JPH0434040B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an intra-pipe moving device and a method for working inside a pipe using this intra-pipe moving device, and in particular to an elbow, a bend, a branch pipe, or a pipe with a different diameter. In addition, various cables such as electric wires are installed in complexly curved pipes buried underground, wires for various types of work are routed, or maintenance and inspection inside the pipes are carried out. The present invention relates to an intra-pipe moving device suitable for inspection and repair work performed by inserting working equipment, and a method for working within a pipe using this intra-pipe moving device.

[Conventional technology]

Conventionally, in order to perform inspection work inside the piping, it is necessary to first insert inspection equipment such as inspection and work equipment into the pipe, so it is necessary to conduct the inspection work by passing a traction wire for insertion. Alternatively, a method is used in which the work equipment is mounted on a moving device in a straight pipe and towed to perform inspection work, and another method is used in which cables such as electric wires are routed in the same way as the above-mentioned wire routing method.

FIG. 1 shows an example of a conventional moving device that moves within a pipe using fluid within the pipe. The moving device shown in the figure consists of a moving leg 1, a main body 2 that controls the moving leg 1 and adjusts fluid pressure, an operating device 3 towed by the main body 2, and a working device 4, and furthermore, the moving device's position, speed, Alternatively, it includes a control device 6 for controlling the work equipment 4 and the like, a monitoring device 7 for managing and commanding the status of these different jobs, and a power source 8. and,
A working wire or cable 10 wound around a drum 11 is attached to the moving device, and the moving device is pulled inside the pipe 12 to perform wiring work or inspection work inside the pipe 12.

[Problem to be solved by the invention]

However, with the conventional method, the inner diameter is 150 mm or more,
It only has the capacity for piping with a radius of curvature of about 750 mm, and cannot be applied to various types of practical piping such as small diameter pipes, bend pipes, elbows, different diameter pipes, and support pipes with an inner diameter of about 20 to 40 mm, especially curved pipes made by combining these. It was difficult.

In particular, when a moving device is fed into a pipe while taking into account obstacles such as bends and branch pipes, it is difficult to control the fluid flowing inside the pipe with the conventional device described above.

Furthermore, there is a limit to miniaturization due to the structure, making it difficult to apply to small diameter pipes.

The present invention has been made in view of the above-mentioned points, and its first object is to provide even small-diameter pipes, elbows, bend pipes, different-diameter pipes, steps, branch pipes, or complex piping in which these are combined. The second purpose of this pipe moving device is to move wires and wires inside the complicated pipes mentioned above.
A method for working inside a pipe, in which wired materials such as cables can be easily wired using the above-mentioned pipe moving device,
A third object of the present invention is to provide a method for working inside a pipe in which the complicated inner surface of the pipe can be inspected and repaired easily using the pipe moving device.

[Means to solve the problem]

In order to achieve the above-mentioned first object, the present invention is an elongated moving body made of a material having elasticity and appropriate flexibility, and having a means for reducing friction at the tip. a winding device that continuously winds up the movable body; and a supply unit that holds a part of the movable body sent out from the winding device and is capable of continuously feeding the movable body. and a feeding unit control device for controlling the feeding unit, the feeding unit is installed near the inlet of the pipe, and the moving body is continuously fed into the pipe by driving the feeding unit. In order to achieve the second purpose, an in-pipe moving device that moves while being moved has elasticity,
In addition, a long moving body made of a material with appropriate flexibility is continuously fed into the piping by a feeding unit that holds the moving body and is capable of continuously and automatically feeding and recovering the moving body. The moving body moves inside the pipe while
A method of working inside a pipe using a pipe moving device that moves and wires the wire material installed in the pipe together with the moving body when the moving body moves, and a method that has elasticity and appropriate flexibility. The movable body is moved inside the pipe while being continuously fed into the piping by a feeding unit that holds the movable body and is capable of continuously and automatically feeding and collecting the movable body. Then, this moving body is once moved to the piping outlet, the wired material is connected to the moving body that has come out to the piping outlet, and the wired material is then wired into the piping by returning the moving body to the inside of the piping. A method for working inside a pipe using a moving device within a pipe, and further, in order to achieve the third objective, a long moving body made of a material having elasticity and appropriate flexibility is moved. The movable body moves within the piping while continuously feeding into the piping by a feeding unit that can hold the body and continuously automatically feed and retrieve the movable body, and a working device is provided at the tip of the movable body. ,
This is a method for working inside a pipe using a pipe moving device that inspects and repairs any position within the pipe by moving the movable body with the work equipment.

