JPH06321094A - Robot system movable in pipe and control system therefor - Google Patents

Abstract

(57) [Summary] [Purpose] A pipe wall communication function, an ultrasonic communication function, and an optical communication function are used to perform cooperative control of a plurality of mobile robots in a pipe by these communication functions. [Configuration] In-pipe mobile robot communication control unit 21-1 for controlling the pipe wall communication transmitting / receiving unit 60-2, the ultrasonic communication transmitting / receiving unit 70-2, and the optical communication transmitting / receiving unit 80-2, and the moving unit 23
−1 for controlling the drive control unit 22-1 and the working unit 24-
1. In-pipe mobile robot 20-1 including in-pipe mobile robot integrated control unit 25-1 for controlling the respective control units,
A communication relay robot 10 including a communication relay robot communication control unit 11 that controls communication to the communication relay robot, a communication relay robot integrated control unit 12 that controls communication of the communication relay robot, and a host that monitors and controls the communication and movement thereof. It consists of a robot 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe mobile robot system for inspecting and repairing by moving in a pipe and its control method.

[0002]

2. Description of the Related Art In recent years, various in-pipe mobile robot systems for moving inside pipes for inspection and repair work have been developed and put into practical use. The in-pipe mobile robots of these systems are known to be controlled by wires.

[0003]

In the case of wired control, there is a problem that the cable becomes a resistance of the in-pipe mobile robot itself and cannot move freely.

Further, when there are a plurality of mobile robots in the pipe, there is a problem that the work may become impossible due to the entanglement of cables or the like depending on the condition of the pipe.

In view of the above problems, the present invention provides an in-pipe mobile robot system capable of solving the above problems.

[0006]

In order to solve the above problems, a mobile robot system in accordance with the present invention has an input unit for inputting a command from the outside and a display output unit for displaying various control commands and control states. And a processing controller for transmitting and receiving a control command command stored in advance and a control command command in an interactive form with an operator, and a transceiver unit for at least one of various communication systems. Then, the transmission / reception unit is switched according to the in-service condition, and the transmission / reception function 1 for transmitting / receiving information, the judgment function 1 for comparing and judging the control command and the control command command stored in advance, and the above-mentioned respective functions are integrated. A communication relay robot having a control function 1 for controlling, and a transmission / reception unit of at least one of various communication methods, A transmission / reception function 2 that switches the transmission / reception unit according to the state to transmit / receive information, a movement function that moves by a movement mechanism, and a determination function 2 that compares and determines a control command and a control command command stored in advance. , A control function 2 that controls the above-mentioned functions
The first feature is that the robot is configured with an in-pipe mobile robot including

A second feature of the present invention is that the in-pipe mobile robot is provided with a working unit for performing inspection and repair work in the pipe.

In the present invention, the control command includes at least a receiver code indicating a robot that receives information among the robots and a transmission source code indicating a robot that transmits information among the robots. The third feature is that a robot identification code is added.

Further, according to the present invention, a recognition function 1 for recognizing the suitability of the receiver code of the robot identification code added to the control command and simultaneously recognizing the robot of the sender code is added to the processing controller. A host relay robot, a communication relay robot having a recognition function 2 for recognizing the suitability of the receiver code of the robot identification code added to the received control command, and at the same time recognizing the robot of the sender code. Fourthly, it comprises a mobile robot in a pipe which is provided with a recognition function 3 for recognizing the suitability of the receiver code of the robot identification code added to the control command and at the same time recognizing the robot of the sender code. It is a feature of.

Further, according to the present invention, the host robot switches to the optimum transmission / reception unit from among the various transmission / reception units provided in the communication relay robot according to a command input from the input unit, A control command is transmitted to the mobile robot via the communication relay robot to control the in-pipe mobile robot, and the in-pipe mobile robot can switch the control data as a result of being instructed by the control command. From the transmitting / receiving unit, transmits to the host robot via the communication relay robot,
A fifth feature is that information is transmitted between the host robot and the in-pipe mobile robot.

In addition, the robot identification code is added to the control command and the control data, and the host robot and a plurality of the mobile robots in the pipe are cooperatively controlled to transfer information. It has a feature.

[0012]

In the present invention having the above-mentioned first characteristic, the in-tube mobile robot is wirelessly controlled, so that the robot cannot move freely due to the resistance of the cable or the like, and the movement distance is restricted. Can be prevented.

Further, in the present invention having the second and fifth characteristics, various inspections and repair work can be performed inside the pipe, and the results of the inspection and repair work can be examined outside the pipe.

