JP2007326010A - Cleaning device and cleaning method in structure in which liquid is put - Google Patents

Abstract

The present invention provides an apparatus capable of cleaning work efficiently without draining water when cleaning an uneven bottom of a transfer water channel or a pool.
SOLUTION: A self-propelled carriage 11 movable on an existing rail 612 laid on the bottom of a transfer water channel 61, a suction nozzle 12 fixed to the carriage 11, and the suction nozzle 12 are connected. A water absorption hose 31, a pump 32 connected to the water absorption hose 31, and filter units 41 and 42 connected to the pump 32. The suction nozzle 12 extends in a horizontal direction perpendicular to the moving direction of the carriage 11, and the suction port is directed downward. As a whole, the suction nozzle 12 has a nozzle shape that matches the unevenness of the bottom of the rail 312 and the like.
[Selection] Figure 1

Description

  The present invention belongs to a technical field related to cleaning of a structure in which a liquid such as a pool is put without draining the liquid.

  Conventionally, when cleaning a pool or waterway, after draining the water in the pool or waterway, an operator enters the pool or waterway to clean it and remove deposits, or a suction hose connected to a pump Or hangs on the bottom of the waterway and sucks the sediment together with the water.

  In recent years, a cleaner such as a wheel type or a crawler type that travels on the bottom of the water has been used for cleaning a wide flat portion. For example, the cleaning devices disclosed in Patent Document 1 and Patent Document 2 are publicly known. is there.

JP 2001-324591 A JP 2005-257441 A

  In the prior art, when a large amount of water is drained and cleaning is performed, a large amount of manpower and time are required, and the deeper the pool, the greater the cost. Furthermore, in the case of a storage pool or a transfer waterway in a nuclear power generation facility, if water is removed, water having a radiation shielding function is lost, so that there is a problem that the radiation exposure to workers engaged in cleaning increases.

  Further, in the method of hanging the water absorption hose on the bottom, it is difficult to direct the hose to the position of the purpose of cleaning as the water depth increases.

  In the case of a water bottom traveling type vacuum cleaner known in the above-mentioned patent document, it is possible to efficiently clean a wide area, but the cleaning range is limited to a flat part, and there are many water channels equipped with facilities on the bottom of the water. It was not possible to use it in a storage pool where the structure and storage were located at the bottom of the water.

  Therefore, an object of the present invention is to provide an apparatus and a method that can efficiently clean the inside of a structure without removing the liquid when cleaning the uneven bottom of the structure into which the liquid is put.

  A basic first means for solving the problem includes a carriage that moves on a rail laid inside a structure in which a liquid is placed, a suction nozzle that is mounted on the carriage, and a suction nozzle that is connected to the suction nozzle. A cleaning device in a structure in which a liquid is provided, which includes a water absorption hose, a pump connected to the water absorption hose, and a filter unit connected to the pump.

  Similarly, the basic second means includes a pole that reaches from the liquid surface to the bottom of the structure in which the liquid is placed, a suction nozzle that is mounted on the pole, a water absorption hose connected to the suction nozzle, and the water absorption It is the cleaning apparatus in the structure in which the liquid provided with the pump connected to the hose and the filter unit connected to the said pump is put.

  Further, the basic means as a method is to clean the inside of the structure by using the cleaning device of the first means by moving the carriage of the cleaning device of the first means, and then the second device. In the structure in which the cleaning device of the means is used by operating a pole of the cleaning device of the second means inserted in the liquid by a worker in the air, and in which the liquid for cleaning the structure is put Cleaning method.

  According to the present invention, a structure that cannot be cleaned by a conventional apparatus or a bottom portion in a structure into which liquid such as an uneven water channel or a pool is placed can be efficiently removed without draining liquid. Clean well.

  In the embodiment of the cleaning device of the present invention, in order to achieve the object of the present invention, it is possible to move on an existing rail laid as a carriage traveling route for transporting loads stored at the bottom of a transfer water channel or a storage pool. A suction nozzle fixed to the cart, a water absorption hose connected to the suction nozzle, a pump connected to the water absorption hose, and a filter unit connected to the pump. In addition, the suction nozzle is a flexible wide flat plate arranged downward in the direction perpendicular to the carriage movement direction, and is shaped to match the unevenness of the bottom of the rail or the like, or downward in the direction perpendicular to the carriage movement direction It consists of a plurality of flexible hoses arranged and has a length that matches the unevenness of the bottom of a rail or the like. In addition, an underwater camera and underwater lighting directed to the bottom of the water are installed on the dolly, and an image of the bottom of the water photographed by the underwater camera is displayed on the display device in the air. It is possible to grasp and monitor.

