KR102629130B1 - Inspection vehicle in manhole - Google Patents

Abstract

The present invention provides a manhole inspection vehicle. The manhole inspection vehicle according to an embodiment of the present invention comprises: a vehicle body; an elevator mounted on the vehicle body and capable of moving inside or outside a manhole; a sensor part for detecting the state inside the manhole and the operation of the elevator; a control part for controlling the elevator to move to the upper side of the manhole and then descend into the manhole according to a signal measured by the sensor part; and a driving part for moving the elevator, wherein the driving part comprises: a motor; a pulley part connected to the motor; and a wire rope connected to the pulley part and moving along the pulley part to move the elevator. Thus, the present invention can provide the manhole inspection vehicle that can easily enter the inside of a manhole of an elevator by an elevator getting on and off method and can improve the stability of operation.

Description

Manhole inspection vehicle {INSPECTION VEHICLE IN MANHOLE}

The present invention relates to a manhole inspection vehicle, and more specifically, to a manhole inspection vehicle that can easily enter the interior of a manhole using an elevator up and down method and improve work safety.

A manhole is a vertical hole that connects the ground and the underground to allow workers to enter the underground space where water and sewage facilities, communication facilities and wiring, power transmission and distribution facilities and wiring, etc. are buried for the purpose of maintenance work. , Normally, the manhole is closed with a manhole cover.

In order to perform maintenance work in the underground space, the worker opens the manhole cover and uses a moving means such as a ladder provided on the inner wall of the underground space in the vertical passage connected from the ground with the manhole cover to the underground space. You will go down directly to carry out inspection and repair work.

As such, in the conventional case where workers enter the manhole directly to periodically inspect or perform maintenance work inside the manhole, it often occurs that the worker accidentally falls and suffers a fall while entering or exiting the manhole. did.

In addition, the inside of the manhole is not well ventilated, so harmful gases are present due to electric fields, inflow of water, decay of foreign substances and pollutants, etc. The human body's sense organs cannot determine the concentration or type of harmful gas. It is difficult to identify it quickly, and in cases where a gas leak situation is recognized through the sense of smell, etc., a significant number of the gases leaked within the already sealed workplace space are inadvertently inhaled by field workers, resulting in suffocation accidents, fatal accidents, etc. There was a problem that could cause a fatal risk problem.

Therefore, there is a need for measures to prevent safety accidents when workers enter manholes and while working inside manholes.

In order to solve the problems of the prior art as described above, an embodiment of the present invention seeks to provide a manhole inspection vehicle that can easily enter the inside of the manhole of an elevator by lifting and lowering the elevator and improve work safety.

According to one aspect of the present invention for solving the above problem, a car body; An elevator mounted on the car body and capable of moving inside or outside a manhole; A sensor unit that detects the condition inside the manhole and the operation of the elevator; A control unit that controls the elevator to move to the upper side of the manhole and then descend into the manhole according to the signal measured by the sensor unit; and a driving unit that moves the elevator, and the driving unit includes a motor; A pulley unit linked to the motor; A manhole inspection vehicle is provided that is connected to a pulley and includes a wire rope that moves the elevator while moving along the pulley.

In one embodiment, the elevator includes a sliding part mounted on the upper part of the car body and sliding in the longitudinal direction of the car body, a rotating part rotatably provided on one side of the sliding part, and a driving part provided on one side of the rotating part to provide driving force. , provided on one side of the driving unit, including a safety guide provided in the form of a bar and an elevator body mounted on the safety guide and vertically rising and lowering along the safety guide by the driving force of the driving unit,

The driving unit is provided on one side of the safety guide, has a driving pulley interlocked with a motor driven by an external power source, a fixed pulley mounted on one side of the elevator body, and one end is fixed to the driving pulley, and the other end is attached to the fixed pulley. It may include a wire rope connecting the.

In one embodiment, the sensor unit includes a first proximity sensor installed at the rear of the vehicle body to detect the position of the manhole and whether an obstacle is approaching, and a second proximity sensor provided at one end of the elevator to detect alignment with the manhole. may include.

In one embodiment, the control unit calculates the distance to the manhole based on the detection result of the first proximity sensor, determines a moving distance of the sliding unit according to the calculated distance, and moves the sliding unit to the determined distance. After moving, the rotating part is rotated so that the elevator is upright, and if the position of the upright elevator is not aligned with the manhole as a result of detection by the second proximity sensor, the sliding part is driven so that the elevator is aligned with the manhole, If a surrounding obstacle is detected by the first proximity sensor during the raising/lowering of the rotating unit or the elevator after movement of the sliding unit, the raising/lowering of the rotating unit or the elevator is stopped, and when the obstacle is removed, the rotating unit or the elevator is raised/lowered. It can be controlled to resume descent.