Further, according to the present invention having the third, fourth, and sixth characteristics, a plurality of in-pipe mobile robots can perform various inspections and repair works in cooperation with each other in the pipe.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A first embodiment of the present invention will be described below with reference to FIG. 1 is communication, movement, inspection of this system,
The host robot 2 controls the repair work and the like by pre-stored control commands and control commands in the form of dialog with the operator. The 2 controls the keyboard, the input unit such as the input sensor and the display, the display output unit such as the voice, and the like. Processing controller,
Reference numeral 10 is a communication relay robot, 20-1 is a mobile robot in a pipe, and 60-1 and 60-2 are pipe wall communication transmission / reception devices that transmit and receive control commands by vibrating pipes by pipe wall communication transmission / reception conversion elements in contact with pipes. Reference numerals 70-1, 70-2 denote ultrasonic communication transmitting / receiving units for transmitting and receiving control commands by transmitting / receiving conversion elements for ultrasonic communication in water or in air, 80-1, 80-
Reference numeral 2 is an optical communication transmission / reception unit that transmits and receives control commands by an optical communication transmission / reception conversion element, 11 is a tube wall communication transmission / reception unit 60-1 of the communication relay robot 10, and an ultrasonic communication transmission / reception unit 7
0-1, a communication relay robot communication control unit for controlling the communication function of the optical communication transmission / reception unit 80-1, the function of converting a control command and an internal control command, and the function of storing in a memory or the like, 12
Is a communication relay robot integrated control unit that controls the communication relay robot communication control unit 11 and stores control command commands and the like in advance to make judgments and checks. Reference numeral 21-1 is a pipe wall communication transmission / reception unit 60 of the mobile robot 20-1. -2, ultrasonic communication transceiver 70-2, optical communication transceiver 80-2 communication functions, functions for converting control commands and internal control commands, and functions for storing in memory etc. A communication control unit, 22-1 is a drive control unit that controls the movement of the robot, 23-1 is a moving unit, 24-1 is a working unit that performs various inspections and repairs, and 25-1 is a in-pipe mobile robot 20-.
An in-pipe mobile robot integrated control unit 90 that controls functions such as communication, movement, inspection, and repair work of No. 1 and stores a control command and the like in advance to make a judgment and a check is a pipe.

The operation of the in-pipe mobile robot system configured as described above will be described below.

The host robot 1 uses the input unit to control the control command -a necessary for the mobile robot 20-1 from the outside.
Is entered. Among the transmitting / receiving unit 60-1 for pipe wall communication, the transmitting / receiving unit 70-1 for ultrasonic communication, and the transmitting / receiving unit 80-1 for optical communication, a transmitting / receiving unit for communication that can perform optimal communication depending on the state or position in the pipe 90 is appropriately used. Then, the control command-a is transmitted to the communication relay robot communication control unit 11 of the communication relay robot 10 by wire. Needless to say, it may be wireless.

The communication relay robot communication control unit 11 converts the control command-a from the host robot 1 into an internal control command-a, stores it, and sends it to the communication relay robot integrated control unit 12.

The communication relay robot integrated control unit 12 compares the received internal control command-a with a previously stored control command command or the like to make a judgment, a check, a process control of the control command, and an internal control command-a. b is sent to the communication relay robot communication control unit 11.

The communication relay robot communication control unit 11 converts the internal control command -b received from the communication relay robot integrated control unit 12, and converts the pipe wall communication transmitting / receiving unit 60-1 and the ultrasonic communication transmitting / receiving unit 70-. 1 and transceiver 80 for optical communication
Control command to the in-pipe mobile robot 20-1 by the communication transmission / reception unit selected by the host robot 1 in FIG.
Send b.

The in-pipe mobile robot communication control unit 21-1 is
The control command-b transmitted from the communication relay robot communication control unit 11 is received by the communication transmitting / receiving unit selected by the host robot 1 and converted into an internal control command-c,
It is stored and sent to the in-pipe mobile robot integrated control unit 25-1.

The in-pipe mobile robot integrated control unit 25-1 is
The received internal control command-c is compared and judged with a previously stored control command command or the like. For example, if the control command command of the internal control command-c is the control command command of the moving section 23-1. , Drive control unit 22
The internal control command -c is sent to -1, and the drive control unit 22-1 drives and controls the moving unit 23-1 based on the internal control command -c.