〔work〕

According to the in-pipe moving device according to the present invention, the movable body is elastic and flexible and has a means for reducing friction at the tip, from the end of the pipe.
Since the feeding unit is used to continuously push the piping, even the complicated piping described above can be easily moved, and the first object described above can be achieved.

Furthermore, according to the method for working inside piping according to the present invention,
A movable body with elasticity and flexibility is continuously pushed into the pipe by a feeding unit, and at the same time, the wire material installed in the pipe is moved with the movable body for wiring. Alternatively, the movable body may be moved to the pipe outlet, the wire material may be connected to the movable body that has come out of the pipe outlet, and the movable body may then be returned to the pipe to wire the wire inside the pipe. Easy wiring even with complicated piping,
The above second objective is achieved. Furthermore, according to another method for working inside a pipe according to the present invention, a working device provided at the tip of a movable body having elasticity and flexibility is used to continuously move the movable body into the pipe by a feeding unit. Since the inside of the pipe is inspected and repaired at any position as it is pushed and moved, the inner surface of even the complex pipe can be inspected and repaired, and the third objective is achieved.

〔Example〕

Hereinafter, the present invention will be explained in detail based on illustrated embodiments.

FIG. 2 shows an embodiment of the pipe moving device according to the present invention.

As shown in the figure, the pipe moving device of this embodiment has elasticity and appropriate flexibility, and
A long moving body 21 having a means for reducing friction at its tip, a feed roller 22 that sandwiches a part of the moving body 21 with appropriate pressure and is installed in a non-slip state, and this feed roller A movable body feeding unit 24 constituted by a roller motor 23 for driving the movable body 22, and a detector 28 capable of detecting the feeding speed, force, position, etc. of the movable body 21, Control device 2 for controlling
7. It is roughly composed of a holder 25 for winding up the moving body, a holder motor 26 for rotating the holder, and a power source 29.

Next, the operation of the pipe moving device of this embodiment will be explained. First, from the state where the movable body 21 is freely released, the holder prime mover 26 or the feeding unit 2
4, or by driving both at the same time, the movable body 21 is sequentially wound around the holder 25, and then the feeding unit 24 is placed at the entrance of the pipe 30, and the tip of the movable body 21 is set in the feeding unit 24. rear,
The roller motor 23 rotates the feed roller 22 to drive the feed unit 24, and from this, the moving body 2
1 can be continuously fed into the pipe 30 and moved.

According to the pipe moving device of this embodiment, the following various effects can be obtained. That is, (1) Since the moving body 21 is forcibly driven and fed by the feeding unit 24, it can move continuously at a stable speed even if movement resistance occurs within the piping 30.

(2) Place the feeding unit 24 at the entrance of the piping 30,
By reducing the distance between the movable body support point of the feeding unit 24 and the pipe inlet, the buckling phenomenon of the movable body 21 can be prevented.

(3) The feeding unit 24 is movable, so it can work even in a small work space, and its upper position can be easily adjusted.

(4) When feeding or collecting the moving body winding holder 25, by driving it in synchronization with the feeding unit 24, the moving body 21 can be stably fed and recovered without deflection, positional deviation, etc. is possible.

(5) The moving object 21 can be automatically recovered with a completely simple operation.

(6) Feeding unit 24 and holder motor 26
The feeding and collection speeds can be arbitrarily selected by controlling.

