JP2001322077A - Method and device for detecting bottom face of water tank - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically carry out either one or all of monitoring, inspection and cleaning of the bottom face of a water tank using a traveling robot. SOLUTION: This method and device for detecting the bottom face of the water tank are constituted to carry out either one or all of monitoring, inspection and cleaning by the linear reciprocating travel of the traveling robot 3 performed on the bottom face 2 of the water tank 1 radially many times by an index table 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting the bottom of an aquarium, and more particularly to a novel method for moving a traveling robot on the bottom of an aquarium and performing at least one of monitoring, inspection, and cleaning of the bottom. About improvement.

[0002]

2. Description of the Related Art Conventionally, as a method of detecting the bottom of a water tank of this type, a person directly descends on the bottom to perform inspection, cleaning, and the like.

[0003]

The conventional method for detecting the bottom of an aquarium has the following problems because it is configured as described above. That is, the above-mentioned water tank is, for example,
Detecting only empty conditions, such as nuclear power plant pools, manufacturing plant tanks, or general pools, is dangerous when water is in the water, so humans can only enter the water if they are drained and emptied. I could not work. For this reason, the above-mentioned pool is emptied only for a limited time, and it is extremely difficult to perform each of the above-described operations when water is contained.

The present invention has been made to solve the above-mentioned problems, and in particular, moves a traveling robot on the bottom of a water tank and performs at least one of monitoring, inspection, and cleaning of the bottom. An object of the present invention is to provide a method and an apparatus for detecting a bottom surface of an aquarium as described above.

[0005]

According to the method of detecting the bottom of a water tank according to the present invention, an index table is provided on the bottom of the water tank or at an upper position thereof to engage with a traveling robot, and the direction of rotation of the index table is selected to travel. A method of determining a linear reciprocating traveling direction of the robot, performing linear reciprocating traveling of the traveling robot, and performing at least one of monitoring, inspection, and cleaning of a bottom surface of the water tank by the traveling robot. A method for detecting an azimuth angle during a straight reciprocating run by a gyro, wherein the index table is held by holding means arranged near the water tank, and the water tank is a flat surface. It is a method having a circular shape in shape, and an index table provided on or above the bottom surface of the water tank, Holding means for holding the index table provided beside, and a traveling robot which is provided on the bottom surface so as to be able to travel freely and whose traveling direction can be changed by rotation of the index table; Is a configuration having a positioning recess for engaging an engaging portion of the traveling robot, and the traveling robot is provided with a gyro for detecting an azimuth angle during linear reciprocation. It is.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the method and apparatus for detecting the bottom of an aquarium according to the present invention will be described below with reference to the drawings. In FIG. 1 to FIG. 5, what is indicated by reference numeral 1 is a water tank composed of, for example, a pool of a nuclear power plant or a pool of various manufacturing plants. On the bottom surface 2 of the water tank 1, a self-propelled traveling robot 3 and An index table 4 is provided.

The traveling robot 3 is provided with a caterpillar 6 on a vehicle body 5, and a float 7 connected to the vehicle body 5 floats on a water surface 8 of the water tank 1 to indicate the position of the traveling robot 3 in water. It is configured as follows.

The index table 4 is connected and held by a support 11 of a holding means 10 composed of a crane or the like disposed on the ground 1A near the water tank 1 and supported by the support 11. A biaxial inclinometer 12 is provided so that the body 11 is perpendicular to the bottom surface 2.

The bottom 4a of the index table 4 is constructed as shown in FIG. 2, and a positioning recess 13 is provided in the bottom 4a of the index table 4.
The positioning recess 13 is provided in the upper part 3 of the traveling robot 3.
a is formed along the shape of the engaging portion 14 formed so as to protrude from a. As shown in FIG. 3, a detection sensor 15 is provided at the innermost part of the positioning recess 13.
The rod 4Aa of the cylinder 4A provided in the index table 4 is inserted into the hole 14a formed in the index table 4, and the index table 4 and the traveling robot 3 are integrally connected. When the support 11 is contracted in the above-described state, the traveling robot 3 slightly floats from the bottom surface 2.
A linear reciprocating traveling direction 15 (shown in FIGS. 2 and 6) for the traveling robot 3 to linearly reciprocate in the direction in which the 3 is facing.
Is configured to be settable.

When the traveling robot 3 travels in the rectilinear traveling direction 15, as shown in FIG. 5, an azimuth detection signal 22 a from a gyro 22 provided on the traveling robot 3 is sent to an arithmetic unit 21. By entering
The deviation of the traveling robot with respect to the linear reciprocating traveling direction 15 is computed by the computing unit 21 and is corrected via the motor drive circuit unit 31. This correction is based on the first
As shown in the equation.

[0011]

(Equation 1)

The arithmetic section 21 is configured to be arithmetically controlled by a preset traveling program 23,
The traveling pulse 30 of each encoder 6a provided on each caterpillar 6 of the traveling robot 3 is input to the calculation unit 21,
The motor 6b provided in each of the caterpillars 6 is a computing unit 21
Is connected to the motor drive circuit unit 31 and is configured to control the rotation speed of each of the caterpillars 6 so as to perform the straight traveling and the traveling direction control.

