection apparatus 100.

Further, the control unit 201 controls the inspection operation in the inspection unit 170.
Images taken by the first inspection camera 173 and the second inspection camera 174 are transmitted to the inspection unit 170. And the test | inspection part 170 performs the test | inspection of the state of the overhead electric wire 11 from these transmitted images. In addition, an external sensor 175 that measures the external size of the overhead wire 11 using a laser or the like is provided, and data detected by the external sensor 175 is transmitted to the inspection unit 170.

  The inspection apparatus 100 normally operates with a power source supplied from a built-in battery (not shown). However, the inspection device 100 has a built-in power source circuit that obtains power from the overhead power line 11 in a live state. You may make it operate with a different power source.

[3. Processing when the inspection device avoids obstacles]
Next, a processing example when the inspection apparatus 100 avoids an obstacle attached to the overhead electric wire 11 will be described.
FIG. 3 is a view of a state in which the inspection apparatus 100 travels on the overhead electric wire 11 as viewed from the side.
As shown in FIG. 3, when the inspection device 100 inspects the overhead electric wire 11, the wheels 101 and 102 of the first traveling unit 110 and the wheels 103 and 104 of the second traveling unit 120 of the inspection device 100 are overhead. It is placed on the electric wire 11. In this state, the inspection apparatus 100 travels on the overhead electric wire 11 by the rotational drive of the traveling motors 113 and 114 (FIG. 2) in the traveling units 110 and 120. During traveling, the inspection unit 170 performs inspection by the first inspection camera 173, the second inspection camera 174, and the outer shape sensor 175.
When the wheels 101 and 102 of the first traveling unit 110 and the wheels 103 and 104 of the second traveling unit 120 are placed on the overhead electric wire 11, the balance weight 153 is positioned substantially at the center, and the inspection device The center of gravity of 100 is set in a substantially central position.

Then, when the inspection apparatus 100 approaches an obstacle 12 such as an insulator attached to the overhead electric wire 11, avoidance processing for avoiding the obstacle 12 is performed.
FIG. 4 shows a change example of the state of the inspection apparatus 100 when the avoidance process is performed.
First, as illustrated in FIG. 4A, the control unit 201 rotates the first arm 140 and the second arm 150 in a state where all the wheels 101 to 104 are placed on the overhead electric wire 11, so that the balance weight 153 Move the position backward. As shown in FIG. 4B, the balance weight 153 moves rearward so that the center of gravity of the inspection apparatus 100 moves rearward, and the wheels 101 and 102 of the first traveling unit 110 move away from the overhead wire 11 and move upward. To do.

Then, the inspection apparatus 100 travels by the second travel unit 120 in a state where the wheels 101 and 102 of the first travel unit 110 are lifted as shown in FIG. 4B. In this traveling, the first traveling unit 110 that has floated passes over the obstacle 12 as shown in FIG. 4C.
After the first traveling unit 110 passes over the obstacle 12, the position of the center of gravity is returned to the approximate center of the inspection apparatus 100 by adjusting the position of the balance weight 153. By adjusting the position of the center of gravity, as shown in FIG. 4D, the wheels 101 and 102 of the first traveling unit 110 return to the state where they are placed on the overhead electric wire 11. At this time, the obstacle 12 is located between the first traveling unit 110 and the second traveling unit 120.

Then, the control part 201 performs the process which makes the 2nd driving | running | working part 120 surface and passes the obstruction 12 by the control similar to the process at the time of letting the 1st driving | running | working part 110 pass.
In this avoidance process, the traveling units 110 and 120 floating on the overhead electric wire 11 are rotated in the horizontal direction by driving the rotating mechanism units 133 and 134 so that the traveling units 110 and 120 are moved horizontally from right above the obstacle 12. It is also possible to pass through a shifted position.

[4. Processing to prevent shaking of inspection equipment]
As described above, the inspection apparatus 100 can avoid the obstacle 12, but when the traveling unit 110 is lifted, the inspection apparatus 100 is suspended by the second support column 121. The inspection apparatus 100 swings around a fulcrum 122 (FIG. 1) 121. For example, when a strong wind is blowing at a place where the overhead electric wire 11 is disposed, the inspection apparatus 100 swings relatively large due to the wind.

For this reason, in the inspection apparatus 100 of this example, when the 1st driving | running | working part 110 or the 2nd driving | running | working part 120 has floated, the avoidance process which prevents the shaking of the inspection apparatus 100 is performed by control of the control part 201. FIG.
FIG. 5 is a diagram showing an outline of avoidance processing.
The example of FIG. 5 shows a state in which the wheels 101 and 102 in the first traveling unit 110 are levitated and the wheels 103 and 104 in the second traveling unit 120 are placed on the overhead electric wire 11. At this time, the main body 130 of the inspection apparatus 100 is suspended by the second support column 121 disposed at the lower part of the second traveling unit 120 and can swing around the fulcrum 122.
At this time, when the main body 130 is shaken, the control unit 201 detects the swinging state from the change in the tilt state detected by the tilt sensor 161 attached to the main body 130 and the acceleration detected by the acceleration sensor 162. can do.

