Intrapipe work robot apparatus and method of measuring position of intrapipe work robot

An intrapipe work robot apparatus comprising:

• (a) an intrapipe work robot inserted into a pipe so as to perform a work while performing automotive travelling in the pipe;
• (b) an operation unit for designating travel and other actions of said robot externally of the pipe, in which an operation output signal is transmitted from at least said operation unit to said intrapipe work robot through radio communicating means;
• (c) a movable antenna unit mounted on said intrapipe work robot which includes a circular base having an under stay and connected to a rear end of said intrapipe work robot, a first antenna mounted on said base and horizontally extending rearwards so as to receive an operation signal from said operation unit and a second antenna mounted vertically on said stay so as to transmit an image signal;
• (d) a stationary antenna unit mounted on the ground on the side of said operation unit which includes a first antenna paired with the first antenna of said movable antenna unit so as to transmit the operation signal and mounted horizontally so as to extend forwards, a second antenna paired with the second antenna of said movable antenna unit so as to receive the image signal and mounted vertically;
• and
• (e) a measuring unit for measuring a position of said intrapipe work robot.