JPH06102424B2 - Conduit inspection traveling device - Google Patents

Description

Detailed Description of the Invention [Industrial applications]

The present invention relates to a conduit inspection and traveling device, and particularly for inspecting a pipe that is buried in the ground or the like, such as a city gas pipe, has many sharp bends and branches, and has a relatively small pipe diameter. The present invention relates to a suitable conduit inspection traveling device.

[Prior art]

Various devices have been proposed for inspecting the inside of the pipe by moving the pipe, and for example, there is an inspection device as disclosed in JP-A-53-120589. This inspection device inspects the inner surface by the detection sensor while moving in the pipe, but since the device itself does not have the moving ability and the detection sensor is pressure-fed by the pressure fluid, the supply of pressure fluid is not possible. A device and a recovery device for the supplied pressure fluid are required, and it is difficult to use in a closed tube where the insertion port of the detection sensor is limited. Further, as another example, there is a pipeline crawler as disclosed in JP-A-47-10042. This pipeline crawler has a function of self-propelling inside the pipeline, but since the mechanism is complicated, it can not be applied to inspection of small diameter pipes with a diameter of 100 mmφ or less and pipes with many sharp bends and branches. very hard. Other examples include a self-propelled vehicle with an articulated arm disclosed in JP-A-53-107058, or JP-A-53-12399.
There is a pipe moving device shown in Japanese Patent Laid-Open No.

[Problems to be Solved by the Invention]

All of these have a movement function that can adapt to slight changes in diameter in pipes and bends, but since they do not have the attitude control capability of the traveling vehicle, they are T-shaped branch pipes and pipes used for city gas pipes. In a small-diameter pipe that has an elbow that is bent at a right angle, there is a drop in the step of the conduit joint part of the traveling device, there is a catch, and it is difficult to travel in other than a specific running posture,
Not applicable to conduit inspection travel equipment. The present invention has been made in view of the above points, and an object of the present invention is to allow running even if there is a step in the pipe, a bend such as an elbow, or a branch, and the pipe diameter is relatively small. It is to provide a conduit inspection traveling device that allows traveling inspection even if there is.

[Means for Solving the Problems]

The present invention relates to a first traveling formed by a drive motor, an infinite guideway that is driven by the drive motor to rotate, and an inspection device that inspects the inside of a conduit when the infinite guideway travels forward or backward. The vehicle and the second traveling vehicle formed from an infinite guideway that rotates by the power of the first traveling vehicle and a second traveling vehicle formed from a pressing mechanism formed of wheels that are spring-supported to press the infinite guideway against the inner wall of the pipe. A first traveling vehicle, a second traveling vehicle, which constitutes a traveling vehicle, constitutes a rear traveling vehicle in the same manner as the leading traveling vehicle, and connects these traveling vehicles with a turning device that turns around a pipe central axis. The connecting device between the turning device and the turning device is configured to be able to swing both of the leading vehicle and the trailing vehicle, thereby achieving the initial purpose. .

[Action]

With the above configuration, since the traveling vehicle can be turned to change the traveling direction, the steering mechanism becomes unnecessary,
Since the structure of the traveling vehicle can be made small and simple, it can be inspected even if it has a relatively small pipe diameter, and since the two traveling vehicles have in-pipe traveling force, bends such as steps and elbows in the pipe, branching It becomes possible to run even if there are such things.