When the processing is completed, the drive control unit 22-1 which drives and controls the moving unit 23-1 sends an internal control command -d to the in-pipe mobile robot integrated control unit 25-1.

In addition to the drive control section, the working section 24-1
However, it is also possible to install a control unit such as a state control unit that controls the position and orientation of the in-pipe mobile robot, an inspection control unit that controls various inspections, and a work control unit that controls various repair work. It is possible.

It is also possible to mount an inspection device controlled by the inspection control unit and a repair work device controlled by the work control unit.

The in-pipe mobile robot integrated control unit 25-1 which has received the internal control command -d sends the internal control command -d to the in-pipe mobile robot communication control unit 21-1 and receives the in-pipe mobile robot communication control unit 21. -1 converts the internal control command -d to perform a transmission / reception unit 60-2 for tube wall communication, a transmission / reception unit 70-2 for ultrasonic communication, and a transmission / reception unit 80-2 for optical communication.
Among them, the control command-c is transmitted to the communication relay robot 10 by the selected communication transmitting / receiving unit.

The communication relay robot communication control section 11 receives the control command-c by the selected communication transmitting / receiving section, converts it into an internal control command-e, stores it, and sends it to the communication relay robot integrated control section 12. .

The communication relay robot integrated control unit 12 compares the received internal control command-e with a previously stored control command command or the like to make a judgment, a check, a processing control of the control command, and an internal control command-e. f is sent to the communication relay robot communication control unit 11.

The communication relay robot communication control unit 11 converts the received internal control command -f and sends the control command -d to the host robot 1.

Host robot 1 that received control command -d
Causes the display output unit to display and output control data and the like.

In the first embodiment, the host robot 1 and one communication relay robot 10 controlled by wire and one in-pipe mobile robot 20-1 controlled by radio are used. Mobile robot 20-1
It goes without saying that the number of each may be arbitrary.

The communication relay robot 10 and the in-pipe mobile robot 20-1 are respectively connected to the communication relay robot communication control section 1
1. Three communication transceivers (pipe wall communication transceiver 6) controlled by the in-pipe mobile robot communication controller 21-1.
0-1, 60-2, ultrasonic communication transceivers 70-1, 7
0-2, transceivers 80-1, 80-2) for optical communication, the number of transceivers for communication provided is arbitrary as long as it has at least one transceiver for communication.

Next, a second embodiment of the present invention will be described.
An in-pipe mobile robot system for performing coordinated movement control of a plurality of in-pipe mobile robots will be described with reference to FIG.

Reference numeral 101 denotes communication, movement, inspection of this system.
A host robot 102 performs control such as repair work by a control command stored in advance or a control command in an interactive form with an operator, and 102 controls an input unit such as a keyboard and an input sensor, a display, a display output unit such as voice, and 101. A processing control unit, 110 is a communication relay robot, 120-1 is a mobile robot in a pipe, and 160-1 and 160-2 are pipes that transmit and receive control commands by vibrating the pipes by a pipe wall communication transmission / reception conversion element in contact with the pipes. Transmitter / receiver for wall communication, 170-
1, 170-2 is an ultrasonic communication transmitting / receiving unit that transmits / receives a control command by an ultrasonic communication transmitting / receiving conversion element, and 180-1 and 180-2 are control command transmission / reception by an optical communication transmitting / receiving conversion element. A transmitter / receiver for optical communication, 11
Reference numeral 1 is a transmitting / receiving unit 16 for pipe wall communication of the communication relay robot 110
0-1, ultrasonic transmission / reception unit 170-1, optical communication transmission / reception unit 180-1, communication relay for controlling the communication function, the function for converting control commands and internal control commands, and the function for storing in memory etc. A robot communication control unit 112 controls the communication relay robot communication control unit 111, and a communication relay robot general control unit that stores a control command and the like in advance to make a judgment and a check.
The communication function of the tube wall communication transmitter / receiver 160-2, the ultrasonic wave transmitter / receiver 170-2, and the optical communication transmitter / receiver 180-2, the function of converting control commands and internal control commands, and the memory are stored. 12-1 is a drive control unit that controls the robot movement, 123-1 is a moving unit, 124-1 is a working unit that performs various inspections and repair work, and the like. Reference numeral 125-1 is a general control section for the mobile robot for pipes, which controls functions such as communication, movement, inspection, and repair work of the mobile robot for pipes 120-1, and stores a control command and the like in advance to make a judgment and a check. 190 is a pipe. The above is the same as the configuration of FIG.