In order to cancel the detected swinging state, the control unit 201 drives the wheels 103 and 104 of the second traveling unit 120 by the traveling motor 114.
That is, as shown in FIG. 5, it is assumed that the inspection apparatus 100 is shaken by repeating the movement of the main body 130 in the direction of the arrow X1 and the movement in the direction of the arrow X2 opposite to the direction. At this time, the traveling drive unit 211 rotates the wheels 103 and 104 in the second traveling unit 120 by rotating the traveling motor 114 in accordance with an instruction from the control unit 201, thereby performing an operation of canceling the shaking.

For example, when there is a movement that swings in the direction of the arrow X1, the traveling motor 114 rotates the wheels 103 and 104 in the direction of the arrow Y1 opposite to the arrow X1 so as to cancel this movement. Further, when there is a motion that swings in the direction of the arrow X2, the traveling motor 114 rotates the wheels 103 and 104 in the direction of the arrow Y2 opposite to the arrow X2 so as to cancel this motion.
The example of FIG. 5 shows an example when the wheels 101 and 102 of the front traveling unit 110 are lifted, but when the wheels 103 and 104 of the rear traveling unit 120 are lifted, the traveling motor 113 is similarly connected. The wheel 101, 102 is rotated to cancel the shaking.
The control unit 201 of the inspection apparatus 100 performs processing for canceling the shaking described so far when the wheel of one traveling unit 110 or 120 is lifted.

The flowchart of FIG. 6 shows an example of shaking cancellation processing performed under the control of the control unit 201.
First, the control unit 201 determines whether or not the wheels 101, 102 or 103, 104 of any one of the traveling units 110 or 120 are lifted (step S11). Here, if any one of the wheels 101, 102 or 103, 104 is not in a lifted state, it is not necessary to cancel the shaking and waits until one wheel 101, 102 or 103, 104 is lifted.

  When it is determined in step S11 that one of the wheels 101, 102 or 103, 104 is in a lifted state, the control unit 201 detects the amount of change in unit time detected by the tilt sensor 161 (step). S12). When detecting the change amount of the tilt in unit time, the control unit 201 calculates the acceleration applied to the inspection apparatus 100 from the change amount of the tilt in unit time (step S13). Note that the control unit 201 may acquire the acceleration directly from the detection data of the acceleration sensor 162 instead of performing the processes of steps S12 and S13.

Next, the control unit 201 calculates a torque that cancels the obtained acceleration (step S14). Then, in response to an instruction from the control unit 201, the traveling drive unit 211 rotates the traveling motor 113 or 114 with the calculated torque, and the wheels 101, 102 or 103, 104 in contact with the overhead electric wire 11 are operated with the corresponding torque. Rotate (step S15).
Thereafter, the control unit 201 returns to the determination in step S11 and repeats the processes in steps S12 to S15 as long as the shaking state continues.

The process for suppressing the shaking shown in the flowchart of FIG. 6 may be performed either when the inspection apparatus 100 is stopped or when the inspection apparatus 100 is traveling. That is, when one traveling unit 110 or 120 is in a floating state, the vehicle travels as it is, as in the change from the state shown in FIG. 4B to the state shown in FIG. 4C. During such traveling, a process for suppressing shaking shown in the flowchart of FIG. 6 may be performed.
In this case, the control unit 201 performs a process of suppressing shaking by adding or subtracting the torque calculated in step S14 to the torque applied to the traveling motor 113 or 114 for traveling.

  As described above, in the inspection apparatus 100 of this example, when one of the two traveling units 110 and 120 is lifted, a process of canceling the shaking by the rotation of the wheels 101 and 102 or 103 and 104 is performed. . Therefore, in order to get over the obstacle 12 on the overhead electric wire 11, it is possible to suppress the shaking of the inspection apparatus 100 itself when one of the two traveling units 110 and 120 is lifted. Thus, the time required for the inspection apparatus 100 to pass the obstacle 12 in the procedure shown in FIG. 4 is suppressed by suppressing the shaking when the one traveling unit 110 or 120 of the inspection apparatus 100 is lifted. Can be shortened. That is, in the case of the conventional inspection device, there is no means for suppressing the shake to be small, so when the inspection device shakes due to the influence of wind or the like, it is necessary to wait for a relatively long time until the shake is reduced to some extent. was there. On the other hand, in the case of the inspection apparatus 100 of the present example, since the process of actively reducing the shake is performed, it is not necessary to wait for a long time until the shake is settled, and the obstacle 12 on the overhead wire 11 It is possible to reduce the time required for overcoming the work.

  In addition, in the case of this example, the control unit 201 only needs to control the driving state of the traveling motors 113 and 114 included in the traveling units 110 and 120, so there is no need for a dedicated mechanism for suppressing shaking. It has an effect that can be realized with a simple configuration.

[6. Modified example]
In addition, the inspection apparatus 100 according to the above-described embodiment travels on the single overhead wire 11. On the other hand, the present invention can also be applied to an inspection apparatus that travels on a plurality of overhead wires.