【Example】

Hereinafter, the present invention will be described in detail based on the illustrated embodiments. FIG. 1 and FIG. 2 show an embodiment of the conduit inspection traveling device of the present invention. As shown in the figure, the conduit inspection traveling device of the present embodiment is roughly constituted by a leading traveling vehicle 10, a trailing traveling vehicle 20, and a turning device 30 that connects and turns both traveling vehicles. The first vehicle 10 is equipped with a first vehicle drive motor 11
It is formed of a traveling vehicle 12 and a second traveling vehicle 16 equipped with a pressing mechanism 14 for pressing the infinite guide 13B against the inner wall of the pipe and a traveling vehicle turning assist motor 15 for releasing the pressing mechanism 14 from the inner wall of the pipe. The leading traveling vehicle 10 is driven by rotation of two infinite guides 13A and 13B powered by a leading vehicle drive motor 11, and the two infinite guides 13A and 13B are driven by the leading vehicle drive motor 11.
Are connected by a connecting device 17A that transmits the power of.
The connecting device 17A has a structure in which two infinite guides 13A and 13B are supported so as to be swingable with respect to each other and can follow a step or unevenness on the inner wall of the pipe. Further, in order to travel by the infinite rails 13A and 13B, a frictional force between the infinite rails and the inner wall of the pipe is required, and in order to obtain this frictional force, a pressing mechanism 14 for pressing the infinite rail 13B against the inner wall of the pipe is provided. This pressing mechanism 14
It is necessary to press the inner wall of the pipe with an appropriate force and at the same time to be able to travel while following the steps and unevenness of the inner wall of the pipe. For example, in this embodiment, a spring-supported wheel or the like is used. On the other hand, when the leading traveling vehicle 10 turns, it is necessary to release the pressing mechanism 14 from the inner wall of the pipe in order to facilitate turning. Therefore, the leading vehicle turning assist motor 15 is used to retract the pressing mechanism 14 and push out the turning assist wheels 18, thereby changing the device configuration to facilitate turning. Further, since the leading vehicle 10 and the turning device 30 are connected by the coupling device 17B and the leading vehicle 10 can swing its head in any direction with respect to the turning device 30, it can bend and enter the branching direction. At the same time, the swinging angle of the leading vehicle 10 can be detected by the leading vehicle attitude detection sensor 19 and the attitude detection data can be transmitted to the ground control device. On the other hand, the rear traveling vehicle 20 has the basic structure and function as the leading traveling vehicle.
The first traveling vehicle 22, which is the same as 10, is equipped with a tail wheel drive motor 21, a pressing mechanism 24 that presses the infinite guide 23B against the pipe inner wall, and a tail wheel turning assist that releases the pressing mechanism 24 from the pipe inner wall. It is formed of a motor 25 and a second traveling vehicle 26 having a turning assist wheel 28 for assisting turning. This trailing vehicle 20
Is also driven by the rotation of the two infinite guides 23A and 23B, and is supported by the turning device 30 via the coupling device 17C so as to be swingable. The first traveling vehicle 22 and the second traveling vehicle 26 are coupled by the coupling device 17D. Supported in the same manner as above. And the rear traveling vehicle
The swinging angle of 20 is detected by the rear vehicle attitude detection sensor 29, and this attitude detection data is transmitted to the ground control device. And a connection portion of the cable 1 for power transmission and power transmission. Next, the turning device 30 is formed to turn the leading traveling vehicle 10 or the rear traveling vehicle 20 by the driving force of the traveling vehicle turning motor 31. The turning angle of both traveling vehicles is detected by the turning angle detection sensor 32, and the turning angle data is transmitted to the control device. As the turning angle detection sensor 32, for example, a potentiometer, an encoder or the like is used. The running posture of the conduit inspection traveling device is detected by the traveling posture detection sensor 33, and the inclination state of the pipe with respect to the horizontal level or the inclination of the conduit inspection traveling device itself during traveling is detected. As the traveling posture detection sensor 33, for example, an inclinometer, a gyro, a mercury switch or the like is used. And the leading car
The first traveling vehicle 12 and 22 of the rear traveling vehicle 20 and the rear traveling vehicle 20 are provided with an in-pipe inspection sensor S ₆₀ for inspecting the inside of the pipe. The in-pipe inspection sensor S ₆₀ measures the plate thickness using ultrasonic waves or the like. It consists of sensors. FIG. 3 shows a state in which the above-described conduit inspection traveling device is arranged in the pipe. In order to move inside the pipe, it is necessary to drive without detecting obstacles, bends, branches, etc. in the pipe. Therefore, the leading traveling vehicle 10 and the trailing traveling vehicle 20, for example, conduit central axis direction obstacle detection sensor S ₁₀ , S ₅₀ , and bend in the conduit radial direction, obstacle detection sensor S ₁₁ , S for branch detection Each equipped with ₅₁ , obstacles in the pipe, bend,