  Also, instead of the bogie, an arm mechanism that can be remotely operated is provided near the lower end of the pole, which can be operated by an airborne worker with the lower end placed at the bottom of the pool, A suction nozzle is fixed to the tip of the mechanism. At the lower end of the pole, there is a wheel or a ball bearing, and the pole can be run and supported at the bottom of the water. In addition, an underwater camera and underwater lighting for the bottom of the water are installed on the pole, and the images taken with the underwater camera are displayed on the display device in the air, and the worker who is engaged in cleaning grasps and monitors the cleaning status using the display. It can be done.

  When cleaning the bottom of the water using these cleaning devices, the pump is operated, the carriage is moved on the rail, and the majority of the suction nozzle is fitted to the rail shape attached to the carriage. After cleaning by sucking water bottom and rail-like deposits and filtering them off with a filter unit, the pole is lowered below the surface of the water until a wheel is installed at the bottom of the water, and the arm mechanism on the lower end of the pole is remotely operated. If the pump is operated with the suction nozzle facing the corner or narrow part of the bottom of the water that cannot be cleaned by the previous cleaning by operating the pole, the deposit in that part is sucked and filtered by the filter unit and cleaned. Can be done.

  In this way, it is possible to clean the work efficiently by running the carriage in a storage pool or a transfer waterway having an uneven structure such as a rail at the bottom of the water, or by operating a pole or an arm mechanism.

  Further, the previous cleaning device using a pole is a simple device that does not require a large-scale preparation such as loading a carriage, and can be easily used for local cleaning work at the bottom.

  In the trolley type cleaning device, by installing the trolley on the rail, the suction nozzle can be easily positioned in the direction perpendicular to the rail, and the work efficiency is improved. . The suction nozzle can be made of a plurality of flexible hoses or flat plate types, thereby avoiding obstacles at the bottom of the water. In addition, by providing an underwater camera and illumination for monitoring the suction nozzle, the state of the suction nozzle and the cleaning status can be confirmed remotely from the air.

  In addition, by installing a drive device on the cart so that it can run on its own, it is not necessary to use the drive system for the underwater cart that is laid as existing equipment at the bottom of the water, and in the unlikely event the facility equipment is damaged The risk of causing it can be avoided.

  In a cleaning device using a pole, by providing a wheel or a ball bearing at the tip of the pole, it is possible to roughly position the long pole by moving it in contact with the bottom of the water. Then, with the pole tip installed and stabilized, the position and orientation of the suction nozzle can be finely positioned by remote operation from the air with a remotely operated arm mechanism arranged near the pole tip. In addition, by providing an underwater camera and illumination for monitoring the suction nozzle, the position of the suction nozzle and the cleaning status can be confirmed remotely from the air.

  In the cleaning device of the present invention, the pump is submerged and can be installed either in the air or in the water, so it is usually installed in the air that is easy to prepare, move, and clean up. In this case, when it is desired to reduce the exposure amount of the worker by the sucked material, it can be installed in water.

  In addition, by connecting the first filter unit with a coarse sieve and the second filter unit with a fine sieve as the filter unit in series so that the first filter unit is on the upstream side, the fine clad can be prevented while preventing the filter from being clogged. It can be recovered without leaking. Furthermore, the filter can be replaced at an appropriate time by monitoring the back pressures of the first and second filter units. By installing the filter unit in water so that the filter can be replaced remotely from the air, it can be stored as it is without worrying about the exposure dose even during cleaning.

  Hereinafter, based on each figure, the cleaning apparatus which concerns on embodiment of this invention is demonstrated more concretely. FIG. 1 shows an arrangement example of a cleaning device when the cleaning device according to the present embodiment is used in a facility related to nuclear power generation.

In the figure, a storage pool 62 in a facility related to nuclear power generation is a pool for storing a storage rack 621 in which nuclear fuel is put in water. A pit 63 is connected to the storage pool 62 for performing operations such as volume reduction of stored items. Further, the facility is provided with a plurality of storage pools 62, and the stored items are transported to each pool 62 from a pit (not shown) for receiving stored items such as nuclear fuel and storage racks stored in the storage pools. A transfer water channel 61 is provided for transporting the stored material from a storage pool 62 to a pit (not shown) for sending the stored material to a next process facility of the facility.