In one embodiment, the manhole inspection vehicle includes a first alarm unit that alarms when the sensor unit detects an obstacle in the vicinity of the elevator; And it may further include a second alarm unit that generates an alarm when the pollution level measured by the sensor unit exceeds the standard pollution level.

The manhole inspection vehicle according to an embodiment of the present invention moves the sliding part according to the distance to the manhole calculated by the proximity sensor, rotates the rotating part so that the elevator is upright, and slides so that the position of the upright elevator is aligned with the manhole. By driving the unit and finely correcting the position of the elevator to facilitate entry and exit into the manhole, it is possible to easily enter the inside of the manhole of the elevator and improve work safety, thereby preventing safety accidents for workers. In addition, the manhole inspection vehicle according to an embodiment of the present invention can prevent workers from falling inside the manhole by transporting the worker inside the manhole while riding in an elevator.

In addition, the manhole inspection vehicle according to an embodiment of the present invention detects the internal environmental condition of the manhole using a pollution level sensor and generates an alarm according to the detected result, thereby making the worker aware of the situation, thereby preventing the worker from suffocating, etc. Safety accidents can be prevented.

Figure 1 is a configuration diagram of a manhole inspection vehicle according to an embodiment of the present invention.
Figure 2 is a diagram showing the manhole entry and exit process of the elevator of the manhole inspection vehicle according to an embodiment of the present invention.
Figure 3 is a diagram showing the state of cleaning the inside of a manhole using a manhole inspection vehicle according to an embodiment of the present invention.
Figure 4 is a detailed configuration diagram of a system applied to a manhole inspection vehicle according to an embodiment of the present invention.
Figure 5 is a block diagram of a system applied to a manhole inspection vehicle according to an embodiment of the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and identical or similar components are given the same reference numerals throughout the specification.

In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. Additionally, when a part of a layer, membrane, region, plate, etc. is said to be “on” another part, this includes not only cases where it is “directly above” the other part, but also cases where there is another part in between. Conversely, when a part of a layer, membrane, region, plate, etc. is said to be “beneath” another part, this includes not only cases where it is “immediately below” another part, but also cases where there is another part in between.

Hereinafter, a manhole inspection vehicle according to an embodiment of the present invention will be described in more detail with reference to the drawings.

Figure 1 is a configuration diagram of a manhole inspection vehicle according to an embodiment of the present invention, Figure 2 is a diagram showing the manhole entry and exit process of the elevator of the manhole inspection vehicle according to an embodiment of the present invention, and Figure 3 is a diagram of the manhole inspection vehicle according to an embodiment of the present invention. It is a diagram showing the state of cleaning the inside of a manhole through a manhole inspection vehicle according to an embodiment, Figure 4 is a detailed configuration diagram of a system applied to a manhole inspection vehicle according to an embodiment of the present invention, and Figure 5 is an embodiment of the present invention. This is a block diagram of the system applied to the manhole inspection vehicle according to the example.

Referring to Figures 1 to 4, the manhole inspection vehicle 10 according to an embodiment of the present invention includes a car body 100, a purification unit 200, a sensor unit 300, an alarm unit 400, and a photographing unit ( 500), a monitoring unit 600, and a control unit 700.

Referring to Figure 1, the car body 100 is the vehicle body of the manhole inspection vehicle 10, and includes an outrigger 110, an elevator 120, a dredging unit 130, a washing unit 140, and a filtering unit 150. may include.

The outrigger 110 may be installed on the vehicle body 100, extended by a hydraulic cylinder, and fixed to the ground. Accordingly, the outrigger 110 can stably support the vehicle body 100.

The elevator 120 is mounted on the car body 100 and can be transported by power to allow entry and exit into the manhole (A). This elevator 120 may include an elevator body 121, a safety guide 122, a driving part 123, a rotating part 124, and a sliding part 125.

The elevator body 121 is mounted on the safety guide 122 and can vertically go up and down inside the manhole A along the safety guide 122 by the driving force of the driving pulley 123a. This elevator body 121 is for workers entering the manhole (A) to board.