The difference from the configuration of FIG. 1 is that another in-pipe mobile robot 120-2 is installed in the pipe.

120-2 is a mobile robot in a pipe, 160-
3 is a transmitting / receiving unit for pipe wall communication for transmitting and receiving control commands by giving vibration to the pipe by the transmitting / receiving conversion device for pipe wall communication that comes into contact with the pipe, and 170-3 is a control command for transmitting / receiving conversion device for ultrasonic communication in water or in the air. 180-3 is a transmitting / receiving unit for ultrasonic communication for transmitting / receiving data, 180-3 is a transmitting / receiving unit for optical communication for transmitting / receiving a control command by a transmitting / receiving conversion element for optical communication, 121-2 is a transmitting / receiving unit for pipe wall communication of the mobile robot 120-2 in the pipe. Part 160
-3, ultrasonic communication transmission / reception unit 170-3, optical communication transmission / reception unit 180-3, communication function, function for converting control command and internal control command, function for storing in memory, etc. A communication control unit, 122-2 is a drive control unit that controls the movement of the robot, 123-2 is a moving unit, 12
4-2 is a working unit for performing various inspections and repair work, and 125.
Reference numeral -2 is a mobile robot integrated control unit that controls functions such as communication, movement, inspection, and repair work of the mobile robot 120-2, and stores control command commands and the like in advance to make judgments and checks.

The operation of the in-pipe mobile robot system configured as described above will be described below.

For the host robot 101, the communication relay robot 110, and the in-pipe mobile robots 120-1 and 120-2, robot recognition codes for distinguishing them from other robots are added to the individual robots. The function of storing the added robot identification code, the function of comparing the stored robot identification code with the robot identification code set in the transmission / reception control instruction with the robot identification code, and the transmission / reception control instruction with the robot identification code inside It has the function of converting into control commands.

The host robot 101 appropriately receives the mobile robot 120-1 or 120-in the pipe from the outside by an input unit.
A control command with a robot identification code-a including the recipient code of either one of the two is input. Among the pipe wall communication transmitting / receiving unit 160-1, the ultrasonic communication transmitting / receiving unit 170-1, and the optical communication transmitting / receiving unit 180-1, a communication transmitting / receiving unit capable of optimal communication depending on the state or position in the pipe 190 is appropriately selected. Then, the control command with robot identification code -a is transmitted to the communication relay robot communication control unit 111 of the communication relay robot 110 by wire. Needless to say, it may be wireless.

The communication relay robot communication control unit 111 converts the control command-a with the robot identification code from the host robot 101 into the internal control command-a with the robot identification code, stores it, and causes the communication relay robot integrated control unit 112 to perform the control. send.

The communication relay robot integrated control unit 112 compares the received internal control command with robot identification code -a with a previously stored control command command or the like to make a comparison judgment or check, and controls the processing of the control command command.
The internal control command-b with the robot identification code is sent to the communication relay robot communication control unit 111.

The communication relay robot communication control unit 111 converts the internal control command-b with the robot identification code received from the communication relay robot integrated control unit 112, and converts it to the tube wall communication transmitting / receiving unit 160-1 and ultrasonic communication. Transmitter / receiver 17
0-1 and optical communication transmitter / receiver 180-1 in-line mobile robots 120-1 and 12 in the pipe 190 by the communication transmitter / receiver selected by the host robot 101.
The control command with robot identification code -b is transmitted to 0-2.

In-pipe mobile robot communication control unit 121-1,
121-2 receives the control command with robot identification code-b transmitted from the communication relay robot communication control unit 111 by the communication transmitting / receiving unit selected by the host robot 101, and outputs the control command with robot identification code-b.
If the robot identification code of No. 1 matches the stored robot identification code of the robot, the robot identification code is converted into an internal control command with a robot identification code -c, which is stored and stored. -2 to send.

If they do not match, the received control command with robot identification code-b is discarded.

If they match, the in-pipe mobile robot integrated control unit 125-1 or 125-2 compares the received internal control command with robot identification code -c with a previously stored control command command or the like to judge or check. And the control command command of the internal control command-c with the robot identification code is given to the drive control units 122-1 and 122-2.
Etc. to the control unit.

As an example, the control command is the moving unit 1
If it is a control command command of 23-1 or 123-2, the internal control command -c with the robot identification code is sent to the drive control unit 122-1 or 122-2, and the drive control unit 122-1 or 122-2 The moving unit 123-1 or 123-2 is driven and controlled based on the internal control command-c with the robot identification code.

