JP2000338264A - Method for monitoring target in liquid - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively perform monitoring even if liquid where a target exists is disturbed. SOLUTION: When a measurement target 2 in water 1 is to be monitored by a camera 3, liquid is injected from a liquid injection nozzle 4 around the camera 3 and a liquid column 5 is formed. The influence of disturbance by a mixture, a suspended matter, a dissolved substance, outer flow, or the like in the water 1 is eliminated by the liquid column 5, and the measurement target 2 can be monitored effectively by the camera 3 by a camera visual field 6 that is secured in the liquid column 5. Instead of the camera 3, measurement using a laser, that using ultrasonic waves, or flaw detection can also be made.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of monitoring an object existing in a liquid, such as underwater, by monitoring, measuring, or monitoring flaw detection.

[0002]

2. Description of the Related Art Conventionally, an object existing in a liquid, such as underwater, has been subjected to visual monitoring and measurement using a camera or the like, measurement using a laser, or measurement or flaw detection using an ultrasonic wave. Monitoring by a camera or the like is performed by displaying an image obtained by imaging an object in liquid at another place. The laser measurement irradiates a laser beam to a target in a liquid, receives reflected light from the target, and measures the distance to the target, the shape of the surface of the target, and the like. Even if ultrasonic waves are used, not only measurement similar to laser light can be performed, but also flaw detection such as a defect inside an object can be performed.

[0003]

When performing visual monitoring and measurement by a camera or the like in a liquid, such as underwater, measurement by a laser beam or measurement or flaw detection by an ultrasonic wave, a mixture of substances present in the liquid, The object to be measured may not be seen or the laser beam may not be transmitted due to a floating substance, a dissolved substance, an external flow, or the like. In such a case, monitoring using visible light or measurement using laser light cannot be performed, and is excluded from the application of monitoring using visible light or laser light. In addition, if the attenuation when propagating the ultrasonic wave increases due to the presence of a mixture or a floating substance in the liquid, measurement or flaw detection using the ultrasonic wave becomes difficult or cannot be performed with high accuracy. In such a case,
Although the method of lowering the frequency of the ultrasonic wave to make it less susceptible to the attenuation is used, it is not sufficient to lower the frequency and reduce the attenuation, or the wavelength of the ultrasonic wave becomes longer by lowering the frequency, There is also a problem that the resolution of distance and azimuth deteriorates.

[0004] An object of the present invention is to provide a method for monitoring an object in a liquid that can eliminate the effects of inclusions, suspended solids, dissolved matter, external flow, and the like that hinder monitoring in the liquid. is there.

[0005]

SUMMARY OF THE INVENTION The present invention relates to a method for monitoring an object in a liquid for monitoring an object present in the liquid, such as monitoring or measurement, which is separated from the object in the liquid. A monitoring device is installed, a fluid is ejected from the monitoring device toward the object, a fluid column is formed between the monitoring device and the object, and the monitoring device is formed in the formed fluid column. A method for monitoring an object in a liquid, the method being operated to monitor the object.

According to the present invention, a monitoring device is installed at an interval from an object to be measured in a liquid, a fluid column is formed between the monitoring device and the object, and the monitoring device is operated in the fluid column. And monitor the object. Even if there are contaminants, suspended solids, dissolved matter or external flow in the liquid, the monitoring device monitors the target object through the fluid column, so that the contaminants, suspended solids, dissolved substance or external flow in the liquid The monitoring of the target object can be performed by eliminating the influence of the above. Since a fluid column is formed between the monitoring device and the object, monitoring can be continued even if the distance between the monitoring device and the object changes, as long as the fluid column is formed. it can.

Further, the present invention is characterized in that a liquid column made of a liquid is formed as the fluid column.

According to the present invention, a liquid column can be formed in a liquid in which an object exists, and monitoring can be performed in the formed liquid column. By making the density of the liquid forming the liquid column different from that of the surrounding liquid, light, ultrasonic waves, and the like used for monitoring can be efficiently propagated in the liquid column.

Further, the present invention is characterized in that a gas column made of gas is formed as the fluid column.

According to the present invention, an object present in a liquid can be monitored via a gas column.

Further, the present invention is characterized in that a curtain made of a fluid different from the fluid forming the fluid column is formed around the fluid column.

According to the present invention, a curtain formed of a fluid different from the fluid forming the fluid column is formed around the fluid column to be monitored. The influence can be reduced by the curtain.