The safety guide 122 may be provided on one side of the driving unit 123. For example, the safety guide 122 may be provided on the upper side of the driving unit 123. At this time, the safety guide 122 is for guiding the movement of the elevator body 121 and may be provided in the form of a bar. That is, the safety guide 122 may be provided with a certain width to guide both sides of the elevator body 121.

The driving unit 123 may be provided on one side of the rotating unit 124. For example, the driving unit 123 may be provided between the rotating unit 124 and the elevator body. This driving unit 123 may include a driving pulley (123a), a wire rope (123b), and a fixed pulley (123c).

The driving pulley 123a may be provided on one side of the safety guide. For example, the driving pulley 123a may be provided on the upper part of the safety guide. This driving pulley (123a) may be linked with a motor (not shown) driven by an external power source.

The wire rope (123b) is made up of one or more strands of a common steel wire twisted to form a predetermined length, and one end of the wire rope (123b) is fixed to the driving pulley (123a). , the other end is connected to the fixed pulley (123c) so that the elevator body 121 can be raised and lowered by driving the motor (not shown).

The fixed pulley (123c) may be mounted on one side of the elevator body (121). At this time, the fixed pulley (123c) can support the vertical movement of the wire rope (123b).

The rotating part 124 may be rotatably provided on one side of the sliding part 125. For example, the rotating part 124 may be provided on the upper side of the sliding part 125. At this time, the rotating part 124 may be rotated at a right angle so that the elevator body 121 stands upright.

The sliding part 125 is mounted on the upper part of the car body 100 and can slide in the longitudinal direction of the car body 100. That is, the sliding part 125 is provided on the lower side of the rotating part 124, and as a result, the elevator body 121, the safety guide 122, the driving part 123, and the rotating part 124 can be mounted. At this time, the sliding part 125 can transport the elevator body 121 rearward.

The dredging unit 130 can suction and collect sediment inside the manhole (A). For example, the dredging unit 130 may suck the sediment inside the manhole (A) into the suction pipe through a pump, and discharge the sucked sediment into the storage tank 151 of the filtration unit 150.

The cleaning unit 140 can spray water inside the manhole (A) to wash the remaining sediment. At this time, the washing unit 140 may include a water tank storing water for spraying and a nozzle 141 for spraying water. For example, as shown in FIG. 3, the nozzle 141 is installed in the elevator 120, and while being transported together with the elevator 120, water can be sprayed at high pressure into the inside of the manhole A to perform cleaning.

The filtration unit 150 can store and filter the collected sediment and separate water from the sediment. At this time, the filtration unit 150 may include a storage tank 151 and a filtration member 152.

The storage tank 151 can accommodate sediment sucked through the dredging unit 130. For example, sediment may flow into the upper part of the storage tank 151.

The filtering member 152 is disposed inside the storage tank 151 and may be formed in a cone shape whose cross-sectional area becomes smaller from the top to the bottom. At this time, the filtering member 152 may precipitate sediment flowing into the upper part of the storage tank 151. Accordingly, only the sand or sludge of the sediment may precipitate through the filtering member 152, and the water may be separated and collected below the storage tank 151. The separated water can be discharged to the outside and drained into the sewer.

The purification unit 200 may include a connection unit 210 and a suction fan 220.

The connection portion 210 may be extended to a predetermined length and inserted into the manhole (A). For example, the connection portion 210 may be a bellows.

The suction fan 220 is installed in the connection part 210 to allow the air inside the manhole (A) to be sucked in through the connection part 210. Accordingly, the air inside the manhole (A) is sucked in by the operation of the suction fan 220, and the outside air is supplied into the manhole (A) to purify the air inside the manhole, thereby reducing the degree of pollution inside the manhole.

The sensor unit 300 can detect the state of the inside of the manhole (A) and the operation of the elevator 120. Referring to FIGS. 4 and 5 , the sensor unit 300 may include a pollution level sensor 310, a proximity sensor 320, and a load sensor 330.

The pollution level sensor 310 can measure the air pollution level inside the manhole (A). For example, the pollution level sensor 310 may be installed in the connection part 210 and located inside the manhole (A). At this time, the pollution level may be the concentration of harmful gases present in the air inside the manhole (A). For example, harmful gases may include methane, carbon monoxide, carbon dioxide, and hydrogen sulfide.

The proximity sensor 320 can detect obstacles or manholes (A) for the operation of the elevator 120. This proximity sensor 320 may include a first proximity sensor 321 and a second proximity sensor 322.