A drive control unit 122-1 or 122-2 for driving and controlling the moving unit 123-1 or 123-2.
When the processing ends, the in-pipe mobile robot integrated control unit 1
The internal control command-d with the robot identification code is sent to 25-1 or 125-2.

In addition to the drive control section, the working section 124-
1 or 124-2, a control unit such as a state control unit that controls the position and posture of the in-pipe mobile robot, an inspection control unit that controls various inspections, and a work control unit that controls various repair work. It is also possible to install.

It is also possible to mount an inspection device controlled by the inspection control unit and a repair work device controlled by the work control unit.

Receiving the internal control command with the robot identification code -d, the in-pipe mobile robot integrated control section 125-
1 or 125-2 sends the internal control command -d with the robot identification code to the in-pipe mobile robot communication control unit 121-1 or 121-2, and the in-pipe mobile robot communication control unit 121-1 or 121-2 receives the internal control command -d. The internal control command-d with the robot identification code is converted to perform the transmission / reception unit 160-2 or 160-3 for tube wall communication, the transmission / reception unit 170-2 or 170-3 for ultrasonic communication, and the transmission / reception unit 180-2 for optical communication. The control command-c with the robot identification code is transmitted to the communication relay robot 110 by the communication transmitting / receiving unit selected in 180-3.

Similarly, if the control command is inspection control, the robot control code-attached internal control command -c is sent to the inspection control unit and to the repair work control unit if the control command is repair work control. Communication relay robot 110
To the control command -c 'with the robot identification code.

The communication relay robot communication control section 111 receives the control command-c with the robot identification code by the selected communication transmitting / receiving section, converts it into the internal control command-e with the robot identification code, stores it, and communicates. It is sent to the relay robot integrated control unit 112.

The communication relay robot integrated control unit 112 compares the received internal control command with robot identification code -e with a control command command or the like stored in advance, makes a judgment or a check, and controls the processing of the control command command.
The internal control command-f with the robot identification code is sent to the communication relay robot communication control unit 111.

The communication relay robot communication control section 111 converts the received internal control command with robot identification code-f and transmits the control command with robot identification code-d to the host robot 101.

Upon receiving the control command with robot identification code -d, the host robot 101 displays and outputs the control data and the like by the display output unit.

An example in which a robot recognition code is added to each robot in view of the above series of sequences will be shown.

First, the host robot 101 has a robot identification code "1", the communication relay robot 110 has a robot identification code "2", the mobile robot 120-1 has a robot identification code "3", and the mobile robot 120-2 has a robot. The recognition code "4" is set and stored.

First, the robot identification code-added control command-I with the robot identification code set to "3" and the transmission source code set to "1" and the movement control set to the control instruction command is transferred to the host robot 101. Is transmitted to the communication relay robot 110 by wire.

The received control command with robot identification code-I changes the transmission source code to "2" by the internal processing of the communication relay robot 110, and as a control command with robot identification code-II, the in-pipe mobile robot 120-1. 1
20-2 and so on.

The in-pipe mobile robot 120-1 that has received the control command with robot identification code-II makes a comparison judgment with its own robot recognition code for which the receiver code has been set, and matches it. Command I
The in-pipe mobile robot 120-2 receives the robot identification code-added control command-II, but performs the movement control process set in the I control command command, and compares it with its own robot recognition code in which the receiver code is set. Since it is determined that they do not match, the received control command-II with robot identification code is discarded, and control and processing are not performed.

On the other hand, the in-pipe mobile robot 120-1 that has performed the movement control processing set in the control command command is a robot in which the receiving code of the robot identification code is set to "2" and the transmission source code is set to "3". The control command with identification code-III is transmitted to the communication relay robot 110 or the like.

Control command with robot identification code-III
The communication relay robot 110, which has received the message, compares the received robot code with the robot recognition code that has been set.
To the host robot 101 by wire.

The same control as the above control is performed, and the in-pipe mobile robot 120-2 also performs movement control and the like.

As described above, by adding the robot identification code to each robot and performing communication and control by the control command with the robot identification code, a plurality of in-pipe mobile robots perform various inspections and repair work in the pipe. It can be done in concert.

Needless to say, the code of the control command with the robot identification code such as the receiver code, the sender code, etc. is not limited to this.

Although not shown in FIG. 2, it is also possible to coordinate a plurality of communication relay robots and mobile robots in a pipe to perform repair work and the like.

