JP2011203046A - Underwater inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater inspection system capable of simply inspecting the crack or deterioration of a structure present in water at a low cost and to further provide an underwater pipe inspection system adaptable to many existing embedded pipes such as water pipes.SOLUTION: In this inspection system for inspecting an underwater structure having an underwater robot 1 and the control device 5 connected to the underwater robot 1 through a composite cable 7, the underwater robot 1 has a hammering device 3 for hammering the structure being an inspection target and a receiver 4 for receiving the vibration of the hammering device 3. At least two times of the hammering vibrations received by the receiver 4 are compared with each other by the control device 5.

Description

  The present invention relates to an underwater inspection system capable of inspecting cracks and deterioration of structures in water. In particular, the present invention relates to a buried pipe inspection system that inspects buried pipes such as water pipes from the inside through which fluid flows.

  In recent years, stock management, which is a systematic method for extending the life of existing buildings effectively, has been widely praised. For example, buried pipes such as water pipes, industrial waterways, and agricultural waterways are required to be regularly inspected, repaired, and maintained for a long period. In particular, buried pipes such as water pipes need to be regularly inspected because cracks and the like may occur with deterioration and cause problems such as water leakage.

  Conventional methods for inspecting water leaks have been performed by listening to the sound of water leaks from the ground or by supplying gas into the buried pipe and detecting the gas leaking outside the pipe. However, the method of listening to water leakage from the ground is required to have a quiet environment, so traffic regulations that prohibit the passage of vehicles were necessary. For this reason, there are significant restrictions on the place and time of the inspection, and it has been difficult to efficiently inspect all buried pipes such as water pipes.

  Several methods for inspecting the above problems for abnormalities such as leakage and deterioration of the buried pipe have been proposed. As a first method, there is a method of using a self-propelled robot equipped with an elastic wave input device and an elastic wave receiver (see, for example, Patent Document 1).

  In the method described in Patent Document 1, first, a fluid such as water flowing in the buried pipe is dammed, and the self-propelled robot is arranged in the buried pipe. Then, while moving this self-propelled robot, elastic waves are input and received at a plurality of locations of the buried pipe to inspect the buried pipe for deterioration. By this method, elastic waves can be received in a relatively quiet pipe, so that traffic regulation of vehicles traveling on the ground becomes unnecessary.

  However, the method described in Patent Document 1 has several problems. First, this method has a problem that it is necessary to block water flowing in the buried pipe. This work of damming up water or the like becomes a large-scale work and takes a lot of time. In addition, there are many cases where there is a great impact on the consumer.

  Second, since the self-propelled robot is large, a large amount of power is required for traveling, and the entire inspection system becomes large. In addition, this self-propelled robot has the same total length as a motor vehicle, and has about half the height (refer FIG. 5 of patent document 1).

  Third, since the self-propelled robot is large, the size of the buried pipe that can be inspected is limited to a certain size or more. Also, the inlet for inserting the self-propelled robot into the buried pipe must be larger than a certain scale. Therefore, the degree of freedom of the place where the self-propelled robot is thrown becomes extremely low. In other words, this self-propelled robot cannot inspect many existing buried pipes such as water pipes.

In addition to the above inspection method, there is a second method in which an underwater microphone or the like is installed in the buried pipe in advance, and a sound or vibration is acquired using the underwater microphone as a sensor to detect the presence or absence of water leakage in the buried pipe (For example, refer to Patent Document 2). This method eliminates the need for regulation of vehicles traveling on the ground as in the above inspection method.

  However, the method described in Patent Document 2 has several problems. 1stly, this method has the problem that it cannot apply to the buried pipe which has not installed the underwater microphone etc. previously. That is, it can be used only for inspection within a limited range.

  Secondly, since it is necessary to detect a water leakage sound from the sound of fluid such as water flowing, there is a problem that complicated sound analysis software and its device are required. Furthermore, in order to analyze and detect a water leak sound, time for processing by software is required. That is, it is impossible to detect water leakage sound in real time.