The first proximity sensor 321 is installed at the rear of the vehicle body 100 and can measure the position of the manhole (A) and detect whether an obstacle is approaching. For example, when the elevator 120 is transported to the rear of the car body 100 by the sliding part 125 or upright by the rotating part 124, the first proximity sensor 321 is located at the rear of the car body 100, That is, obstacles approaching near the elevator 120 can be detected.

Additionally, the first proximity sensor 321 can detect the location of the manhole (A). For example, the first proximity sensor 321 may detect the location as the location of the manhole (A) if the signal (electromagnetic wave or electric field) emitted therefrom is reflected and not received. At this time, the first proximity sensor 321 may repeatedly emit a signal and receive a reflected signal at a constant angle depending on the direction.

The second proximity sensor 322 is provided at one end of the elevator 120 and can detect whether it is aligned with the manhole (A). For example, the second proximity sensor 322 radiates a signal below the elevator 120 when the elevator 120 is upright and receives the reflected signal, thereby creating a manhole (A) directly below the elevator 120. You can detect where this is. At this time, the second proximity sensor 322 may be provided on both sides of the elevator 120 in the width direction. That is, the second proximity sensor 322 can detect whether the elevator 120 is located inside the cross-sectional area of the manhole (A) or whether it is partially located outside the cross-sectional area of the manhole (A).

The load sensor 330 is installed in the elevator 120 and can measure the load. For example, when a worker or a heavy object is boarded in the elevator 120, the load applied to the elevator 120 can be measured.

The alarm unit 400 may alert that a danger occurs during the operation of the manhole inspection vehicle 10. This alarm unit 400 may include a first alarm unit 410 and a second alarm unit 420.

When the sensor unit 300 detects an obstacle in the vicinity of the elevator 120, the first alarm unit 410 can provide an alarm to alert the operator and the obstacle. Here, the obstacle may be a person moving toward the elevator 120, a means of transportation for which a person rides, or an animal such as a pet dog. For example, the first alarm unit 410 can provide an audio-visual alarm. That is, the first alarm unit 410 may include a first lighting unit 411 and a first sound output unit 412.

The first lighting unit 411 generates light from the rear of the vehicle body 100 and both sides of the upright elevator 120, thereby providing a visual warning signal to workers or approaching obstacles. For example, the first lighting unit 411 may be an LED lamp and may produce various colors such as white, yellow, and red. Meanwhile, the first lighting unit 411 can be used as general lighting in addition to visual warning signal notification.

The first sound output unit 412 generates sound from the rear of the vehicle body 100 and both sides of the upright elevator 120, thereby providing an auditory warning signal to workers or approaching obstacles. For example, the first sound output unit 412 may be a speaker and may generate a guidance sound or a siren.

Additionally, the second alarm unit 420 can alarm to alert the worker when the pollution level measured by the pollution level measurement sensor 310 exceeds the standard pollution level. For example, the second alarm unit 420 can provide an audio-visual alarm. That is, the second alarm unit 420 may include a second lighting unit 421 and a second sound output unit 422.

The second lighting unit 421 can generate light inside the manhole (A) and provide a visual warning signal to workers inside the manhole (A). For example, the second lighting unit 421 may be an LED lamp and may produce various colors such as white, yellow, and red. Meanwhile, the second lighting unit 421 can be used as general lighting in addition to visual warning signal notification.

The second sound output unit 422 can generate sound inside the manhole (A) and provide an auditory warning signal to the worker. For example, the second sound output unit 422 may be a speaker and may generate a guidance sound or a siren.

The photographing unit 500 captures an image of the manhole (A), allowing the location of the manhole (A) to be determined. For example, the photographing unit 500 may be installed in the inspection vehicle 10 to photograph the manhole (A) and transmit the image data to the monitoring unit 600.

The monitoring unit 600 may display the data measured by the sensor unit 300 and the image data acquired by the photographing unit 500 on a display to enable monitoring. For example, the monitoring unit 600 determines whether the elevator 120 and the manhole A are aligned, whether an obstacle approaches the elevator 120, the location of the manhole detected by the sensor unit 300 through the display, and , the image captured by the photographing unit 500 can be displayed. Accordingly, the monitoring unit 600 can not only determine whether the position of the upright elevator 1020 is aligned with the position of the manhole (A) by rotating the rotating part 124, but also can determine whether the elevator 1020 is aligned with the position of the manhole (A). It can be displayed to easily adjust the position of 120. In addition, the monitoring unit 600 can provide position information so that workers can take action by displaying the position of approaching obstacles.