The branch can be detected. A non-contact type optical sensor, an ultrasonic sensor, or the like is used for these obstacle detection sensors. And, this conduit inspection traveling device, as shown in FIG.
It is connected to a control device 40 installed on the ground via a transmission / power transmission cable 1. Transmission and power transmission cable 1
Is to be sent out by a cable sending-out device 50 composed of a cable sending-out roller 52 and a cable drum 53 which are rotated by a cable sending-out motor 51 installed on the way, and in the vicinity of the cable sending-out roller 52, There is a travel distance detection sensor 54, which detects the travel distance of the conduit inspection travel device. Incidentally, 41 is a display screen of the control device, and 42 is a keyboard. Therefore, the conduit inspection traveling device performs forward, backward movement, and turning motions in the pipe 60 in response to a command from the control device 40, and at this time, in the situation of the bend 61, the branch 62, etc. in the pipe 60. Traveling and inspecting the inside of the pipe 60 adaptively, and transmitting the traveling distance, bend in the pipe, and branching information to the control device 40 on the ground together with the inspection information such as wall thickness measurement of the pipe wall to inspect the inside of the pipe 60. Is to do. FIG. 5 shows a control system of the above-described conduit inspection traveling device. As shown in FIG. 5, the conduit inspection traveling device has a leading vehicle and tail vehicle drive motors 11, 21, traveling vehicle turning, as described above. Motor 31, head car, and tail car turning assist motor
15, 25, pipe inspection sensor S ₆₀ , leading vehicle and trailing vehicle obstacle detection sensor S ₁₀ , S ₁₁ , S ₅₀ , S ₅₁ , leading vehicle and trailing vehicle attitude detection sensor 19, 29, running attitude detection sensor 33 A turning angle detection sensor 32 is provided, and in-pipe condition information detected by each sensor is transmitted together with in-pipe inspection data and processed by the host computer 45 through the power transmission cable 1. Then, the host computer 45 instructs the operation of the conduit inspection travel device adapted to the in-pipe conditions such as obstacle detection, bend detection, and posture inclination, and via the DCM control board 44,
Operate each drive motor. Further, it is necessary to operate the cable feeding device 50 at the same time as the conduit inspection travel device is run, and this is also controlled using the host computer 45 according to the in-pipe situation. The feeding of the cable 1 is performed by the cable feeding motor 51, and at the same time as the feeding of the cable 1, the feeding amount of the cable 1 is detected by the traveling distance detection sensor 54. In addition, these jurisdiction situation,
And the in-pipe inspection data is displayed on the display screen 41, and the operation command of the conduit inspection traveling device can be input from the keyboard 42. According to this embodiment, since the heading and tail traveling vehicles can be turned to change the traveling direction, a steering mechanism is not required, and the traveling vehicle can be downsized and simplified.
In particular, it can be run and inspected in a small pipe with a diameter of 50 mmφ to 80 mmφ including a stepped T-shaped branch pipe used for city gas piping and the like, and an elbow bent at a right angle. Further, since the traveling vehicle can be turned to detect the in-pipe condition, it is not necessary to increase the number of equipments for detecting the in-pipe condition and the inspection sensor.Since the traveling vehicle is turned to change the traveling direction, the turning angle can be changed. Can detect the condition of pipe installation and perform mapping. On the other hand, since the two traveling vehicles, the leading vehicle and the trailing vehicle, have the traveling force in the pipe, the traveling force is not lost even when the pipe is bent or the inner wall of the pipe is stepped at a branch, and a high traction force is obtained. There are various effects such as being possible. FIG. 6 shows another embodiment of the conduit inspection traveling device of the present invention. The conduit inspection traveling device 100 of the figure is a leading traveling vehicle 10 and a trailing traveling vehicle 20 which are driving traveling vehicles for forward and backward movements, and both traveling vehicles 10 and 20 via coupling devices 61A and 61B. It is composed of a turning device 30 which is connected and has a drive function of turning any one traveling vehicle around the central axis of the conduit. The leading vehicle 10 and the trailing vehicle 20 each travel by one infinite guide, each of which is equipped with a drive motor and a turning assist motor, and has pressing mechanisms 14 and 24 for pressing the infinite guide against the pipe wall. is doing. Further, the leading traveling vehicle 10 and the trailing traveling vehicle 20, for example, the conduit central axis direction obstacle detection sensor S ₁₀ , S ₅₀ and the bend in the conduit radial direction, obstacle detection sensor S ₁₁ for branch detection,