  Further, in the above-described embodiment, the inspection apparatus 100 performs an inspection of an overhead electric wire. On the other hand, the inspection apparatus 100 may inspect cables other than overhead wires and wires installed in various structures such as bridges.

  Further, the outer shape of the inspection apparatus 100 according to the above-described embodiment is an example, and other shapes may be used. For example, in the inspection apparatus 100 of FIG. 1, each traveling unit 110 and 120 includes two wheels 101, 102, 103, and 104, but each traveling unit 110 and 120 includes only one wheel. It is good also as a structure provided with. Further, each traveling unit 110, 120 may include a wheel (pulley) that is not driven by the traveling motors 113, 114.

Furthermore, the present invention is not limited to the above-described embodiments, and various other application examples and modifications can be taken without departing from the gist of the present invention described in the claims.
For example, in the above-described embodiment, the configuration of the apparatus is described in detail and specifically for easy understanding of the present invention, and is not necessarily limited to the configuration including all the configurations described. .
Also, the signal flow lines shown in FIG. 2 showing the internal configuration of the apparatus show what is considered necessary for explanation, and do not necessarily indicate all lines necessary for the apparatus. Actually, it may be considered that almost all the components are connected to each other.

  DESCRIPTION OF SYMBOLS 11 ... Overhead electric wire, 12 ... Obstacle, 100 ... Inspection apparatus, 101, 102 ... Wheel (front wheel), 103, 104 ... Wheel (rear wheel), 110 ... 1st traveling part, 111 ... 1st support | pillar, 112 ... fulcrum , 113, 114 ... travel motor, 120 ... second travel part, 121 ... second support, 122 ... fulcrum, 130 ... main body part, 131, 132 ... motor, 133, 134 ... rotating mechanism part, 135 ... third. Support column 140 ... first arm 141 ... motor 142 ... rotation mechanism unit 143 ... fourth support column 150 ... second arm 151 ... motor 152 ... rotation mechanism unit 153 balance weight 161 ... tilt Sensor 162 Acceleration sensor 163 Travel distance sensor 170 Inspection unit 171 Rotating fulcrum 172 Electric wire proximity unit 173 First inspection camera 174 Second inspection camera 175 Outline Sa, 201 ... controller, 202 ... storage unit, 203 ... wireless communication unit, 204 ... antenna, 211 ... traveling drive unit, 212 ... arm drive unit

Claims (6)

A first travel unit having wheels mounted on a cable or wire;
A second traveling unit that is disposed at a position separated from the first traveling unit by a predetermined distance and has wheels mounted on the cable or wire;
A main body connected to the first traveling unit and the second traveling unit;
An inspection unit that is attached to any of the traveling unit or the main body unit and detects the state of the cable or wire ,
A first drive unit for driving the wheels of the first traveling unit;
A second driving unit that drives a wheel of the second traveling unit, and while traveling along the cable or wire by driving the wheel by the first and second driving units, the inspection The part is an inspection device that inspects the cable or wire,
A balance adjustment unit that is connected to the main body unit via a movable mechanism, and that changes the center of gravity of the entire apparatus by the movable mechanism;
A sensor for detecting shaking of the main body,
In the adjustment of the center of gravity position by the balance adjustment unit, the state detected by the sensor when avoiding an obstacle attached to the cable or wire as a state where any one of the traveling units is lifted from the cable or wire An inspection apparatus comprising: a control unit that executes a process of canceling a shaking state of the main body by driving by the first or second driving unit that drives a wheel of the other traveling unit that is not lifted from the cable or the wire. The inspection apparatus according to claim 1, wherein the control unit calculates a speed for canceling the shaking of the main body detected by the sensor, and drives the wheel of the other traveling unit at the calculated speed. Using an acceleration sensor as the sensor,
The inspection apparatus according to claim 2, wherein the control unit calculates a speed for canceling the acceleration detected by the acceleration sensor. First and second traveling units arranged at positions separated from the main body by a predetermined distance are placed on cables or wires, and first and second for driving the wheels included in each traveling unit . In the inspection method in which the traveling unit or the inspection unit attached to the main body inspects the state of the cable or the wire while traveling on the cable or the wire by driving by the driving unit ,
By adjusting the position of the center of gravity of the apparatus main body, the avoidance process for avoiding an obstacle attached to the cable or wire as a state where the wheel of any one of the traveling parts is lifted from the cable or wire;
When the avoidance process is performed, the wheel of the other traveling unit that is not lifted from the cable or the wire is detected so as to detect the shaking of the apparatus body and cancel the detected shaking state . An inspection method including a vibration canceling process driven by a driving unit . The inspection method according to claim 4, wherein in the shaking cancellation process, a speed for canceling the shaking of the apparatus main body is calculated, and the wheel of the other traveling unit is driven at the calculated speed. The inspection method according to claim 5, wherein shaking of the apparatus main body is detected as acceleration, and a speed for canceling the detected acceleration is calculated.

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