The control unit 700 is communicatively connected to the vehicle body 100, purification unit 200, sensor unit 300, alarm unit 400, imaging unit 500, and monitoring unit 600 to form a manhole inspection vehicle (10). ) can control the overall operation. At this time, the control unit 700 can control the pollution level sensor 310, proximity sensor 320, and load sensor 330 and simultaneously receive signals from each sensor. Additionally, the control unit 700 can control the operation of devices driven by hydraulic pressure, such as the outrigger 110, by controlling hydraulic pressure. In addition, the control unit 700 controls electricity to operate the elevator 120, the dredging unit 130, the washing unit 140, the filtering unit 150, the purifying unit 200, the sensor unit 300, and the alarm unit ( The operation of electrically driven devices such as 400), imaging unit 500, and monitoring unit 600 can be controlled.

Meanwhile, the control unit 700 can determine the state of the inside of the manhole (A) by receiving the signal measured by the sensor unit 300 and calculating it.

At this time, the control unit 700 receives a signal from the pollution level measurement sensor 310, compares the pollution level inside the manhole (A) with the standard pollution level, and determines that a dangerous situation has occurred within the manhole if the measured pollution level exceeds the standard pollution level. can do. In this case, the control unit 700 can control the second alarm unit 420 to generate an alarm.

Additionally, the control unit 700 can set a plurality of standard pollution levels and set different control conditions for each standard pollution level. For example, if the first standard pollution level and the second standard pollution level are set (the first standard pollution level < the second standard pollution level), and the measured pollution level is greater than the first standard pollution level and less than the second standard pollution level, the second alarm unit 420 Yellow light and sound can be output, and if the measured contamination level is higher than the second standard contamination level, red light and sound can be output from the second alarm unit 420. That is, the control unit 700 can easily convey the degree of risk to workers by setting different control conditions according to the measured contamination level.

Additionally, the control unit 700 may calculate the distance to the manhole A based on the detection result of the first proximity sensor 321 and determine the moving distance of the sliding unit 125 according to the calculated distance. For example, when the control unit 700 detects the position of the manhole (A) detected by the first proximity sensor 321, the distance to the rear of the car body 100, and the position of the manhole (A), the first proximity sensor 321 ), the distance at which the elevator 120 is transported to the rear of the vehicle body 100 can be calculated according to the detection angle. At this time, the control unit 700 may control the elevator 120 to slide to the rear of the car body 100 at a determined distance by using the sliding unit 125.

Additionally, the control unit 700 may control the rotating unit 124 to rotate to erect the elevator 120 after the sliding unit 126 moves to the determined distance. At this time, if the position of the upright elevator 120 is not aligned with the manhole (A) as a result of detection by the second proximity sensor 322, the control unit 700 uses a sliding unit ( 125) can be controlled to drive. For example, the control unit 700 may determine the moving direction of the elevator 120 according to the location of the manhole A at the location of the elevator 120 according to the detection result of the second proximity sensor 322. That is, the control unit 700 determines whether to move the elevator 120 toward the vehicle body 100 or to the outside of the vehicle body 100 according to the detection results of the second proximity sensors 322 provided on both sides of the elevator 120. You can. In addition, the control unit 700 can control the sliding unit 125 to continuously detect whether the elevator 120 is aligned with the manhole (A) by the second proximity sensor 322 while slowly moving in the determined moving direction. . At this time, the control unit 700 may determine the distance that the sliding unit 1254 moves based on the size (diameter) of the manhole A detected by the first proximity sensor 321 and the width of the elevator 120.

Additionally, the control unit 700 may calculate the distance from the bottom of the manhole (A) according to the detection result of the second proximity sensor 322 inside the manhole (A). At this time, when the elevator 120 descends into the manhole, the control unit 700 can control the elevator 120 to stop when the distance from the floor is within a certain distance. That is, the control unit 700 can control both the alignment and descent of the elevator 120 according to the detection result of the second proximity sensor 322.