Further, the present invention is characterized in that the fluid column is formed of one of a liquid and a gas, and the curtain is formed of the other of a liquid and a gas.

According to the present invention, the type of fluid forming the fluid column and the type of fluid forming the curtain are changed, such as a gas curtain for the liquid column and a liquid curtain for the gas column. Separation of the fluid column and the liquid in which the object exists by the curtain can be reliably performed.

Further, the present invention is characterized in that a camera is installed as the monitoring device to monitor the object.

According to the present invention, even if a mixture, suspended matter, dissolved matter, external flow, or the like is present in the liquid column in which the object is present, the object can be monitored by the camera by excluding them. .

Further, the present invention is characterized in that a laser measuring device is installed as the monitoring device, and the object is irradiated with a laser beam to perform measurement.

According to the present invention, it is difficult or impossible to directly transmit a laser beam due to the presence of a mixture, suspended matter, dissolved matter, external flow, or the like in the liquid in which the object exists. Also eliminates the effects of inclusions, etc. by forming a fluid column,
Measurement can be performed by irradiating a laser beam using a fluid column.

Further, the present invention is characterized in that an ultrasonic measuring device is installed as the monitoring device, and an ultrasonic wave is transmitted toward the object to perform measurement.

According to the present invention, even if a mixture, a suspended matter, a dissolved matter, an external flow, or the like is present in the liquid in which the object is present and it is difficult to measure by propagating ultrasonic waves, the mixture may be used. And the like are eliminated by the fluid column, and the ultrasonic wave is propagated to the fluid column, so that the measurement of the object can be easily performed.

Further, the present invention is characterized in that an ultrasonic flaw detector is installed as the monitoring device, and flaw detection is performed by transmitting an ultrasonic wave toward the object.

According to the present invention, even if a mixture, a suspended matter, a dissolved substance, an external flow, or the like is present in the liquid in which the object is present, and the ultrasonic flaw detection is difficult or impossible, the mixture can be mixed. An object or the like can be eliminated by a fluid column, and ultrasonic waves can be propagated using the fluid column to detect a flaw on an object.

[0023]

FIG. 1 shows a basic configuration of underwater monitoring as a first embodiment of the present invention. When the measurement target 2 is present in the water 1 as an example of a fluid containing a disturbance element such as a mixed substance, a suspended solid, a dissolved substance, or an external flow, the camera 3 is installed at a distance from the surface of the measurement target 2. . A liquid jet nozzle 4 is provided around the camera 3, and the liquid is jetted toward the measurement object 2 to form a liquid column 5. By the liquid column 5, inclusions contained in the surrounding water 1,
Disturbance elements such as suspended matter, dissolved matter or external flow are eliminated,
Visible light can be transmitted effectively, and the camera field of view 6 can be effectively secured.

Instead of the camera 3, a laser measuring device or an ultrasonic measuring device for measuring the distance to the measuring object 2 and the surface shape of the measuring object 2 can be installed. In addition, an ultrasonic flaw detector can be installed to detect flaws and the like inside the measurement target 2. By using a liquid having a density different from that of the surrounding water as a liquid forming the liquid column 5, a loss due to leakage of light or ultrasonic waves into the external water 1 at the boundary between the liquid column 5 and the surrounding water 1. , And can be propagated efficiently. As a fluid forming such a liquid column 5, water at a temperature different from that of the surrounding water can be used.

FIG. 2 shows a basic configuration for monitoring according to a second embodiment of the present invention. In the present embodiment, a gas ejection nozzle 14 is provided around the camera 3 in order to monitor the measurement target 2 in the water 1 with the camera 3. A gas is ejected from the gas ejection nozzle 14 toward the measurement target 2, and a camera view 16 is secured in a gas column 15 formed. Also in this embodiment, gas is ejected, and the gas
By forming 5, it is possible to eliminate the influence of disturbances such as inclusions, suspended solids, dissolved substances, and external currents contained in the water 1, and secure a good camera view 16.

Also in this embodiment, if a laser measuring device is installed in place of the camera 3, a laser beam is applied to the object 2 to measure the distance to the object 2 and the surface shape of the object 2. Measurement can be performed. In addition, the ultrasonic wave can be propagated through the gas column 15 to measure the distance and the surface shape to the measurement target 2 or to detect the flaw of the measurement target 2. When using ultrasonic waves, the speed of sound in the gas column 15 is lower than the speed of sound in the liquid column 5 of the embodiment of FIG.
In addition, since the attenuation increases, it is preferable to reduce the distance from the measurement target 2.