(7) Since the moving body 21 is forcibly fed, it can be widely applied to various wire rods as long as it has a certain degree of elasticity.

(8) Since the movable body 21 is elongated and has elasticity and appropriate flexibility, it can be moved inside various practical piping, such as small diameter pipes, bend pipes, elbows, pipes with different diameters, etc., which was difficult with conventional methods. .

(9) The feeding of the moving body 21 is carried out when the moving body 21 is wound up.
By utilizing the phenomenon of converting the elastic energy of

(10) Since the moving body 21 is not equipped with a drive device,
Maintenance is easy even during operation.

(11) Since the structure of the movable body 21 is small in diameter and simple, space for mounting and towing work equipment can be effectively secured in the movable body 21 within the piping 30.

(12) The moving body 21 itself is waterproof and explosion-proof, and can be used as is in flammable gas or underwater.

Next, a specific example for reducing the friction at the tip of the moving body 21 will be described. Figures 3 to 8
The figure shows that when the movable body 21 employed in the intra-pipe movement device of this embodiment moves within the pipe 30, the tip of the movable body 21 moves while making rolling contact with the wall surface within the pipe 30. , various embodiments of the movable body 21 are shown, each of which has a head holding a rotary body at the tip of the movable body 21.

First, in FIG. 3, a support head 31 is fixed to the tip of a moving body 21 as shown in FIG. This is an example of a moving body 21 that moves while making rolling contact with an inner wall surface.

Further, in FIG. 4, a roller 33 is rotatably attached to the support head 31 in place of the ball 32 in FIG. 3. Next, in FIG. 5, a large number of balls 32 are rotatably attached to the tip of the movable body 21 in the longitudinal direction of the movable body 21 via the support head 31, and are moved in the same manner as described above.

FIG. 6 shows a support head 3 at the tip of the moving body 21.
This is an example in which a large number of rollers 33 are rotatably attached in the longitudinal direction of the moving body 21 via 1.

Furthermore, FIG. 7 shows an example of a movable body in which a bead 35 is rotatably attached to a shaft provided on an arm 34 fixed to the tip of the movable body 21.

Finally, FIG. 8a shows an example in which a wheel 39 is rotatably attached to a link 38 fixed to the tip of the moving body 21, and FIG.
This is an example of a movable body 21 in which a robot 0 is rotatably attached.

Examples of various moving bodies 21 have been described above, and by using such moving bodies 21, various effects shown below can be obtained.

(1) When the movable body 21 moves within the pipe 30, the friction with the inner surface of the pipe 30 can be significantly reduced.

(2) The movable body 21 can pass smoothly even in places where the inner wall surface of the pipe 30 is likely to get caught, such as steps, undulations, bends, etc., and where frictional resistance is concentrated.

(3) Frictional resistance can be reduced even when the weight increases due to mounting inspection/work equipment, etc. on the movable body 21.

(4) Friction at the tip of the moving body 21 can be prevented.

(5) In the method using the crawler 40 shown in FIG. 8b, it is particularly easy to climb over undulations, steps, etc. on the inner surface of the pipe 30.

Next, in the embodiment shown in FIG. 9a, the entire surface of the moving body 21 is coated with a coating material 41 such as Teflon, and in FIGS. In FIG. 9c, the covering body 41 is spirally coated to prevent the movable body 21 itself from coming into direct contact with the wall surface inside the pipe 30. According to such a moving body 21, various effects as shown below can be obtained.

(1) Since the covering body 41 is made of a material such as Teflon that does not easily generate frictional resistance, the movement resistance of the movable body 21 within the piping 30 can be reduced.

(2) By preventing linear contact between the movable body 21 and the inner wall surface of the pipe 30, friction and damage to the movable body 21 can be prevented.

(3) As shown in Figures 9a, b, and c, by devising the covering method of the covering body 41 as necessary,
Covering methods can be used depending on the type of piping, length, etc.