  From the above, at present, it is not possible to inspect the presence or absence of water leakage or deterioration for many buried pipes. In addition, when inspecting the buried pipe, a great deal of cost and time are required for traffic regulation, damming work in the buried pipe, and the like.

JP 2005-189229 A JP-A-11-64151

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an underwater inspection system that can inspect cracks, deterioration, and the like of structures in water by a low-cost and simple method. There is. Another object of the present invention is to provide a buried pipe inspection system applicable to many existing buried pipes such as water pipes.

  An underwater inspection system according to the present invention for achieving the above object is an inspection system for inspecting an underwater robot and an underwater structure having a control device connected to the underwater robot via a composite cable, The underwater robot has a striking device that strikes the structure that is an inspection object, and a receiving device that receives vibrations of the striking device, and the at least two impact vibrations received by the receiving device are: It is characterized by mutual comparison by a control device.

  With this configuration, it is not necessary to prepare the sample data of the hammering vibration in advance, and it is not necessary to compare and analyze the sample data and the collected hammering vibration data, so that a simple underwater inspection system can be provided. In other words, by comparing the plurality of impact vibrations acquired from the structure of the inspection object, it is possible to easily identify a location where deterioration, cracking, or the like has occurred.

  Here, the composite cable is a cable that transmits and receives data, supplies power, and the like between the underwater robot and the control device.

In order to achieve the above object, an embedded pipe inspection system according to the present invention has an underwater robot and a control device connected to the underwater robot via a composite cable, and the underwater robot is placed in the embedded pipe. A buried pipe inspection system for inspecting a buried pipe from inside with an unrestricted water by the underwater robot, wherein the underwater robot strikes an inner wall of the buried pipe as an inspection object, and a blow of the hitting apparatus It has a receiving device that receives vibrations, and the control device compares at least two hit vibrations received by the receiving device.

  With this configuration, a simple buried pipe inspection system can be provided as described above. That is, it is only necessary to have a configuration that can at least collect and compare impact vibrations, so that the buried pipe inspection system can be reduced in size and the underwater robot can be reduced in size. Therefore, most of existing buried pipes can be inspected as inspection targets.

  In the above inspection system, the impact device continuously strikes the inspection object as the underwater robot moves, and the control device compares a plurality of impact vibrations received by the receiver. It is characterized by that.

  With this configuration, the number of impact vibrations to be acquired is increased, and deterioration and cracks of the inspection object can be detected with high accuracy.

  In the inspection system described above, the underwater robot includes a propulsion device that receives a fluid flow and moves in a downstream direction of the flow.

  With this configuration, a driving device or the like for propelling the underwater robot becomes unnecessary, and the underwater robot can be downsized. Due to the downsizing of the underwater robot, the inspection object is expanded and, for example, it is possible to inspect a buried pipe having a small diameter, so that most of the existing buried pipe can be inspected as the inspection object.

  In the above inspection system, the control device includes an oscilloscope for displaying the striking vibration, or a personal computer connected via an AD converter.

  With this configuration, it is possible to compare only the peaks of the acquired impact vibration data and inspect for cracks, deterioration, and the like of the inspection object. That is, a simple inspection system that does not require complicated data analysis or the like can be configured.

  In the above inspection system, the receiving device is a sound collecting type underwater microphone in which an underwater microphone is installed at one end of a cylindrical body and the other end is expanded.

  With this configuration, it is possible to collect impact vibration reliably and with high accuracy, so it is possible to improve the accuracy of detecting cracks, deterioration, and the like of the inspection object.

  According to the underwater inspection system according to the present invention, it is possible to provide an underwater inspection system capable of inspecting cracks, deterioration, and the like of structures in water with a low cost and simple method. In addition, it is possible to provide a buried pipe inspection system that can be applied to many existing buried pipes such as water pipes.

It is the figure which showed the outline | summary of the buried pipe inspection system of embodiment which concerns on this invention. It is the figure which showed the underwater robot of the buried pipe inspection system which concerns on this invention. It is the figure which showed the receiver of the underwater robot which concerns on this invention. It is the figure which showed the propulsion apparatus of the underwater robot which concerns on this invention. It is the figure which showed the propulsion apparatus of the underwater robot which concerns on this invention. It is the figure which showed the outline | summary of the waveform obtained with the receiver which concerns on this invention. It is the figure which showed the underwater robot of different embodiment which concerns on this invention. It is the figure which showed the underwater robot of different embodiment which concerns on this invention.

  Hereinafter, an underwater inspection system according to an embodiment of the present invention, particularly an embedded pipe inspection system, will be described with reference to the drawings. FIG. 1 shows an outline of the buried pipe inspection system. The buried pipe inspection system includes an underwater robot 1, a control device 5 that connects the underwater robot 1 via a composite cable 7 and a cable drum 8, and a controller 6 that is connected to the control device 5. This underwater robot 1 has a striking device 3 that strikes the inner wall surface (2a, 2b, etc.) of the buried pipe 2 and a receiving device 4 for obtaining this striking vibration (striking sound).

  The buried pipe inspection system also includes a method for controlling the floating of the underwater robot 1 and inspecting the ceiling 2a of the buried pipe 2, a method for controlling the settling of the underwater robot 1 and inspecting the bottom 2b of the buried pipe 2, and the underwater robot. 1 is controlled to neutral buoyancy, and the method etc. which test | inspect the side surface of the buried pipe 2 can be performed. In addition, the arrow of FIG. 1 has shown the flow direction of the fluid in the buried pipe 2. FIG. Note that the controller 6 is installed to perform posture control of the underwater robot 1 and control of flying and sinking.

  Next, the operation of the buried pipe inspection system will be described. For example, in the case of water pipe inspection, first, the underwater robot 1 is introduced from a branch pipe (input 11) such as a manhole or an air valve. Then, the underwater robot 1 strikes the inner wall surface (2a, 2b, etc.) of the buried pipe with the striking device, and moves in the downstream direction while acquiring this striking vibration (striking sound) with the receiving device.

  At this time, a plurality of obtained hitting sounds are compared with each other, and a portion having a change is detected. In this place, there is water leakage, concrete deterioration, or ground abnormalities around the outside of the buried pipe. The abnormal part of the buried pipe is specified from the feed amount of the composite cable 7 and recorded. The underwater robot 1 moves in the buried pipe 2 in the downstream direction while repeating the acquisition of the hitting sound and the comparison thereof. After the inspection is completed, the composite cable 7 is wound up by the cable drum 8 and the underwater robot 1 is collected.

  The forward speed of the underwater robot 1 is determined by the fluid flow speed. However, it is possible to control the forward speed of the underwater robot 1 to be slowed by adjusting the feeding speed of the composite cable 7.

  With the above configuration, the following operational effects can be obtained. That is, it is possible to inspect water leakage, deterioration, etc. in the buried pipe 2 without blocking the fluid flowing in the buried pipe 2. For this reason, the inspection of the buried pipe 2 can be realized by a low-cost and simple method.

  The underwater robot 1 is configured to move using the flow of fluid in the buried pipe 2. Therefore, power for the underwater robot 1 to move forward becomes unnecessary. Here, a propulsion device such as a motor and a screw may be mounted on the underwater robot 1, but the underwater robot 1 can be miniaturized without mounting the propulsion device. The small underwater robot 1 can inspect buried pipes with a small diameter, and the inspection range is expanded.

  Alternatively, the underwater robot 1 may be first caused to flow in the downstream direction, and then the batting sound may be acquired while the underwater robot 1 is pulled in the upstream direction by winding the composite cable 7 or the tow rope 9. .

  Furthermore, in addition to the composite cable 7, the tow rope 9 may be connected to the underwater robot 1. With this configuration, it is possible to collect the underwater robot 1 with the tow rope 9. For this reason, an excessive force is applied to the composite cable 7, and an accident that breaks the internal optical fiber, the communication signal line, and the like can be prevented.

  FIG. 2 shows an example of the underwater robot 1. The underwater robot 1 includes a housing 20, a hitting device 3 and an underwater microphone (receiving device) 4 installed in the housing 20. A composite cable 7 is connected to the rear end of the housing 20.

  This striking device 3 has a configuration in which a hammer 21 is installed at the tip of an arm 22, and a plurality of hammers 21 and arms 22 are configured radially to form a rotary striking device 3. A dome-shaped propulsion device 23 is installed at the tip of the underwater robot 1. The propulsion device 23 is provided with a camera 24 and a lighting device (not shown). Further, a thruster 25 for posture control is installed on the side surface and upper and lower surfaces of the housing 2, and tilting blades 26 are installed on the side surface.

  Next, the operation of the underwater robot 1 will be described. The underwater robot 1 receives the flow of the fluid in the buried pipe 2 by the propulsion device 23 and moves forward to the left in FIG. With this advance, the rotary hitting device 3 rotates and hits the bottom 2b. The hitting sound is acquired by the underwater microphone 4 and transmitted to the ground control device 5 as hitting sound data via the composite cable 7.

  With this underwater robot 1, the following operational effects can be obtained. First, since the underwater robot 1 can be used in a state in which the buried pipe 2 is filled with fluid, work such as fluid damming is not required. Second, since the underwater robot 1 is moved using the flow of fluid, the underwater robot 1 does not require a driving device for movement, and can be miniaturized.

  Thirdly, with the configuration using the rotary hitting device 3, continuous hitting sound can be acquired and the accuracy of the inspection of the buried pipe can be improved. That is, since the control device 5 is configured to detect the abnormality of the buried pipe 3 by comparing the plurality of hitting sounds with each other, the more the number of hitting sounds to be acquired, the more accurate the inspection is performed. Can do.

  Here, it is desirable that the material of the hammer 21 is appropriately selected according to the material of the pipe or the road to be hit such as the buried pipe 2. That is, since there are various types of materials such as the steel pipe, the vinyl chloride pipe, the concrete pipe, and the FRP pipe, the material of the hammer 21 may be selected according to this material. At this time, it is desirable that the hammering vibration (striking sound) of the hammer 21 has a high frequency. It should be noted that the hammer 21 may be configured such that a plurality of materials are prepared and can be appropriately replaced in accordance with the buried pipe 2 to be investigated. Moreover, you may comprise so that a small motor may be mounted in the underwater robot 1 so that this striking device 3 may rotate actively.

  Fourth, the configuration in which the dome-shaped propulsion device 23 is installed allows the underwater robot 1 to move forward by efficiently using the fluid flow. That is, even if the underwater robot 1 is not equipped with a drive device for advancing, the propulsion device 23 can efficiently obtain the force in the advancing direction by receiving the fluid flow shown in FIG. Furthermore, the inspection speed by the underwater robot 1 can be improved. The material of the propulsion device 23 can be appropriately selected in accordance with the pipe or path to be inspected because, for example, when the inspection target is a water supply pipe or the like, there are restrictions on food hygiene.

  The propulsion device 23 is provided with a camera 24 and a lighting device (not shown), and is configured to send the acquired image to the control device 5 on the ground. The lighting device and the camera 24 are used by the operator to operate the controller 6 for controlling the posture of the underwater robot 1 and to send out the composite cable 7 and the tow rope 9 to control the forward movement of the underwater robot 1. It has a role to assist.

Fifth, the underwater robot 1 can perform posture control in the buried pipe 2 by the configuration in which the thruster 25 having the rotating blades is installed. Moreover, the underwater robot 1 obtains a force (down force) for pressing the underwater robot 1 against the bottom 2b (or the ceiling 2a) from the water flow flowing in the buried pipe 2 by the configuration in which the flat tilting blades 26 are installed. Can do. The underwater robot 1 moves reliably along the inner wall surface (ceiling part 2a, bottom part 2b) of the buried pipe 2 by the attitude control of the thruster 25 and the downforce of the tilting wing 26, so that the sound acquisition efficiency is improved. Can be increased.

  Note that the control of the thruster 25 and the tilting blade 26 may be automatically performed by the control device 5, or may be configured to be controlled by an operator with a controller 6 connected to the control device 5. .

  Here, the underwater robot 1 in FIG. 2 performs sedimentation control, and is configured to inspect the bottom portion 2 b of the buried pipe 2. This sedimentation control is performed by mounting a weight or the like so that the underwater robot 1 has a higher specific gravity than the fluid in the buried pipe 2. Moreover, you may utilize the thruster 25 mounted on the upper and lower surfaces of the underwater robot 1 as an auxiliary.

  FIG. 3 is a partial cross-sectional view of a sound collecting type underwater microphone (reception device 4) which is an example of the reception device 4. The sound collecting type underwater microphone is configured by installing the underwater microphone 4 at one end of the cylindrical body 27 and expanding the other. This sound collecting type underwater microphone emits a striking sound (striking vibration) with the expanded end portion of the cylindrical body 27 approaching or contacting the inner wall surface (bottom 2b, ceiling 2a, etc.) of the buried pipe. Configured to get. With this configuration, the hitting sound can be collected reliably and with high accuracy, so that the accuracy of detecting cracks and deterioration of the buried pipe 2 can be improved.

  FIG. 4 shows an openable / closable propulsion apparatus (umbrella-type propulsion apparatus) 23 </ b> A that is an example of the propulsion apparatus 23. The umbrella-type propulsion device 23A includes a central shaft 34 (not shown) installed in front of the casing 20 of the underwater robot 1, a plurality of rods 31 installed to be tiltable at the front end of the central shaft 34, and the rods. The sheet-like object 30 is fixed between 31. A wire 32 is connected to the rear end of the rod 31. The wire 32 is locked to the housing 20 via locking metal fittings 33a and 33b. A camera 24 is installed at the tip of the central axis 34.

  The umbrella-type propulsion device 23A is configured such that the underwater robot 1 moves forward by receiving a fluid flow indicated by an arrow in a hollow portion formed by a plurality of expanded rods 31 and a sheet-like object 30. When the forward movement (inspection work) of the underwater robot 1 is completed and recovered to the ground, the locking metal fittings 33a and 33b are opened by the control from the ground and the connection of the wire 32 is released.

  FIG. 5 shows a state where the connection of the wire 32 is released. When the wire 32 is released, the umbrella-type propulsion device 23A is reversed by the fluid flow indicated by the arrow. With this configuration, when the underwater robot 1 is pulled and collected by the tow rope 9 or the like, the umbrella-type propulsion device 23A does not become a resistance against the flow of fluid. For this reason, the recovery of the underwater robot 1 can be performed easily and quickly.

  Moreover, the speed at which the underwater robot 1 moves forward can be controlled by the configuration using the umbrella-type propulsion device 23A. That is, when the length of the wire 32 is adjusted to be short and the opening degree of the sheet-like object 30 and the rod 31 is reduced, the propulsion energy that the underwater robot 1 obtains from the fluid flow can be reduced. Conversely, when the opening degree of the rod 31 or the like is increased and the propulsion device 23A is opened widely, the forward speed of the underwater robot 1 increases.

  In addition, the sheet-like object 30 should just be a sheet-like thing, can deform | transform, and can receive the flow of a fluid. For example, a vinyl sheet or a cloth-like material with fine mesh may be used.

  FIG. 6 shows an image of the waveform of the impact vibration received by the underwater microphone (receiving device 4). The vertical axis represents the amplitude of the sound, and the horizontal axis represents the passage of time. W1 shows the image waveform of the sound generated by the impacting device 3, and W2 shows the image waveform of the sound through which the fluid flows.

  The waveform image is acquired by the following method. First, a plurality of impact vibrations are collected by the underwater microphone 4. The impact vibration data is transmitted to the ground control device 5 via the composite cable 7. For example, an oscilloscope or a personal computer equipped with an AD conversion device can be connected to the control device 5 to observe this waveform. Next, the waveforms of the acquired impact vibration data are compared with each other, and the deterioration location of the buried pipe is specified.

  Specifically, points P1 and P2 shown in FIG. 6 indicate a deteriorated portion having a crack or the like. That is, since the points P1 and P2 have an amplitude that is much lower than the average amplitude F formed at the peak of the waveform of the other part, the occurrence of cracks or the like is suspected.

  With the above configuration, the following operational effects can be obtained. First, data processing for extracting the striking sound W1 from the sound W2 through which the fluid flows becomes unnecessary. This is because the amplitude of the waveform of the impact sound W1 is larger (the sound is louder) than the sound W2 through which the fluid flows.

  Secondly, it is possible to easily identify a crack or a deteriorated portion in the buried pipe 2 directly from the acquired hitting sound data. This is because a deteriorated part can be specified by comparison between a plurality of acquired data. That is, since the peak of the hitting sound is observed by a personal computer equipped with an oscilloscope or an AD conversion device, special data analysis such as creation of conventional sample data and comparison with it becomes unnecessary. Therefore, the buried pipe inspection system itself can be provided at a low cost.

  Third, since the above data processing method is performed, the inspection work can be performed easily and in a short time. Here, the waveform of the hit sound data can be more easily observed by using a high-pass filter or the like. This is because the high-pass filter can eliminate unnecessary vibration (sound) such as running water sound having a low frequency.

  In addition, the generation | occurrence | production interval of a striking sound does not need to be equal intervals. However, since it is the structure which detects the problem location of the buried pipe 2 by the mutual comparison of the impact sound, it is desirable that the number of the acquired data of the impact sound is large.

  FIG. 7 shows an outline of an underwater robot 1A according to another embodiment, and a side view is shown on the left side of FIG. 7 and a rear view is shown on the right side. The underwater robot 1 </ b> A has a sliding plate 40 for moving along the inner wall of the buried pipe 2. The striking device 3 includes a hammer 21 and a swing arm 22. Furthermore, a plurality of rotor blades 41 that are rotated by running water are installed in the housing 20.

  Next, the operation of the underwater robot 1A will be described. The underwater robot moves along the bottom surface 2b by the fluid flow and the sled-like sliding plate 40. At this time, the swing arm 22 is configured to operate using a power source built in the underwater robot 1A or power supplied from the ground. By the operation of the swing arm 22, the inner wall is hit a plurality of times with the hammer 21 to obtain a hitting vibration (vibration sound).

With the above configuration, the following operational effects can be obtained. 1stly, by the structure which installs the sled board 40, the underwater robot 1A can be moved smoothly. In addition, the material of the sliding board 40 can utilize the material which has nylon-type lubricity, or Teflon (trademark). Further, the sliding plate 40 can keep the distance from the fulcrum of the swing arm 22 to the inner wall constant. For this reason, if the state of the inner wall (bottom 2b, etc.) is uniform, the peak of the hitting sound obtained by the hammer 21 can be kept constant. That is, it is possible to improve the accuracy of detection of deterioration and cracks of the buried pipe 2.

  Secondly, the configuration in which the rotating blade 41 is installed is configured so that the energy flowing through the fluid collected through the rotating blade 41 is used for the power of the underwater robot 1A including the power of the swing arm 22. Can do. With this configuration, the power required for the entire inspection apparatus can be reduced. Therefore, the scale of the entire buried pipe inspection system can be reduced. In particular, when the inspection is performed while moving the underwater robot 1A from the downstream side to the upstream side, the amount of energy that can be recovered by the rotary blade 41 can be increased.

  In FIG. 8, the outline of the underwater robot 1B of different embodiment is shown. The underwater robot 1 </ b> B has wheels 42 for moving along the inner wall of the buried pipe 2. The striking device 3 includes a hammer 21 and a swing arm 22. Furthermore, the receiving device 4 is constituted by a sound collecting type underwater microphone having a cylindrical body 27 in which one side is expanded. In addition, an example is shown in which a camera 24 is installed in front of the underwater robot 1B and a dome-shaped propulsion device 23 is installed behind. The underwater robot 1 </ b> B is configured to perform levitation control and inspect the ceiling portion 2 a of the buried pipe 2.

  With the above configuration, the following operational effects can be obtained. 1stly, by the structure which installs the wheel 42, the distance from the fulcrum of the swing arm 22 to an inner wall (ceiling part 2a etc.) can be kept constant. Therefore, the strength of hitting the inner wall with the hammer 21 can be kept constant.

  Secondly, the hitting sound can be efficiently collected by the configuration in which the cylindrical body 27 installed in the receiving device 3 is expanded in the direction of the hammer 21. With this configuration, the accuracy of the buried pipe inspection can be improved.

  As described above, some examples of the underwater robot have been shown, but any underwater robot can inspect the ceiling portion 2a, the side surface portion, and the bottom portion 2b of the buried pipe 2. The adjustment of the buoyancy of the underwater robot can be realized by an operation of removing the weight before the inspection or even during the inspection.

  Further, an arbitrary underwater robot can be configured by combining the hitting device 3, the receiving device 4, the propulsion device 23, and the like. That is, depending on the situation of the buried pipe 2 or the like to be inspected, the combination can be changed as appropriate, and the underwater robot can be used in an optimum state for the buried pipe inspection.

  In the above, the underwater inspection system has been described as an embedded pipe inspection system particularly used for inspection of buried pipes. However, for example, it is also possible to use it for inspection of pipes for intake of cooling seawater, underdrains, etc. in nuclear power plants. . However, when used in a culvert that is difficult to move due to the flow of fluid, it may be necessary to install an active propulsion device such as a screw.

DESCRIPTION OF SYMBOLS 1 Underwater robot 2 Buried pipe 2a Ceiling part 2b Bottom part 3 Impact device 4 Receiver (underwater microphone)
5 Control device 7 Composite cable 8 Cable drum 20 Housing 21 Hammer 22 Arm 23 Propulsion device

Claims (6)

An underwater inspection system for inspecting an underwater robot and an underwater structure having a control device connected to the underwater robot via a composite cable,
The underwater robot has a striking device that strikes the structure that is an inspection object, and a receiving device that receives vibrations of the striking device, and the at least two hit vibrations received by the receiving device. An underwater inspection system characterized by comparison with a control device. An underwater robot and a control device connected to the underwater robot via a composite cable, the underwater robot is introduced into the buried pipe, and the buried pipe inspection in which the underwater robot inspects the buried pipe from the inside with the continuous water. A system,
The underwater robot has a striking device that strikes an inner wall of the buried pipe that is an inspection object, and a receiving device that receives a striking vibration of the striking device, and the at least two times of the received by the receiving device. A buried pipe inspection system characterized by comparing impact vibration with a control device.   The hitting device hits the inspection object continuously with the movement of the underwater robot, and a plurality of hit vibrations received by the receiving device are compared with each other by the control device. Item 3. The inspection system according to Item 1 or 2.   The inspection system according to any one of claims 1 to 3, wherein the underwater robot includes a propulsion device that receives a flow of fluid and moves in a downstream direction of the flow.   The inspection system according to any one of claims 1 to 4, wherein the control device includes an oscilloscope for displaying the impact vibration or a personal computer connected via an AD converter.   6. The inspection system according to claim 1, wherein the receiving device is a sound collecting type underwater microphone in which an underwater microphone is installed at one end of a cylindrical body and the other end is expanded. .

Images