It is equipped with each S ₅₁ and can detect obstacles, bends, and branches in the pipe. For these obstacle sensors, for example, a non-contact type optical sensor or an ultrasonic sensor is used. The structure of the turning device 30 is exactly the same as that of the above embodiment. Next, an example of traveling in the pipe by the conduit inspection traveling device 100 of the present embodiment will be described with reference to FIGS. 7 to 10. The conduit inspection traveling device 100 is a leading vehicle 1 when traveling on a straight pipe.
Both 0 and the tail traveling vehicle 20 are traveling by rotation of infinite guide. FIG. 7 shows a state in which the conduit inspection traveling device 100 detects an obstacle in the forward direction during traveling and stops traveling straight ahead. FIG. 8 shows the leading vehicle 10 because the conduit inspection traveling device 100 that has detected an obstacle in the forward direction determines whether the obstacle matches the pattern of bending, branching, or blockage.
2 shows a state in which the turning device 30 is turning. At this time,
The pushing mechanism 14 of the leading traveling vehicle 10 releases it so that the leading traveling vehicle 10 can easily turn, and the pushing mechanism 24 of the trailing traveling vehicle 20 prevents the trailing traveling vehicle 20 from rotating by the driving of the turning device 30. When the leading traveling vehicle 10 fixed to the vehicle is turned, the obstacle detection sensor S _{11 in the} conduit radial direction makes one rotation, and when the bending position and direction are determined, the leading traveling vehicle 10 is most likely to pass through the bending. The posture is controlled and the turning is stopped. FIG. 9 shows a state in which the attitude control of the leading traveling vehicle 10 is completed and the trailing traveling vehicle 20 is controlled by the turning device 30 to have the same orientation as the leading traveling vehicle 10. In this state, the pressing mechanism 14 of the leading traveling vehicle 10 is fixed to the inner wall of the pipe, and the pressing mechanism 24 of the rear traveling vehicle 20 is released from the inner wall of the pipe, so that the rear traveling vehicle 20 can turn. FIG. 10 shows a state in which the traveling posture control of the conduit inspection traveling device 100 has been completed and the pipe inspection traveling device 100 has passed through the bend. Leading vehicle 10
When passing through a curved pipe, it is necessary to weaken the infinite guide of the leading vehicle 10 and the pressing force against the pipe wall in order to get over the step at the pipe joint portion and to better follow the bend. If the pressing force is weakened, the traction force due to the rotation of the infinite guide of the leading vehicle 10 weakens, but the running force of the trailing vehicle 20 weakens the leading vehicle.
The 10 can be pushed into the next tube that connects to the bend. Next, the flow of the basic traveling pattern of the conduit inspection traveling device 100 shown in FIGS. 7 to 10 will be described with reference to FIG. The conduit inspection and traveling device starts (starts) after setting in the conduit and travels straight along the inner wall of the conduit. When an obstacle is detected in the traveling direction by judging whether there is an obstacle ahead by the obstacle detection sensor while traveling (YE
In the case of S), the traveling is stopped and the leading vehicle is turned by the turning device. Obstacles are usually pipe bends, blockages, foreign substances, etc., but especially in the case of pipe bends, the possibility of passage is detected by detecting the pipe bend direction to determine the traveling direction of the traveling device. Need to judge. This determination method is, for example,
An obstacle detection sensor that detects obstacles in the traveling direction and an obstacle detection sensor that detects the presence or absence of the inner wall of the pipe mounted at a right angle to this sensor are used to sense the pipe wall at the same time as the leading vehicle turns. The bending direction of the pipe is detected by the presence or absence of the pipe wall or by measuring the distance between the traveling device and the pipe wall. When the bending direction cannot be detected (in the case of NO), it is judged that the obstacle in the traveling direction cannot pass, and the return to the conduit inlet is performed. Further, when the obstacle is a bend of the pipe and it is determined that the obstacle can pass through, the leading vehicle and the trailing vehicle are respectively separated by the method shown in FIGS. 7 to 10. Turn to the posture that allows the most bends to pass, and pass through the bends with the postures adjusted. At this time, in order to confirm whether the leading vehicle or the trailing vehicle is traveling along the bend of the pipe, for example, by using an angle detection sensor or the like, the leading vehicle or the trailing vehicle is detected. It is possible to detect the posture. The above is the flow when an obstacle is found in the traveling direction. Even when there is no obstacle, the traveling posture may be disturbed due to the deformation of the conduit during normal straight traveling, and the posture control for correcting this may be necessary. This is, for example, the attitude control performed when inspecting an arbitrary point on the inner circumference of the conduit by the in-pipe inspection sensor fixed to the conduit inspection traveling device, and the same FIG. 7 to FIG. By the operation shown in FIG. 9, the conduit inspection traveling device can be turned. Even in the above-described embodiment, the same effect as that of the above-described embodiment can be obtained. In addition, in the above-mentioned embodiment, although it explained using a single or a plurality of infinite guides, it may be constituted by a single or a plurality of wheels instead of this, and the wall of the pipe wall may be formed in this traveling wheel. It may be equipped with a sensor for inspection and measurement such as thickness measurement. Also,