Furthermore, by impregnating the coating 41 with a lubricant, (1) When the coating 41 impregnated with the lubricant moves while contacting the wall surface inside the pipe 30, the impregnated lubricant flows out while It becomes possible to move, and the movement resistance of the moving body 21 can be reduced.

(2) Steps, undulations, bends, etc. on the inner surface of the pipe 30,
In particular, when the covering 41 passes through a location that is susceptible to external forces, a larger amount of the impregnated lubricant can be released to obtain a further lubrication effect.

(3) In the same phenomenon as (1) and (2) above, the covering 4
1 itself can be prevented from being worn out.

FIG. 10 shows an example of a moving body 21 that includes a plurality of rotating supports 44 such as balls as part of the moving body 21.

By using this movable body 21, (1) when the movable body 21 moves within the pipe 30, friction with the surface inside the pipe 30 can be significantly reduced;

(2) The moving body 21 can pass smoothly even in places where the inner surface of the pipe 30 is likely to get caught, such as steps, undulations, bends, etc., and where frictional resistance is concentrated.

(3) Even if the weight of the moving body 21 increases, frictional resistance can be reduced.

(4) Wear caused by friction with the wall surface of the moving body 21 itself can be prevented.

Various effects such as

Next, with reference to FIG. 11 and FIG. 12, a description will be given of the wiring work into the pipe and the maintenance inspection work performed using the above-described pipe moving device.

First, FIG. 11 shows an example of a wiring work method for passing a working wire or a cable such as an electric wire, which is a wire material for inserting various inspection and working equipment into piping.

The moving body 21 shown in FIG. 2 or FIGS.
The moving body 21, holder 25, holder prime mover 26, control device 27, detector 28, shown in FIG.
Using the moving body feeding unit 24, the working wire or cable 58 as a wire material, the winding supply drum 56 thereof, and the speed of the moving body 21,
With the configuration including a monitoring device 50 for commanding and monitoring the position, a working wire or cable 58 can be attached directly to the tip of the moving body 21, or after the moving body 21 has passed through the piping, A communication line is wired inside the piping by attaching a working wire or cable 58 at the outlet and moving the moving body 21.

As a result, the step 51, the bend 52, the elbow 5
3. Even in the case of complicated piping having pipes of different diameters 54, branch pipes 55, etc., wiring work can be performed while automatically and continuously detecting and controlling the position and moving speed of the wires, etc.

According to the working method of this practical example, the following various effects can be obtained. That is, (1) By attaching the cable 58 directly to the tip of the movable body 21 and inserting it into the piping, the movable body 21 is not stiff;
Cables and the like that are heavy and easily bent and cannot be pushed directly through the entrance over long distances can be reliably inserted by the insertion force of the movable body 21.

(2) Since the monitoring device 32 is used to check the speed and position of the moving object 21, the required cable length can be monitored from time to time, and it is easy to detect when there is a shortage of cables 58 in the middle of piping, and the speed can also be monitored. By doing so, work efficiency such as management of cable installation work time can be improved.

(3) Once the movable body 21 is inserted together with the wire,
Since the cable can be pulled in while unwinding the wire from the outlet, even if the cable is heavy, it can be pulled in with the strong winding force of the wire.

As a result of the above, it has become possible to run wires into various practical pipes, which was impossible with conventional equipment. Furthermore, since a system with high speed and efficiency is obtained, work efficiency is greatly improved and work can be performed without stopping even when working with flammable gas, water, etc.

Next, FIG. 12 shows the moving body 2 shown in FIG.
1, or the moving body 21 shown in FIGS. 3 to 10,
Holder 25, holder prime mover 26, control device 2
7. Using the detector 28 and the moving body feeding unit 24, various sensors such as cameras or work equipment 6 such as repair equipment such as welding and processing machines are attached to the tip of the moving body 21.
0 is provided, and auxiliary equipment 62 such as a sled is installed on this to allow stable passage through the pipe, and work equipment 60 is installed.
This shows a system consisting of a monitoring device 50 that adds an operation control function to the control device 27 and also makes it possible to confirm and collect work start data. The working equipment 60 can be moved to a certain position to inspect, repair, etc. inside the piping.