  The transfer water channel 61 and the storage pool which are structures in which the liquid is put are filled with water as a liquid, and the stored material moves on the rail 612 provided at the bottom of the transfer water channel 61. It is carried as a load on an underwater cart (not shown).

  As the time passes, the bottom of the transfer water channel 61 accumulates and becomes contaminated with the clad dropped from the stored material being transferred. Clad deposition not only reduces visibility and adversely affects the movement mechanism of the underwater carriage, but when the stored material is radioactive, the cladding also has radioactivity and may cause an increase in water dose. Need to be cleaned.

  Therefore, in the present embodiment, the water suction hose 31 is connected to the suction nozzle 12 mounted on the cart-type cleaning device 1 that runs on the existing rail 612 for the underwater cart of the transfer water channel 61, and the pump 32 is connected to the pump 32. Via the discharge hose 33, the first filter unit 41 and the second filter unit 42 are connected.

  Further, a control device / monitor 17 is connected to the cleaning device 1 via an electric cable 13. In the cleaning, water is sucked together with the clad deposited from the suction nozzle 12 by the suction force of the pump 32, and the clad is filtered and collected by the two filter units 41 and 42 at the tip of the discharge hose 33, and there is no or little clad. This is done by returning only the water to the pit 63.

  A front view of the cleaning device 1 according to the present embodiment is shown in FIG. 2, and a side view thereof is shown in FIG. The cleaning device 1 is a self-propelled carriage 11 that can be self-propelled on a rail 612 with driving wheels 16, and controls a suction nozzle 12 composed of a plurality of flexible hoses connected to a water absorption hose 31, an illuminated TV camera 14, and control. A box 15 is mounted. The self-propelled carriage 11 is equipped with a drive device (not shown) that rotationally drives the drive wheels 16, and is remotely operated by control from the control device / monitor 17.

  The transfer water channel 61 has a depth of 10 m or more, and at the bottom thereof, not only the rail 612 for driving the underwater cart, but also a rope 614 for driving the underwater cart and a guide roller 613 for guiding the rope. So far, it has been very difficult to clean the bottom of the water.

In the present embodiment, as shown in FIG. 8, the length and interval of the carriage 11 that is self-propelled on the rail 612 of the transfer water channel 61 are changed according to the shape of the obstacle such as the rail 612, the guide roller 613, and the rope 614. Since the suction nozzle 122 having a plurality of flexible hoses arranged in a direction perpendicular to the rail is used, the suction nozzle 122 can be easily positioned by the carriage 11 traveling on the rail 612, and cleaning along the shape of the obstacle is performed. Is possible. As a flexible hose, a rubber hose can be adopted as an example, and the lower end of the hose opens downward as a suction port.

  Further, since a flexible hose is used as the suction nozzle 122, even if there is a structure of the convex portion 8 at the bottom of the transfer water channel 61 as shown in the right figure of FIG. Is possible. As described above, by using the wide suction nozzle 122 having a configuration in which a plurality of flexible hoses are dispersedly arranged in the horizontal direction perpendicular to the rail, a wide range can be efficiently cleaned.

  FIG. 7 shows another example of the suction nozzle 12 according to this embodiment. The suction nozzle 121 shown in FIG. 7 is flexible and has a flat plate shape that is wide in the horizontal direction perpendicular to the rail, and the lower end of the flat plate shape is open, and water can be sucked into the flat plate shape from the opening. It is like that.

  The flat suction nozzle 121 is notched in accordance with the position of the rail 612 or the rope 614, and a part of the suction nozzle 121 has a shape that can be retracted under the rope 614. Is installed on the rail 612 temporarily horizontally in a posture parallel to the rail so that it is parallel to the rope 614, and after installation, it is horizontally rotated back to a posture orthogonal to the rail 612 to return to the bottom of the rope 614. Can also be cleaned with a suction nozzle. The flat suction nozzle 121 is made of a flexible material such as rubber, for example. Even if the bottom portion has the convex portion 8, the suction nozzle can be deformed to follow the convex portion 8.

  The horizontally rotating portion of the flat suction nozzle 121 is provided in the upper structure of the suction nozzle 121 so as to be horizontally rotatable through a hollow tube, and the tube is rotated by a motor that can be remotely operated. A part of the flat suction nozzle 121 may be rotated horizontally.