A single vehicle in which only the in-pipe inspection sensor is combined may be used, or a plurality of traveling vehicles may be used as a leading traveling vehicle or a trailing traveling vehicle. [Advantages of the Invention] According to the conduit inspection traveling apparatus of the present invention described above, the drive motor, the infinite guideway that is driven by the drive motor to rotate, and the forward movement that accompanies the infinite guideway to rotate, or A first traveling vehicle formed from an inspection device for inspecting the inside of a conduit when traveling backward, an infinite guideway that rotates by the power of the first traveling vehicle, and a wheel that is spring-supported to press the infinite guideway against an inner wall of the pipe. And a second traveling vehicle formed of the pressing mechanism formed as described above, and a rear traveling vehicle that is the same as the first traveling vehicle and that turns both traveling vehicles around the pipe center axis. The connecting device between the first traveling vehicle, the second traveling vehicle, and the turning device is
Since both the leading traveling vehicle and the trailing traveling vehicle are configured to be swingable respectively, since the traveling vehicle is turned to change the traveling direction, the steering mechanism is not required and the traveling vehicle is not required. The structure of can be downsized and simplified, so even if the pipe diameter is comparatively small, it can be inspected while running, and since the two traveling vehicles have in-pipe running force, there are no steps, bends in elbows, branches, etc. in the pipe. It is possible to drive even if there is, and it is very effective as a device for inspecting the inside of the comparative pipe.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a conduit inspection / travel device according to the present invention, FIG. 2 is a side view of FIG. 1, and FIG. 3 is a schematic view showing a state in which the conduit inspection / travel device is installed in a pipe. Sectional drawing, FIG. 4 is a sectional view showing the entire system of the conduit inspection traveling device of the present invention, FIG. 5 is a control system diagram of FIG. 4, and FIG. 6 is another example of the conduit inspection traveling device of the present invention. A schematic cross-sectional view showing a state of being installed in the pipe, FIG. 7, FIG. 8, FIG. 9, and FIG.
FIG. 10 is a sectional view showing a traveling state of the conduit inspection traveling device shown in FIG. 6, and FIG. 11 is a flow chart showing an example of a basic traveling pattern of the conduit inspection traveling device shown in FIG. 1 ... Transmission, power transmission cable, 10 ... Leading vehicle, 11 ...
… Leading vehicle drive motor, 12 …… First running vehicle of leading vehicle,
13A, 13B …… Infinite guide of the leading vehicle, 14 …… Pressing mechanism for the leading vehicle, 15 …… Turning assist motor for the leading vehicle, 16 …… Second traveling vehicle of the leading vehicle, 17A, 17B, 17C , 17D, 61A, 61B ……
Coupling device, 18 ... Leading vehicle turning auxiliary wheel, 19 ... Leading vehicle attitude detection sensor, 20 ... Rear traveling vehicle, 21 ... Rear vehicle drive motor, 22 ... First traveling vehicle of rear traveling vehicle, 23A, 23B …… Infinite guide of the rear traveling vehicle, 24 …… Pressing mechanism of the rear traveling vehicle, 25…
… Tail vehicle turning auxiliary motor, 26 …… Second vehicle of the tail traveling vehicle, 28 …… Tail vehicle turning auxiliary wheel, 29 …… Tail vehicle attitude detection sensor, 30 …… Turning device, 31 …… For traveling vehicle turning Motor, 32
...... Turning angle detection sensor, 33 …… Running posture detection sensor,
40 …… control device, 41 …… display screen, 42 …… keyboard,
44 …… DCM control board, 45 …… Host computer, 50
...... Cable feeding device, 51 …… Cable feeding motor, 52 …… Cable feeding roller, 53 …… Cable drum, 54 …… Distance detection sensor, 60 …… Piping, 61…
… Bend of pipe, 62… Branch of pipe, 100 …… Conduit inspection and traveling device, S ₁₀ , S ₁₁ …… Sensor for obstacle detection in front vehicle, S ₅₀ , S ₅₁
…… Rear wheel obstacle detection sensor, S ₆₀ …… Pipe inspection sensor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shinichi Kurita 3-1-1, Saiwaicho, Hitachi-shi, Ibaraki Hitachi Ltd. Hitachi factory (72) Inventor Masayuki Watabiki 3-chome, Hitachi-shi, Ibaraki No. 1 Hitachi Ltd., Hitachi Works (72) Inventor, Houji Sakuma 3-1-1, Saiwaicho, Hitachi City, Ibaraki Prefecture Hitachi Ltd., Hitachi, Ltd. (72) Inventor, Sato Main Tax Hitachi City, Ibaraki Prefecture 1168 Moriyama-cho, Institute of Energy Research, Hiritsu Seisakusho Co., Ltd. (56) Reference JP-A-58-217280 (JP, A) Actually opened 58-153154 (JP, U) Actually opened 59-38187 (JP, U) 52-56827 (JP, U)