FIG. 3 shows a configuration for basic monitoring as a third embodiment of the present invention. In the present embodiment, in order to eliminate the influence of disturbances such as inclusions, suspended solids, dissolved substances, and external flows in the water 1, gas and liquid are discharged from a fluid ejection nozzle 24 provided around the camera 3 on the measurement target 2. To form a gas column 15 and a liquid curtain 25 around it. The influence of the disturbance contained in the water 1 is eliminated by the liquid curtain 25, and a gas column 15 for forming a camera view 16 is formed therein. It is the same as the embodiment of FIG. 2 in that monitoring is performed while securing the camera visual field 16 and the like in the gas column 15. The gas column 15 for monitoring is connected to the liquid curtain 2
5 separates from the surrounding water, so that the gas column 15 can be made less susceptible to disturbances contained in the surrounding water.

FIG. 4 shows a basic monitoring state as a fourth embodiment of the present invention. In the present embodiment, similarly to the embodiment of FIG. 1, the liquid column 5 is formed so that the camera 3 monitors the measurement target 2 in the water 1. In the present embodiment, the fluid jet nozzle 34 provided around the camera 3 outputs the gas curtain 3 together with the liquid forming the liquid column 5.
The gas forming 5 is also ejected. The gas curtain 35 removes the water 1 containing the disturbance from the periphery of the liquid column 5, and places the camera view 6 in the liquid column 5 in a state that is hardly affected by the disturbance.
And the monitoring of the measurement target 2 by the camera 3 can be effectively performed. Measurement by laser light, measurement by ultrasonic waves, and flaw detection can be performed in the same manner as in the embodiment of FIG.

In each of the embodiments shown in FIGS. 1 to 4, the object to be measured 2 is monitored by the camera 3. However, if the brightness of the camera visual fields 6 and 16 is not sufficient, a light source for illumination together with the camera 3 is used. Can be arranged, and the camera views 6, 16 can be illuminated with light from a light source to monitor in a bright state.

[0030]

FIG. 5 shows a state in which an object 42 in a liquid 41 is monitored by a camera 43 using a robot hand 40 by applying the embodiment of FIG. The observation target 42 exists near the liquid surface of the liquid 41, and the robot hand 40 is inserted into the liquid 41 from above the liquid surface, and the observation target 42 is attached to the tip of the robot hand 40 by the camera 43. Monitor. An injection nozzle 44 is provided around the camera 43,
A clear liquid layer 45 having no contamination as a liquid column and a gas curtain 46 formed around the liquid layer 45 are formed. Clear liquid layer 45
Since the camera visual field can be formed inside the camera object, the camera visual field securing area 47 can be formed on the surface of the observation object 42. Therefore, even if the suspended matter 48 is mixed in the liquid 41 and the direct monitoring by the camera 43 is impossible, it is possible to secure the visual field of the camera and easily monitor the surface of the observation target 42 by the camera 43. Can be. The distance between the tip of the injection nozzle 44 and the observation target 42 is 1 to
Preferably, it is in the range of 50 cm. If this interval is too large, the amount of liquid that must be ejected from the ejection nozzle 44 will be too large. If the distance is too small, the ejection nozzle 44 may be deformed due to deformation of the surface of the observation object 42 or the like.
There is a risk of hitting the tip.

The robot hand 40 as shown in FIG.
In addition to being inserted into the liquid 41 from above the liquid surface of the liquid 41, the liquid 41 can be mounted on a diving device or the like and supported in the liquid 41, or installed on the bottom of the water or the sea. According to the monitoring result by the camera 43, the robot hand 40
The present invention can be applied to a robot handling technique in a liquid such as underwater by controlling.

The floating substance 48 shown in FIG. 5 may be, for example, cutting chips that are temporarily generated when a processing such as cutting is performed on the observation target 42 in the liquid 41. As time passes, the suspended matter 48 sinks in the liquid 41 and the liquid 41 becomes clean. However, when performing processing in water, waiting for the suspended matter 48 to settle due to the processing requires a long time to confirm the result of the processing. If the present invention is applied to an underwater processing apparatus or the like, even if a large amount of suspended matter 48 or the like is present in the liquid 41 during or immediately after processing, the influence can be easily removed and monitoring and measurement can be performed. . That is, the present invention can be widely applied to a sensing method of an underwater processing device and the like.

As the liquid 41, the present invention can be effectively implemented in seawater. For example, when repairing and maintaining marine structures, processing is performed as necessary, and even if monitoring becomes difficult with processing, if the present invention is applied to form a fluid column, monitoring and measurement can be performed. Alternatively, monitoring such as flaw detection can be easily performed.