  The underwater-lighted TV camera 14 mounted on the carriage 11 is installed toward the bottom of the water so that the tip of the suction nozzle 12 enters the lighting and photographing area, and the photographed video signal is transmitted through the electric cable 13. It is displayed on the control device / monitor 17 on the ground. The operator 73 on the ground controls the drive wheels 16 of the cleaning device 1 to run while confirming the state of the suction nozzle 12 and the state of cleaning of the bottom from this image.

  Here, the cleaning device 1 may use the existing underwater cart of the transfer water channel 61, but in the unlikely event that it can be self-propelled without using the underwater cart drive system as in this embodiment. In addition, it is possible to prevent damage to the guide roller 613, the rope 614, or the underwater cart drive motor (not shown), which are facilities on the facility side.

  The pump 32 uses a submersible pump, and can be installed in the air or in the water, so that it is usually installed in the air that is easy to prepare, move, and clean up as shown in FIG. By installing in water, the amount of exposure of workers by aspirated material can be reduced.

  In addition, the first filter unit 41 uses a coarse filter and the second filter unit 42 uses a finer filter than the first filter unit 41. In this case, the first filter unit 41 mostly collects a large clad, and the remaining relatively fine clad and dust are collected by the second filter unit 42. Therefore, the fine clad is also prevented while preventing the filter from being clogged. It can be recovered without leaking.

  Further, pressure gauges 34a and 34b for monitoring the back pressure of the first filter unit 41 and the second filter unit 42 are installed, and the filter is clogged by replacing the filter when the back pressure exceeds a specified value. Prevents backflow and pump damage.

  In particular, in the case of nuclear power generation related facilities, the recovered clad may have radioactivity, so the filter unit can be installed in the water to reduce the exposure of workers by radiation shielding with water, and during the cleaning process. Even in this state, it can be stored without risk of exposure.

  Each filter unit installed in water replaces the internal filter by removing remote attachment / detachment connectors 411 and 421 connecting hoses to the respective filters by a ground worker 71 using a remote attachment / detachment jig 51. It has a structure that can be.

  Next, the structural example by 2nd embodiment of the cleaning apparatus is shown in FIG. A pole-type cleaning device 2 is connected to the water absorption hose 31 instead of the cleaning device 1 using the above-described carriage. The system after the water absorption hose 31 is the same as that of the cleaning device 1 using a carriage. As shown in FIG. 5, the pole-type cleaning device 2 has an upper end of a long pole 21 reaching from the air on the surface of the water to the bottom of the water, and has a worker 72 in the air next to the transfer water channel, and the lower end side of the transfer water channel. The worker 72 is positioned near the bottom of 61 to be cleaned.

  A wheel 23 is rotatably provided at the lower portion of the pole 21 and at the lower end in this embodiment. By operating the pole from the top so that the wheel rolls at the bottom of the water, the operator 72 can operate the long pole 21 relatively easily, and the bottom of the pole 21 is moved near the cleaning target at the bottom of the water. Can be done.

  In the vicinity of the lower end of the pole 21, a remotely operated arm mechanism 24 is provided, and a suction nozzle 22 is fixed to the tip thereof. Further, a TV camera 26 with underwater illumination capable of photographing the arm mechanism 24 is installed on the pole 21 toward the bottom of the water.

  FIG. 6 shows details of the tip of the pole-type cleaning device 2. The arm mechanism 24 attached to the pole 21 has six degrees of freedom including six joints including a first joint 241, a second joint 242, a third joint 243, a fourth joint 244, a fifth joint 245, and a sixth joint 246. The tip of the suction nozzle 22 fixed to the output side of the sixth joint 246 can be freely positioned and directed in an arbitrary direction.

  The drive mechanism of each joint can be driven and controlled from the monitor-equipped controller 27 through the arm mechanism cable 251.

The arm mechanism cable 251 and the TV camera / illumination cable 252 are fixed to the pole 21 by a cable clamp 253 so as not to be entangled in water. Further, the water absorption hose 31 connected to the suction nozzle 22 is secured to the pole 21 with a hose clamp 311 so as to secure an extra length that does not restrict the operation of the arm mechanism 24.