Claims (9)

[Claims] 1. A drive motor (11), an infinite guideway (13A) that is driven by the drive motor (11) to rotate and travel, and forward or reverse travel associated with the infinite travel of the infinite guideway (13A). Inspection device (S ₆₀ ) that sometimes inspects the inside of the conduit ( ₆₀ )
A first traveling vehicle (12) formed from the first traveling vehicle (12) and the first traveling vehicle (12)
Second traveling vehicle (16) formed by an infinite guideway (13B) that is rotated by the power of the vehicle, and a pressing mechanism (14) formed by spring-supported wheels for pressing the infinite guideway (13B) against the inner wall of the pipe. ) And a leading traveling vehicle (10) and a trailing traveling vehicle (20) in the same manner as the leading traveling vehicle (10),
In addition, these traveling vehicles (10, 20) are connected by a revolving device (30) that revolves around the pipe central axis, and the first traveling vehicle (12, 2)
2), the second traveling vehicle (16, 26) and the connecting device (17A, 17B, 17C, 17D, 61A, 61B) between the turning device (30) are the leading traveling vehicle (10) and the rear traveling vehicle. (20) Both of the traveling vehicles are constructed so that they can be swung, respectively. 2. The pressing mechanism (14, 26) is attached to the second traveling vehicle (16, 26) when the traveling vehicle (12, 16, 22, 26) turns.
24) is provided with a turning assist motor (15, 25) for releasing the pushing of the wheel and for pushing the turning assist wheel (18, 28) provided to assist turning. The conduit inspection traveling device according to claim 1. 3. A turning motor (3) is attached to the turning device (30).
1), and the connecting device (17) is provided by the turning motor (31).
A, 17B, 17C, 17D, 61A, 61B) through which the leading vehicle (10) and the trailing vehicle (20) are turned, the pipe inspection traveling according to claim 1. apparatus. 4. The first traveling vehicle (11, 21) comprises an obstacle detection sensor (S ₁₀ , S ₅₀ ) for detecting an obstacle in the conduit axial direction, a bend in the conduit radial direction (61), and a branch. The conduit inspection traveling device according to claim 1, further comprising an obstacle detection sensor (S ₁₁ , S ₅₁ ) for detecting (62). 5. The obstacle detection sensor (S ₁₀ , S ₁₁ , S ₅₀ , S
₅₁ ) A non-contact type optical sensor or an ultrasonic sensor is used as ₅₁ ), and the conduit inspection traveling device according to claim 4 is characterized. 6. The vehicle according to claim 1, wherein the traveling vehicle (12, 16, 22, 26) includes a posture detection sensor (19, 29) for detecting a swinging angle of the traveling vehicle. Or the fourth
The conduit inspection traveling device according to the item. 7. The turning device (30) includes the traveling vehicle (12,
(22), (26), (26), a turning angle detection sensor (32) for detecting the turning angle, and a running posture detection sensor (33) for detecting the inclination of the conduit inspection traveling device (100) itself during traveling. The conduit inspection traveling device according to claim 1 or 3, characterized in that. 8. The leading and trailing traveling vehicles (12, 16, 22,
26) and the turning device (30) are connected to the control device (40) installed on the ground by a cable (1), and the control device (40) advances the traveling vehicle (12, 16, 22, 26). The pipe inspection and traveling device according to claim 1, wherein the pipe reversing device and the revolving device (30) control the revolving motion of the revolving device (30). 9. A cable feeding device (50) for feeding the cable (1) into the conduit (60) in the vicinity of the inlet of the conduit (60), according to claim 8. Conduit inspection traveling device.