According to this embodiment, the following effects can be expected.

(1) It becomes possible to inspect and repair various practical piping, which was impossible with conventional equipment.

(2) Since a high-speed, highly efficient system is obtained, work efficiency is greatly improved.

(3) Work costs can be significantly reduced.

Next, in the method of sealing the inner surface of the pipe 30 with the sealant 69, FIG. 13 shows that after applying the sealant 69 to the inner surface of the pipe 30, it is necessary to remove the sealant 69 from the branch part 55. , this branch 5
5 shows the removal work of the sealing material 69 in No. 5.

First, before sealing the inner surface of the pipe 30,
The above-mentioned moving body 21, feeding unit 24, control device 27, detector 28, monitoring device 50, holder 2
5, a sensor 63 such as a television camera is mounted on the tip of the moving body 21, and the moving body 2
1 is passed from one end of the pipe 30 into the interior and moved for a predetermined distance to detect the position of the branching part 55, and then the moving body 21 is moved to the outside of the other end of the pipe 30, After this, the inner surface of the pipe 30 is sealed. Next, a sensor 63 located at the tip of the movable body 21 outside the other end of the pipe 30
Instead, a sensor pig 6 equipped with a sensor 67 capable of detecting the branch portion 55 from above the sealing material 69 is used.
5. A processing machine pig 64 equipped with a processing machine 68 connected to this by a coupler 66 is attached to the movable body 21, and the movable body 21 is moved within the pipe 30 by reversing the feeding unit 24. sensor 67
The position of the branch part 55 is accurately scanned and detected by the machine.Then, the pig is set so as not to move inside the pipe, and the processing machine 68 is driven to cut the sealing material 69 of the branch part 55 into the machine. This is a work method in which the material is removed at step 68 and then a hole is made.

According to this embodiment, the following various effects can be obtained.

(1) By detecting the hole position in advance,
Holes can be easily detected before processing.

(2) Hole detection and processing can be performed in series.

(3) Conventional sensor functions are sufficient, and a greater effect can be obtained than sensing immediately after sealing.

〔Effect of the invention〕

According to the in-pipe moving device of the present invention and the in-pipe work using this in-pipe moving device described above,
A long movable body made of an elastic and moderately flexible material and having means for reducing friction at its tip; and a winding device for continuously winding the movable body. , a feeding unit capable of holding a part of the moving body sent out from the winding device and continuously feeding the moving body, and a feeding unit control device controlling the feeding unit. Equipped with
The feeding unit is arranged near the inlet of the pipe, and the moving body is continuously fed into the pipe and moved by driving the feeding unit. , elbows, bend pipes, pipes with different diameters, steps, branch pipes, or complex pipes that combine these, have elasticity and flexibility, and have a means to reduce friction at the tip. The body can be easily and freely moved through the pipe by simply pushing the body continuously from the end of the pipe using the feeding unit.

In addition, a long moving body made of a material with elasticity and appropriate flexibility is held in the pipe by a feeding unit that can continuously and automatically supply and collect the moving body. An in-pipe movement device that moves the movable body within the pipe while continuously feeding, and moves wired materials such as wires and cables installed in the pipe when the movable body moves together with the movable body for wiring. A method for working inside a pipe using a pipe having elasticity, and
A long moving body made of a material with appropriate flexibility is continuously fed into the pipe by a feeding unit that can hold the moving body and continuously feed and recover it automatically. A moving body moves, this moving body is moved once to the piping outlet, the wired material such as a wire or cable is held on the moving body that has come out to the piping outlet, and then the moving body is returned to the inside of the piping. This method uses an in-pipe moving device to wire the wired material inside the pipe, so a moving body with elasticity and flexibility is continuously moved inside the pipe by the feeding unit. At the same time, the wire material installed in the pipe is moved to the movable body for wiring, or the movable body is moved to the pipe outlet, and the wire material is passed through the pipe outlet and covered with the movable body. Wiring can be done within the piping by connecting the wire rods and then returning the movable body to the piping, so that wires, cables, etc. can be easily routed even in the complicated piping described above.