  An operator 73 engaged in the cleaning work in the air beside the transfer water channel displays an image taken by the TV camera 26 on the monitor-equipped controller 27, and operates the arm mechanism 24 while viewing the displayed image. By accurately positioning the suction nozzle 22, the tip of the suction nozzle is operated at the corner or narrow part of the bottom of the water which cannot be sucked by the cart-type cleaning device 1, and the pole 21 and the arm mechanism 24 are operated. It can be positioned and the part can be cleaned. As a drive mechanism for each joint of the arm mechanism 24, a system driven by an electric motor as shown in FIG. 6 may be used, but a mechanical system such as a hydraulic system, a hydraulic system, or a wire system may be used. As a simple arm mechanism with a low degree of freedom, a multi-joint manipulator having seven or more joints and a redundant degree of freedom may be used.

  9 and 10 show another example of the suction nozzle 22 of the pole type cleaning device 2. In the flat plate type suction nozzle 221 shown in FIG. 9, the tip of the suction nozzle 221 is caused to follow the convex portion 8 at the bottom of the water by operating the arm mechanism 24. In this case, the suction nozzle 221 need not be made of a flexible material, and even when the suction nozzle 221 is made of a flexible material, the contact pressure between the suction nozzle 221 and the convex portion 8 is reduced. The life of the suction nozzle 221 can be extended.

  On the other hand, FIG. 10 shows a suction nozzle 222 of a type in which a plurality of flexible hoses are arranged horizontally, and cleaning can be performed following the convex portion 8 at the bottom of the water by deformation of the suction nozzle 222.

  In each of the above embodiments, the filter units 41 and 42 are installed in the pits 63. However, the filter units 41 and 42 may actually be installed in empty spaces below the surface of the storage pool 62 and the transfer channel 61 depending on the state of the work area at the site. The pump 32 may be installed in the water instead of in the air as described above.

  As described above, according to the present embodiment, it is possible to clean a structure, an uneven waterway, and the bottom of a pool, including a narrow portion, with a small amount of work, which could not be cleaned with a conventional apparatus. .

  INDUSTRIAL APPLICATION This invention is utilized for the installation which cleans the inside of the structure in which the liquid is put using the suction nozzle.

It is the whole figure which showed the example of arrangement | positioning of the apparatus in the case of using the trolley | bogie type cleaning apparatus which concerns on this invention in a nuclear power generation related facility. It is a front view of the trolley | bogie part of the trolley | bogie type cleaning apparatus which concerns on this invention. It is a side view of the trolley | bogie part of the trolley | bogie type cleaning apparatus which concerns on this invention. It is the whole figure which showed the example of arrangement of the cleaning device in the case of using the pole type cleaning device concerning the present invention in the facility related to nuclear power generation. It is a side view of the pole part of the pole-type cleaning apparatus which concerns on this invention. It is detail drawing of the pole front-end | tip part (lower part) of the pole-type cleaning apparatus which concerns on this invention. It is a figure which shows the detailed shape of the flat suction nozzle used for the trolley-type cleaning apparatus which concerns on this invention, a left figure shows a front view, a right figure shows the condition where a suction nozzle passes the convex part of a water bottom part. . It is a figure which shows the detailed shape of the suction nozzle using the flexible hose used for the trolley | bogie type cleaning apparatus which concerns on this invention, a left figure is a front view, a right figure passes a convex part of a water bottom part, and a suction nozzle passes. Indicates the situation. It is a figure which shows the detailed shape of the flat suction nozzle used for the pole-type cleaning apparatus which concerns on this invention, a left figure shows the front view, and a right figure shows the condition where a suction nozzle passes the convex part of a water bottom part. . It is a figure which shows the detailed shape of the suction nozzle using the flexible hose used for the pole-type cleaning apparatus which concerns on this invention, a left figure is a front view, and a right figure passes through the convex part of a water bottom part, and a suction nozzle passes. Indicates the situation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Cleaning apparatus (cart type), 2 ... Cleaning apparatus (pole type), 8 ... Convex part, 11 ... Dolly, 12, 22 ... Suction nozzle, 13, 25 ... Electric cable, 14, 26 ... TV camera with underwater illumination ,
DESCRIPTION OF SYMBOLS 15 ... Control box, 16 ... Drive wheel, 17 ... Control apparatus and monitor, 21 ... Pole, 23 ... Wheel, 24 ... Remote operation type arm mechanism, 27 ... Controller with monitor, 31 ... Water absorption hose,
32 ... Pump, 33 ... Discharge hose, 34a, 34b ... Pressure gauge, 41 ... First filter unit (coarse), 42 ... Second filter unit (fine), 51 ... Jig for remote attachment / detachment, 61 ... Transfer channel, 62 ... Storage pool, 63 ... Pit, 71 ... Worker (remote attachment / detachment), 72 ... Worker (pole operation), 73 ... Operator, 121 ... Suction nozzle (flexible flat plate / wide type), 122 ... Suction nozzle (flexible hose) -Wide type), 221 ... Suction nozzle (flat plate), 222 ... Suction nozzle (flexible hose), 241 ... First joint, 242 ... Second joint, 243 ... Third joint, 244 ... Fourth joint, 245 ... Fifth Joint, 246 ... 6th joint, 251 ... Arm mechanism cable, 252 ... TV camera / lighting cable, 253 ... Cable clamp, 311 ... Hose clamp, 411, 421 ... Remote detachable connector 611 ... ceiling, 612 ... rail (waterway facilities), 613 ... guide roller (waterway facilities), 614 ... rope (waterway facilities), 621 ... storage rack.