Next, the operation will be described. First, FIG.
As shown in FIG. 2, the support 11 is contracted while the engaging portion 14 of the traveling robot 3 is engaged with the positioning recess 13 of the index table 4 above the bottom surface 2 of the water tank 1, and the traveling robot 3 is moved downward. Then, the index table 4 is rotated in accordance with a predetermined monitoring program, for example, and the rotation angle direction is selected, and the linear reciprocating traveling direction 15 is determined, and the traveling program 23 is executed. By executing the traveling program 23, the traveling robot 3 travels in a straight line reciprocating while receiving correction of the azimuth and the like.

When the operation of causing the traveling robot 3 to travel along the above-described linear reciprocating traveling direction 15 is repeated while sequentially changing the rotation angle direction of the index table 4 as described above, each locus shown in FIG. (The solid line indicates the execution and the dotted line indicates the schedule) As shown in FIG.
Any or all of the cleaning can be performed. In the case described above, the correction of the origin position of the index table 4 with respect to the water tank 1 can be corrected by moving the support 11 of the holding means 10.

When the traveling robot 3 travels 27 times along the straight reciprocating traveling direction 15 described above, the gyro 22 has a drift of 0 ° /
h shows a running state in which the drift of the gyro 22 is slightly shifted at -3 ° / h. Further, the travel position deviation amount can be expressed by the following first equation of Expression 1, and can be arithmetically controlled by the arithmetic unit 21. In the above-described embodiment, the index table 4
Was lifted from the bottom surface 2 and engaged with the traveling robot 3,
The direction of the traveling robot 3 can be determined on the bottom surface 2.

[0016]

The method and apparatus for detecting the bottom surface of an aquarium according to the present invention are configured as described above, so that the following effects can be obtained. That is, a traveling robot is run on the bottom surface of the water tank, and any or all of the bottom surface can be monitored, inspected, and cleaned by the traveling robot, and automatically in a dangerous water tank and in a state where there is water. You can run. Further, even in the circular water tank, the linear reciprocating traveling direction of the traveling robot can be freely selected and determined by the index table, and the bottom surface of the water tank can be detected with high accuracy and high efficiency.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a method and an apparatus for detecting a tank bottom according to the present invention.

FIG. 2 is an enlarged configuration diagram showing a main part of FIG.

FIG. 3 is a bottom view of the index table of FIG. 1;

FIG. 4 is a side view of the index table of FIG. 1;

FIG. 5 is a block diagram showing traveling control of the traveling robot of FIG. 1;

FIG. 6 is a configuration diagram showing each linear reciprocating traveling direction of the traveling robot in the water tank of FIG. 1;

FIG. 7 is an explanatory diagram showing a normal traveling state of the traveling robot of FIG. 1;

FIG. 8 is an explanatory diagram showing an abnormal traveling state of the traveling robot of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Water tank 2 Bottom surface 3 Running robot 4 Index table 10 Holding means 13 Positioning concave part 14 Rear part 15 Straight line 21 Calculation part 22 Gyro 23 Running program

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F105 AA06 3F059 AA11 AA18 AA19 BA10 BB07 BC07 DA02 DA05 DA08 DA10 DC08 DD01 FA01 FA03 FB01 FB15 FB29 FC02 FC13 FC14 3F060 AA09 CA13 GA05 GA13 HA02 HA35

Claims (7)

[Claims] An index table (4) is provided on or above a bottom surface (2) of a water tank (1) to engage with a traveling robot (3), and selects a rotation angle direction of the index table (4). To determine the rectilinear reciprocating traveling direction (15) of the traveling robot (3), perform the rectilinear reciprocating traveling of the traveling robot (3), and use the traveling robot (3) to move the bottom (2) of the water tank (1).
A bottom surface detection method for a water tank, wherein at least one of monitoring, inspection, and cleaning is performed. 2. The tank bottom detecting method according to claim 1, wherein the gyro (22) of the traveling robot (3) detects an azimuth angle (22a) during a straight reciprocating travel. 3. The tank bottom detecting method according to claim 1, wherein the index table is held by holding means disposed near the tank. . 4. The method according to claim 1, wherein the water tank has a circular shape in a plan view. 5. An index table (4) provided on or above a bottom surface (2) of a water tank (1), and an index table (4) provided near the water tank (1) for holding the index table (4). A water tank bottom surface comprising: a holding means (10); and a traveling robot (3) which is provided on the bottom surface (2) so as to be able to travel freely and whose traveling direction is changed by rotation of the index table (4). Detection device. 6. The water tank according to claim 5, wherein the index table has a positioning recess for engaging an engaging portion of the traveling robot. Bottom detection device. 7. The tank bottom detection according to claim 1, wherein the traveling robot (3) is provided with a gyro (22) for detecting an azimuth angle during a linear reciprocating movement. apparatus.