Furthermore, a long moving body made of an elastic and moderately flexible material is inserted into the piping by a feeding unit that can hold the moving body and continuously feed and recover it automatically. A movable body moves inside the piping while continuously supplying and recovering, and a working device is provided at the tip of the movable body, and the working device inspects and inspects any position in the piping by moving the movable body. Since this is a method of working inside pipes using a pipe moving device that performs repair work, the work equipment is installed at the tip of a movable body with elasticity and flexibility, and the movable body is moved by the feeding unit. As the pipe is continuously pushed into the pipe and moved, the inside of the pipe can be inspected and repaired at any position, so even if the pipe is complex, the inner surface can be easily inspected and repaired.

[Brief explanation of drawings]

Fig. 1 is a plan view showing a conventional moving device, Fig. 2 is a schematic diagram showing an embodiment of the in-pipe moving device of the present invention, and Figs. 3 to 8 are used in the in-pipe moving device of the present invention. Fig. 3 shows a diagram in which a plurality of balls are provided on the circumference, Fig. 4 shows a diagram in which rollers are provided, and Fig. 5 shows examples of mechanisms constructed at the tip of a moving body that is
The figures show a plurality of balls provided in the longitudinal direction of a moving body, FIG. 6 shows a plurality of rollers provided in the longitudinal direction of a moving body, FIG. 7 is a perspective view of balls provided rotatably, and FIG. Figure a is a perspective view with wheels rotatably provided;
FIG. 8b is a perspective view of the crawler rotatably provided;
Figure 9 shows a moving body with a covering added to it; Figure 9a is a cross-sectional view showing an example in which the covering is provided on the entire surface of the moving body, and Figure 9b is a partially provided covering. A sectional view, FIG. 9c is a sectional view provided in a spiral shape,
Fig. 10 is a diagram of a movable body in which a rotating support is provided as a part of the movable body, and Fig. 11 explains the wiring work of passing a wire through an underground pipe using the in-pipe movement device of the present invention. Figure 12 is a cross-sectional view for explaining the inspection work to inspect the inside of the piping.
FIG. 3 is a sectional view for explaining the detection of a branch part in a pipe and the drilling operation using the pipe moving device of the present invention. 21... Moving body, 22... Feed roller, 23...
...roller prime mover, 24...mobile feeding unit,
25...Holder, 26...Holder prime mover, 2
7...Control device, 28...Detector, 30...Piping, 31...Support head, 32...Ball, 33
...Roller, 34...Arm, 35...Ball, 38
...Link, 39...Wheel, 40...Crawler,
41... Covering body, 44... Rotating support body, 63, 6
7...Sensor, 50...Monitoring device, 51...Step, 52...Bend, 53...Elbow, 54...
Different diameter pipe, 55... Branch, 56... Winding supply drum, 57... Frame, 58... Working wire or cable, 60... Working equipment, 62... Auxiliary equipment, 64... For processing machine Pig, 65...Pig for sensor, 68...Processing machine, 69...Sealing material.

Claims (1)

