| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving device in a pipeline for inspecting and cleaning the interior of the pipeline with branches, and a control method thereof. SOLUTION: Guides 67-1,..., 67-4 are successively inserted in a main pipe 65. A first pipe part 11 is manually pushed in to move a master controller in a passage 69 and a trunk pipe 61 in the enclosed state of a cleaning part 33 and an inspection part 35 in a slave controller storage part 19. On the spot where the slave controller storage part 19 is assumed to have arrived near an inlet of a branch pipe 63, rubber of a position fixing part 13 is expanded to temporarily fix the position of the master controller. A position adjusting part 15 rotates a slave controller push-in part 17 around the axial direction of piping integrally with the first pipe part 11 to make an opening of the slave controller storage part 19 coincide with the direction of the branch pipe 63, and rubber of a position fixing part 21 is expanded to further fix the position of the master controller. The slave controller push-in part 17 delivers a slave controller into the branch pipe 63, and the cleaning part 33 and inspection part 35 move in the branch pipe 63 to clean and inspect.
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