[0067]

As is apparent from the above description, the present invention has the following effects. (1) By performing communication by transmitting and receiving a signal by a wireless system, a movement obstacle such as a cable does not occur. (2) By controlling switching of a plurality of communication functions, even when the communication state of one function deteriorates, it is possible to switch to another optimum communication function. (3) By controlling the mobile robot in the pipe with the control instruction with the robot identification code, the cooperative work by the plurality of mobile robots in the pipe can be performed.

[0068]

[Brief description of drawings]

FIG. 1 shows the configuration of a wirelessly controlled mobile robot system in a pipe.

FIG. 2 shows an example of the configuration of a plurality of wirelessly controlled in-pipe mobile robot systems.

[0069]

[Explanation of symbols]

1, 101 ・ ・ ・ ・ ・ ・ ・ ・ Host robot 2, 102 ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Process control unit 10, 110 ・ ・ ・ ・ ・... Communication relay robot 11,111 ..... Communication relay robot communication control unit 12,112 ..... Communication relay robot integrated control unit 20-1, 120-1, 120-2 ... In-pipe mobile robot 21-1, 121-1, 121-2 ... In-pipe mobile robot communication control unit 22-1, 122-1, 122-2 ... -Drive control part 23-1, 123-1, 123-2 ... Moving part 24-1, 124-1, 124-2 ... Working part 25-1, 125-1, 125-2 ... In-pipe mobile robot integrated control unit 60-1, 60-2, 160-1, 160-2, 16
-3
..... Transmitter / receiver for tube wall communication 70-1, 70-2, 170-1, 170-2, 170
-3
........ Transmission / reception unit for ultrasonic communication 80-1, 80-2, 180-1, 180-2, 180
-3
··· Optical communication transmitter / receiver 90, 190 ····· Piping

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification number Internal reference number for FI Technical indication H04B 7/26 E 9297-5K (72) Inventor Teruyuki Matsui 2-3 Sakae, Naka-ku, Nagoya-shi, Aichi No. 1 stock company Meitec

Claims (6)

[Claims] 1. An input unit for inputting a command from the outside, and a display output unit for displaying various control commands and control states,
A host robot having a processing control unit for transmitting and receiving a control command command stored in advance and a control command command in an interactive form with an operator; and a transmitting and receiving unit including at least one of various communication systems, A transmission / reception function 1 that switches the transmission / reception unit according to the in-service condition to transmit / receive information, a judgment function 1 that compares and judges a control command and a control command command stored in advance, and integrally controls each function. A communication relay robot having a control function 1 and a transmission / reception unit of at least one of various communication systems, and the transmission / reception function 2 for switching the transmission / reception unit according to the in-pipe state to transmit / receive information. And the moving function of moving by the moving mechanism, the control command and the control command command stored in advance are compared and judged. And determining function 2 Ekku, the pipe robot system, characterized in that it is composed of a pipe mobile robot and a control function 2 for generally controlling the respective functions. 2. The in-pipe mobile robot system according to claim 1, wherein the in-pipe mobile robot is provided with a working unit for performing inspection and repair work in the pipe. 3. The control command includes a robot identification code including at least a destination code indicating a robot that receives information among the robots and a transmission source code indicating a robot that has transmitted information among the robots. The in-pipe mobile robot system according to claim 1, which is added. 4. A host robot in which a recognition function 1 for recognizing the suitability of the receiver code of the robot identification code added to the control command and at the same time recognizing the robot of the sender code is added to the processing controller. A communication relay robot having a recognition function 2 for recognizing the suitability of the receiver code of the robot identification code added to the received control command, and at the same time recognizing the robot of the sender code, and the received control command 4. The in-pipe mobile robot further comprising a recognition function 3 for recognizing the suitability of the receiver code of the robot identification code added to the robot and simultaneously recognizing the robot of the sender code. The in-pipe mobile robot system described. 5. The host robot switches to the optimum transmission / reception unit from among the various transmission / reception units provided in the communication relay robot by a command input from the input unit, and Control command is transmitted via the communication relay robot to control the in-pipe mobile robot, and the in-pipe mobile robot switches the control data as a result of being instructed by the control command. A control system for a mobile robot system in a pipe, characterized in that information is transmitted between the host robot and the mobile robot in a pipe via a communication relay robot. 6. The information is transmitted by adding the robot identification code to the control command or the control data to perform cooperative control between the host robot and a plurality of the in-pipe mobile robots. The in-pipe mobile robot system control method according to claim 5.