[Scope of Claims] 1. A long movable body made of an elastic and moderately flexible material and having a means for reducing friction at its tip, and a continuous movable body. a winding device that winds up the winding device; a supply unit that holds a part of the moving body sent out from the winding device and can continuously supply the moving body; and a supply unit that controls the feeding unit. and a feeding unit control device, the feeding unit is installed near the entrance of the piping, and the moving body is continuously fed into the piping and moved by driving the feeding unit. A device for moving inside the piping. 2. The feeding unit comprises a feeding roller that pinches a part of the moving body and presses it to an extent that it does not slip, and a roller motor for driving the feeding roller. The pipe moving device according to item 1. 3. The winding device includes a holder that winds up the movable body while rotating near the feeding unit;
a holder motor for rotationally driving the holder, and after fixing one end of the movable body to the holder, the movable body is automatically retrieved to the holder by driving the feeding unit; The feeding unit is installed near the pipe inlet,
2. The moving device within a pipe according to claim 1, wherein the movable body is moved within the pipe while being continuously supplied into the pipe. 4. A holder prime mover that rotationally drives a holder that winds up the movable body is equipped with a control device, and controls the holder prime mover in synchronization with the feeding unit when feeding and collecting the movable body while moving the movable body inside the piping. 4. The in-pipe movement device according to claim 3, which is configured to feed and recover the inside of the pipe. 5. The means for reducing friction at the tip of the moving body comprises a head holding at least one rotating body, and when the moving body moves within the pipe, the rotating body at the tip of the moving body 2. The intra-pipe moving device according to claim 1, wherein the device moves while making rolling contact with the inner wall surface of the pipe. 6 Covering at least a part of the surface of the movable body with a covering body, and when the movable body moves within the piping,
6. The intra-pipe moving device according to claim 5, wherein the covering portion moves while being in contact with the inner wall of the pipe. 7. The covering body is impregnated with a lubricant, and when the movable body moves within the pipe, lubrication is generated between the inner wall surface of the pipe and the movable body as appropriate. The described pipe moving device. 8 A part of the movable body is provided with a plurality of rotating supports, and when the movable body moves within the pipe, the rotary supports serve as a guide and direct contact between the main body of the movable body and the wall surface within the pipe. The in-pipe movement device according to claim 5, characterized in that it prevents. 9 Holding a long moving body made of a material with elasticity and appropriate flexibility;
The moving body moves within the pipe while continuously feeding into the pipe using a feeding unit that can automatically feed and collect the wire continuously, and when this moving body moves, the wire material installed in the pipe is moved. A method for working inside a pipe using a moving device inside the pipe, which is characterized by moving the wire together with the body. 10. A method for working inside a pipe using the pipe moving device according to claim 9, characterized in that wiring is performed while checking the position, speed, etc. of the movable body within the pipe using a monitoring device. 11 A long moving body made of a material with elasticity and appropriate flexibility is held in the pipe by a feeding unit that can continuously and automatically feed and recover the moving body. The movable body moves inside the pipe while continuously feeding, the movable body is once moved to the pipe outlet, the wire material is connected to the movable body that has come out of the pipe outlet, and then the movable body is moved into the pipe. A method for working inside a pipe using a moving device within a pipe, characterized in that a wired material is wired inside the pipe by returning the inside to its original position. 12. A method for working inside a pipe using the pipe moving device according to claim 11, characterized in that wiring is performed while checking the position, speed, etc. of the movable body within the pipe using a monitoring device. 13 A long moving body made of an elastic and moderately flexible material is held in a pipe by a feeding unit that can continuously and automatically feed and recover the moving body. The movable body moves inside the piping while continuously feeding, and a working device is provided at the tip of the movable body, and the working device inspects and inspects any position in the piping by moving the movable body. A method for working inside a pipe using an inside moving device for performing repair work. 14 The operation of the work equipment is controlled by the control device, and the work of the work equipment is started, data is confirmed,
14. A method for working inside a pipe using the pipe moving device according to claim 13, wherein the collection and the like are performed by a monitoring device. 15 A sensor is provided at the tip of the moving body, and the position of the branch in the pipe is confirmed and measured by the sensor,
After that, a sealing material is applied to the inner surface of the pipe, and then a working device consisting of a pig equipped with a sensor capable of sensing the branch portion and a drilling machine is sent into the pipe from above the sealing material, and the pig is removed from the pipe. Claim 13, wherein after accurately sensing the branch part with a sensor mounted on the machine, the hole-drilling machine drills a hole in the sealing material of the branch part. A method for working inside a pipe using a moving device inside the pipe.