[0034]

As described above, according to the present invention, it is impossible to monitor an object present in a liquid due to the influence of a mixture, a suspended matter, a dissolved substance, an external flow, or the like present in the liquid. Can also form a fluid column to eliminate the effects and allow for monitoring.

Further, according to the present invention, a liquid column made of liquid is formed between the monitoring device and the object, and the object can be monitored in the liquid column.

According to the present invention, a gas column is formed between the monitoring device and the object, and the object can be monitored in the gas column.

Further, according to the present invention, since a curtain formed of a fluid different from the fluid forming the fluid column around the fluid column is formed, it is possible to prevent a mixture or suspended matter of the surrounding liquid columns from entering the fluid column. It can be reliably prevented.

Further, according to the present invention, since the type of the fluid forming the curtain is different from the type of the fluid forming the fluid column, the effect of the surrounding liquid on the fluid column is sufficiently eliminated to perform stable monitoring. be able to.

Further, according to the present invention, the object can be monitored by the camera while eliminating the influence of the liquid in which the object exists.

Further, according to the present invention, it is possible to perform measurement by irradiating the object with laser light while eliminating the influence of the liquid in which the object exists.

According to the present invention, an object can be measured by ultrasonic waves while eliminating the influence of the liquid in which the object exists.

Further, according to the present invention, the ultrasonic inspection of the object can be performed while eliminating the influence of the liquid in which the object exists.

[Brief description of the drawings]

FIG. 1 is a simplified sectional view showing a basic monitoring state according to a first embodiment of the present invention.

FIG. 2 is a simplified cross-sectional view showing a basic monitoring state according to a second embodiment of the present invention.

FIG. 3 is a simplified sectional view showing a basic monitoring state according to a third embodiment of the present invention.

FIG. 4 is a simplified cross-sectional view showing a basic monitoring state as a fourth embodiment of the present invention.

FIG. 5 is a perspective view showing a partial cross-sectional view for performing monitoring by attaching a camera to the tip of a robot hand in a liquid as one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Water 2 Measurement object 3,43 Camera 4 Liquid injection nozzle 5 Liquid column 6,16 Camera view 14 Gas ejection nozzle 15 Gas column 24,34 Fluid ejection nozzle 25 Liquid curtain 35 Gas curtain 40 Robot hand 41 Liquid 42 Observation object 44 Injection nozzle 48 Floating material

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01V 8/10 G03B 15/00 S G03B 15/00 G01V 9/04 S (72) Inventor Mitsuhiro Kamioka Hyogo 3-1-1 Higashi Kawasakicho, Chuo-ku, Kobe Kawasaki Heavy Industries, Ltd. Kobe Plant F-term (reference) BB23 BB33 BB88 BB92

Claims (9)

[Claims] 1. A method for monitoring an object in a liquid, which monitors an object present in the liquid and performs monitoring such as measurement, wherein a monitoring device is installed at an interval from the object in the liquid, and the monitoring is performed. Fluid is ejected from the device toward the object to form a fluid column between the monitoring device and the object, and the monitoring device is operated within the formed fluid column to form a fluid column on the object. A method for monitoring an object in a liquid, comprising performing monitoring. 2. The method for monitoring an object in liquid according to claim 1, wherein a liquid column made of a liquid is formed as the fluid column. 3. The method for monitoring an object in liquid according to claim 1, wherein a gas column made of gas is formed as the fluid column. 4. The method for monitoring an object in a liquid according to claim 1, wherein a curtain formed of a fluid different from the fluid forming the fluid column is formed around the fluid column. . 5. The method according to claim 4, wherein the fluid column is formed of one of a liquid and a gas, and the curtain is formed of the other of a liquid and a gas. 6. The method for monitoring an object in liquid according to claim 1, wherein a camera is installed as the monitoring device to monitor the object. 7. The method according to claim 1, wherein a laser measuring device is installed as the monitoring device, and the object is irradiated with a laser beam to perform measurement. Monitoring method. 8. The submerged liquid according to claim 1, wherein an ultrasonic measuring device is installed as the monitoring device, and the ultrasonic wave is transmitted toward the object to perform the measurement. How to monitor objects. 9. The submerged liquid according to claim 1, wherein an ultrasonic flaw detector is installed as the monitoring device, and flaw detection is performed by transmitting an ultrasonic wave toward the object. How to monitor objects.