Claims (16)

A carriage that moves on rails laid inside the structure into which the liquid is placed;
A suction nozzle mounted on the carriage;
A water absorption hose connected to the suction nozzle;
A pump connected to the water absorption hose;
A filter unit connected to the pump;
A cleaning device in a structure into which a liquid is placed.   2. The structure in which the liquid is put in the rail according to claim 1, wherein the rail is an existing rail laid in the structure as a traveling rail of a transport carriage for transporting a load in the structure. In-object cleaning device.   3. The member according to claim 1, wherein the suction nozzle has flexibility, is widened in a direction perpendicular to the moving direction of the carriage and is disposed downward, and is laid along the rail and the rail. A cleaning device in a structure in which a liquid is put, characterized in that it is shaped like a flat plate that is shaped so as to avoid the problem.   3. The suction nozzle according to claim 1, wherein the suction nozzle includes a plurality of flexible hoses, and the plurality of hoses are arranged in a direction perpendicular to the moving direction of the carriage and face the upper surface of the rail. A cleaning device for a structure in which a liquid is placed, characterized in that the length of the hose is shorter than the length of another hose facing the bottom surface of the structure.   5. The cleaning device for a structure in which liquid is placed according to claim 1, wherein a drive device that rotationally drives a wheel of the cart is provided on the cart. 6.   6. The vehicle according to claim 1, wherein the dolly is equipped with underwater illumination and an underwater camera directed to the bottom of the structure, and is placed in the air and photographed with the underwater camera. A cleaning device in a structure in which a liquid is placed, comprising a display device for displaying an image. A pole that reaches the bottom from the top of the liquid level of the structure in which the liquid is placed
A suction nozzle mounted on the pole;
A water absorption hose connected to the suction nozzle;
A pump connected to the water absorption hose;
A filter unit connected to the pump;
A cleaning device in a structure into which a liquid is placed.   8. The cleaning device for a structure in which a liquid is placed according to claim 7, wherein the suction nozzle is provided via an articulated arm mechanism that can be remotely operated on the pole.   9. The cleaning device for a structure according to claim 7, wherein the pole has a wheel at a lower part thereof.   In Claim 7 or Claim 8 or Claim 9, the pole is equipped with underwater lighting directed to the bottom of the structure and an underwater camera, and an image taken by the underwater camera placed in the air. A cleaning device in a structure in which a liquid is placed, comprising a display device for displaying.   11. The cleaning device in a structure according to claim 1, wherein the pump is a submersible pump.   12. The filter unit according to claim 1, wherein the filter unit filters again the liquid filtered by the first filter and the first filter unit that filters the liquid discharged from the pump. 13. In the structure in which the liquid is put, the second filter unit is connected to the first filter unit and the sieve mesh is finer than the first filter unit. Cleaning device.   The cleaning device for a structure in which a liquid is placed according to any one of claims 1 to 12, further comprising a pressure gauge that monitors a back pressure of the filter unit.   14. The cleaning device in a structure in which a liquid is placed according to claim 1, wherein the filter unit is installed in the liquid.   15. The structure according to any one of claims 1 to 14, wherein the filter unit has a configuration in which the filter replacement of the filter unit can be performed by remote operation from the air. In-object cleaning device. When cleaning the inside of a structure in which liquid is put, the cleaning device in the structure in which liquid is put according to any one of claims 1 to 6 is moved by moving a carriage of the cleaning device. When the inside of the structure is cleaned by using the cleaning device in the structure into which the liquid according to any one of claims 7 to 10 is placed, A cleaning method for a structure in which a liquid for cleaning the structure is placed by operating and using a pole of the cleaning device inserted in the liquid.

Images