In addition, when a surrounding obstacle is detected by the first proximity sensor 321, the control unit 700 rotates the elevator body 121 by the rotating unit 124 or the driving pulley 123a and the wire rope 123b linked to the motor. ) can be controlled to stop the lowering operation of the elevator body 121. That is, if a surrounding obstacle is detected by the first proximity sensor 321 during the raising and lowering of the rotating part 124 or the elevator 120 after the movement of the sliding part 125, the control unit 700 moves the rotating part 124 or the elevator ( 120) can be controlled to stop the raising and lowering. As a result, the manhole inspection vehicle 10 can prevent a collision between the operating elevator body 121 and an obstacle. At this time, the control unit 700 can control the rotation unit 124 or the driving pulley 123a to resume operation when the surrounding obstacles are removed.

Additionally, the control unit 700 may control the operation of the elevator 120 by receiving a signal from the load sensor 330. For example, if the measured load value is greater than the standard load value, the control unit 700 determines that the elevator 120 is overloaded and stops the operation of the elevator 120 or reduces the moving speed of the elevator 120. You can do it.

Additionally, the control unit 700 may receive a signal from the imaging unit 500 and determine the worker's location and the worker's movement state. For example, when the control unit 700 determines that the worker's movement has stopped, it can operate the second alarm unit 420 to issue a first warning, and even after the first warning, the worker's movement remains stopped. If a decision is made, a signal can be transmitted to the communication unit (not shown). Here, the communication unit (not shown) may communicate with external sources such as the Korea Electric Power Corporation and the 119 control tower according to commands from the control unit 700.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , other embodiments can be easily proposed by change, deletion, addition, etc., but this will also be said to be within the scope of the present invention.

10: Inspection vehicle 100: Body
110: outrigger 120: elevator
121: Elevator body 122: Safety guide
123: driving unit 123a: driving pulley
123b: wire rope 123c: fixed pulley
124: rotating part 125: sliding part
130: Dredging department
140: Washing unit 141: Nozzle
150: filtration unit 151: storage tank
152: filtration member 200: purification unit
210: Connection 220: Suction fan
300: Sensor unit 310: Pollution measurement sensor
320: Proximity sensor 321: First proximity sensor
322: second proximity sensor 330: load sensor
400: Alarm unit 410: First alarm unit
411: first lighting unit 412: first sound output unit
420: second alarm unit 421: second lighting unit
422: Second sound output unit 500: Photographing unit
600: monitoring unit 700: control unit

Claims (5)

car body;
An elevator mounted on the vehicle body and capable of moving inside or outside a manhole;
A sensor unit that detects the condition of the inside of the manhole and the operation of the elevator;
A control unit that controls the elevator to move to the upper side of the manhole and then descend into the manhole, according to the signal measured by the sensor unit; and
It includes a driving unit that moves the elevator,
The driving unit,
motor;
A pulley unit interlocked with the motor;
It includes a wire rope connected to the pulley unit and moving the elevator while moving along the pulley unit,
The elevator is
a sliding portion mounted on the upper part of the vehicle body and sliding in the longitudinal direction of the vehicle body;
a rotating part rotatably provided on one side of the sliding part;
A safety guide provided on one side of the driving unit and provided in the form of a bar; and
It includes an elevator body mounted on the safety guide and vertically rising and falling along the safety guide by the driving force of the driving unit,
The pulley part is,
A driving pulley provided on one side of the safety guide and interlocked with the motor; and
It includes a fixed pulley mounted on one side of the elevator body,
One end of the wire rope is fixed to the driving pulley and the other end is connected to the fixed pulley,
The sensor unit,
A first proximity sensor installed at the rear of the vehicle body to detect the location of the manhole and whether an obstacle is approaching; and
A second proximity sensor is provided at one end of the elevator and detects alignment with the manhole.
The control unit,
Calculate the distance to the manhole based on the detection result of the first proximity sensor, and determine the moving distance of the sliding part according to the calculated distance,
After the sliding part moves to the determined distance, the rotating part is rotated so that the elevator is upright, and if the position of the upright elevator is not aligned with the manhole as a result of detection by the second proximity sensor, the elevator is aligned with the manhole. Driving the sliding part,
If a surrounding obstacle is detected by the first proximity sensor during the raising and lowering of the rotating unit or the elevator after moving the sliding unit, the raising and lowering of the rotating unit or the elevator is stopped, and when the obstacle is removed, the rotating unit or the elevator is stopped. A manhole inspection vehicle that controls the resumption of ascending and descending. delete delete delete According to claim 1,
a first alarm unit that alarms when the sensor unit detects an obstacle in the vicinity of the elevator; and
a second alarm unit that generates an alarm when the pollution level measured by the sensor unit exceeds the standard pollution level;
A manhole inspection vehicle further comprising: