JP2014170015A - Underwater inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater inspection system capable of easily and reliably performing removal of an inspection obstacle and inspection when removing the inspection obstacle from the surface of an inspection object and then performing the inspection on an inspection object surface for an underwater structure.SOLUTION: An underwater inspection system 10 comprises, in a device main body 10a: an inspection part 11 for performing inspection for an inspection object surface of an underwater structure; and an inspection obstacle removing part 13 for removing an inspection obstacle from the inspection object surface for inspection. The inspection part and the inspection obstacle removing part are configured so that their locations may be replaced with each other when they are rotated. The inspection part is set to perform the inspection in an area where the inspection obstacle is removed by rotating after the inspection obstacle removing part removes the inspection obstacle from a part of the inspection object surface.

Description

  The present invention relates to an underwater inspection system for inspecting an underwater structure.

  Conventionally, a hitting sound inspection is performed on a concrete structure in use in order to inspect internal cavities, peeling, jumpers, and the like. In addition, a thickness inspection is performed on a steel structure in a corrosive environment. Patent Document 1 proposes a hammering apparatus for concrete hammering inspection, and Patent Document 2 proposes a hammering inspection apparatus for land structures such as tunnels.

  Also, Patent Document 3 proposes an inspection system for hitting a structure underwater. In this underwater inspection system, an underwater robot hits a structure underwater and receives an impact sound with an underwater microphone. Patent Document 4 proposes an underwater structure inspection apparatus equipped with an inspection surface cleaning device and an inspection device. This underwater structure inspection device is equipped with an underwater video camera for visual inspection and an ultrasonic probe for plate thickness measurement as inspection devices, and a shell and surface polishing device as a cleaning device. doing.

JP 2005-201676 JP 2001-349876 JP 2011-203046 A Japanese Patent Laid-Open No. 02-71138

  The percussion sound inspection apparatus of the cited documents 1 and 2 performs a percussion sound inspection on land, not underwater. The underwater inspection system of Cited Document 3 performs a hammering test in water, but obstacles in the inspection of moss, rust, shellfish, algae, etc. are attached to the surface of structures in water. When hitting the structure, the hitting is performed including that part, so that an accurate hitting sound of the structure cannot be obtained.

  The underwater structure inspection apparatus of Cited Document 4 determines the inspection position, moves the high water pressure nozzle to the vicinity of the inspection position, injects high pressure water from the high water pressure nozzle, cleans the surface to be inspected, Although the plate thickness is measured by the acoustic probe, the high water pressure nozzle and the ultrasonic probe are arranged side by side in the horizontal direction (see FIG. 1 (A) of cited document 4). The ultrasonic probe must be moved laterally each time, and the moving operation becomes complicated in the actual inspection process.

  In view of the problems of the prior art as described above, the present invention is simple and reliable in the same region when inspecting an underwater structure after removing the inspection obstacle from the inspection target surface. An object of the present invention is to provide an underwater inspection system capable of performing inspection obstacle removal and inspection.

  An underwater inspection system for achieving the above object is an underwater inspection system for inspecting an underwater structure, an inspection unit for inspecting an inspection target surface of an underwater structure, and the inspection An inspection obstacle removing unit that removes an inspection obstacle from the surface to be inspected in the apparatus main body, and the inspection unit and the inspection obstacle removing unit are configured so that their positions are interchanged by rotating. The inspection obstacle removing unit removes the inspection obstacle from a part of the inspection target surface, and then the inspection unit is rotated so that the inspection obstacle is removed in the inspection obstacle removal region. It is set to perform an inspection.

  According to this underwater inspection system, the inspection unit and the inspection obstacle removing unit are rotated so that their positions are interchanged, so that the inspection obstacle removing unit removes the inspection obstacle from a part of the inspection target surface. Thus, by rotating the inspection unit, the inspection unit can perform inspection in the inspection obstacle removal region where the inspection obstacle is removed. For this reason, it is possible to easily and reliably perform inspection obstacle removal and inspection in the same region on the surface to be inspected in water.

  In the underwater inspection system, it is preferable that the inspection unit and the inspection obstacle removing unit are rotated by a turret mechanism to exchange their positions.

  Moreover, it is preferable that the said test | inspection part has a sound-inspection part which performs a sound-inspection test | inspection with respect to the said test object surface, and / or a thickness measurement part which performs thickness measurement with respect to the said test object surface. In addition, when it has both a hammering test | inspection part and a thickness measurement part, it can be comprised so that it may be rotated by a turret mechanism with a test | inspection obstacle removal part, and a position may be replaced.

  The inspection obstacle removing unit includes a rotating unit that is driven to rotate, and the rotating unit is driven to rotate in contact with the surface to be inspected to remove the inspection obstacle in the impure part removing region. Is preferred.

  Further, the rotating part is preferably composed of a replaceable cup brush, and is replaced with a cup brush of an appropriate material according to the state of the surface to be inspected, and inspection failures such as moss, rust, shellfish, algae, and slime Objects can be efficiently removed from the inspection target surface.

  Preferably, the apparatus main body includes a propulsion mechanism configured to be movable in a three-dimensional direction in water, and an operation unit that remotely operates the inspection unit, the inspection obstacle removing unit, and the propulsion mechanism. . The apparatus main body that can be moved in the three-dimensional direction underwater by the propulsion mechanism can be remotely operated by the operation unit.

  Further, when the inspection obstacle removing unit and the inspection unit face the inspection target surface in order to perform inspection obstacle removal and inspection, the apparatus main body is held by being pressed against the inspection target surface by the propulsion mechanism. It is preferable. Inspection obstacle removal and inspection can be performed in the same region of the inspection target surface while the apparatus main body is held.

  In addition, it is preferable to provide an inspection target surface corresponding rod that can be expanded and contracted to maintain the posture of the apparatus main body corresponding to the inspection target surface. As a result, regardless of whether the inspection target surface is an upright surface, an inclined surface, a curved surface, a stepped surface, etc., the length of the inspection target surface corresponding rod is adjusted and then applied to the inspection target surface. Can be held.

  Moreover, it is preferable to provide the camera which acquires image information from the said test object surface. For example, when an underwater camera is provided, an illumination unit that irradiates light onto the surface to be inspected is further provided, and an ultrasonic camera that can acquire image information even when the water is cloudy is provided. In addition, it is preferable to separately provide a steering camera that captures the surroundings of the device for mobile steering in water.

  According to the underwater inspection system of the present invention, when an inspection obstacle is removed from an inspection target surface for an underwater structure, the inspection obstacle removal can be easily and reliably performed in the same region. Inspection.

It is a perspective view which shows the underwater inspection system by this embodiment. It is the upper side figure (a), front view (b), and side view (c) of the underwater inspection system of FIG. It is a principal part perspective view which shows the sound-inspection part, thickness measurement part, and test | inspection obstruction removal part of FIG. 1, FIG. It is a principal part side view which shows the hammering test | inspection part of FIG. 3, a thickness measurement part, and a test | inspection obstruction removal part. It is a principal part front view which shows the percussion inspection part of FIG. 3, a thickness measurement part, and an inspection obstruction removal part. It is a block diagram for demonstrating the operation system and control system of the underwater inspection system by this embodiment. It is a flowchart for demonstrating process S01-S10 at the time of the test | inspection by the underwater test | inspection system of FIGS. It is a side view which shows roughly the apparatus main body which adjusted the angle of the test | inspection obstruction removal part with respect to the test object surface in this embodiment. It is the schematic which shows the test | inspection obstruction removal area | region which removed the test | inspection obstruction from some inspection object surfaces. It is the upper side figure (a) and perspective view (b) which show roughly the main part of a device held to the inspection object side of a cylinder surface in this embodiment. FIG. 2 is a top view (a) and a perspective view (b) schematically showing an apparatus main body held on an inspection target surface having a step in the present embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an underwater inspection system according to the present embodiment. 2 is a top view (a), a front view (b), and a side view (c) of the underwater inspection system of FIG.

  As shown in FIGS. 1 and 2 (a) to 2 (c), the underwater inspection system 10 has an underwater inspection apparatus main body 10a that is submerged in water, and the apparatus main body 10a is an annular frame disposed on the lower surface. 31, an annular frame 32 disposed on the upper surface, and a flat plate-like buoyancy body 33 disposed on the upper portion of the frame 32.

  Furthermore, the apparatus main body 10a is mounted with an inspection device or the like between the frame 31 and the frame 32, and is configured in a substantially rectangular shape as a whole. The capacity of the buoyancy body 33 is determined so that an appropriate buoyancy acts on the apparatus main body 10a in water. The overall dimensions of the apparatus main body 10a can be, for example, about 80 cm in length × 50 cm in width × 50 cm in height, but these are merely examples and can be changed as appropriate.

  The apparatus main body 10a of the underwater inspection system 10 has a hammering inspection unit 11 that performs a hammering inspection on an inspection target surface of an underwater structure on the front side (FIG. 2B), and is super Thickness measurement unit 12 for measuring the thickness with an acoustic probe and inspection obstacle removal unit for removing inspection obstacles such as rust, moss, slime, shellfish, and algae attached to the surface to be inspected before inspection 13, a measurement camera 14 that captures an image of the inspection target surface and acquires image information, a plurality of illumination units 15 that are arranged around the measurement camera 14 and illuminate the inspection target surface, and water are turbid. The ultrasonic camera 16 is capable of acquiring image information from the inspection target surface.

  Further, the apparatus main body 10a includes propulsion units (thrusters) 17, 18, and 19 configured with propellers, motors, and the like for moving in three dimensions in water, and the propulsion unit disposed between the frames 31 and 32. 17 moves the device in the lateral (X) direction, the propulsion unit 18 disposed between the frames 31 and 32 moves in the front-rear (Y) direction, and the propulsion unit 19 disposed in the buoyancy body 33 moves up and down ( Z) Move in direction.

  Further, the apparatus main body 10a has a plurality of inspection target surface corresponding rods 35a to 35d which are provided so as to protrude from the front side to the inspection target surface (see FIG. 8) and whose length can be changed. The upper inspection target surface corresponding rods 35a and 35b are fixed in the vicinity of the left and right ends of the frame 32 on the upper surface side of the apparatus main body 10a, and the lower inspection target surface corresponding rods 35c and 35d are provided on the frame 31 on the lower surface side of the apparatus. It is fixed near the left and right ends. The inspection target surface corresponding rods 35a to 35d can be constituted by, for example, an expansion / contraction rod that has an expansion / contraction mechanism and whose length can be freely adjusted. Such a telescopic rod can be constructed from a known structure, for example, can be constructed from a pair of steel pipes with a nested structure, and in the nested part, holes are provided at a predetermined pitch in the longitudinal direction of the pipe in the radial direction of the pipe. Thus, the length of the entire rod can be adjusted by inserting and removing the pair of steel pipes to determine the target length and then inserting the lock pin into the hole.

  When the inspection target surface of the underwater structure is inclined with respect to the apparatus main body 10a in the horizontal position, the inspection target surface corresponding rods 35a and 35b are previously provided corresponding to the inclination as shown in FIG. By adjusting the inspection target surface corresponding rods 35c and 35d to be shorter, the apparatus main body 10a can be pressed corresponding to the inclined inspection target surface, and the posture of the apparatus main body 10a can be held horizontally. it can.

  Further, when the inspection target surface of the underwater structure is an upright surface, the apparatus main body 10a is pressed against the inspection target surface which is the upright surface by adjusting the inspection target surface corresponding rods 35a to 35d to the same length. The posture of the apparatus main body 10a can be held horizontally.

  In addition, the apparatus main body 10a includes a suspension clamp 36 provided in the buoyancy body 33 for suspending the apparatus main body 10a in the water with a wire or a rope, and an underwater surface of the apparatus main body 10a provided at an upper end portion of the buoyancy body 33. An ultrasonic sensor 21 for measuring the position and an illumination unit 23 made of an LED or the like for irradiating light from the side of the apparatus are provided.

  Next, the hammering inspection unit 11, the wall thickness measurement unit 12, and the inspection obstacle removal unit 13 shown in FIGS. 1 and 2 will be described with reference to FIGS. FIG. 3 is a main part perspective view showing the hammering inspection unit, the wall thickness measurement unit, and the inspection obstacle removal unit of FIGS. FIG. 4 is a side view of the main part showing the hammering inspection unit, the wall thickness measurement unit, and the inspection obstacle removal unit of FIG. FIG. 5 is a main part front view showing the hammering inspection unit, the wall thickness measurement unit, and the inspection obstacle removal unit of FIG.

  As shown in FIG. 3 to FIG. 5, the hammering inspection unit 11 is configured in a cylindrical shape as a whole, and a striking unit 11 a that strikes the surface to be inspected with a continuous operation hammer and a hydrophone 11 b that receives the striking sound. Are provided on the tip surface.

  The wall thickness measurement unit 12 is configured in a small cylindrical shape as a whole, has an ultrasonic probe, and can measure the wall thickness of a steel material or the like with the front surface 12a being in contact with the surface to be inspected. .

  The inspection obstacle removing unit 13 includes a rotating unit 13a to which a cup brush that is rotationally driven is mounted, and a cylindrical motor 13b that rotationally drives the rotating unit 13a. By rotating the rotating part 13a by the motor 13b, the cup brush is pressed against the surface to be inspected and rotated before inspection, thereby removing the inspection obstacle from a part of the surface to be inspected. The cup brush of the rotation part 13a is comprised from many hard steel wires, for example.

  The cup brush mounted on the rotating part 13a is configured to be replaceable, and a cup brush made of an appropriate material is used according to purposes such as cleansing, rust removal, slime / moss / shellfish / algae removal on the surface to be inspected. Can be installed.

  The hammering inspection unit 11, the wall thickness measurement unit 12, and the inspection obstacle removal unit 13 are configured to be rotated by a turret mechanism to exchange their positions. The turret is configured such that the hammering inspection unit 11, the wall thickness measurement unit 12, and the inspection obstacle removal unit 13 are attached to a disk-shaped turret plate, and are rotated and exchanged at the same position.

  That is, as shown in FIGS. 3 and 4, the turret mechanism of the apparatus main body 10a includes a turret motor 22 that rotates a rotating shaft 22a. The rotating shaft 22a includes a sound hitting inspection unit 11, a wall thickness measuring unit 12, and an inspection failure. A disc-shaped turret plate 22b that holds the motor 13b of the object removing unit 13 on each outer peripheral surface is connected.

  When the turret motor 22 rotates, the rotation shaft 22a rotates together with the turret plate 22b by a predetermined angle, so that the sound inspection unit 11, the wall thickness measurement unit 12, and the inspection obstacle removal unit 13 are arranged on the circumference C in FIG. To rotate. By this rotation, for example, after the inspection obstacle removing unit 13 removes the inspection obstacle from the surface to be inspected at the position of FIG. 5, the hammering inspection unit 11 is rotated by a predetermined angle in the rotation direction r, and the inspection is performed. It is set by moving to the position of the obstacle removing unit 13, and the position becomes the inspection position, so that the hammering inspection can be performed on the inspection target surface. Further, the thickness measuring unit 12 rotates by a predetermined angle in the rotation direction r ′ (or the rotation direction r) and moves to the position of the inspection obstacle removing unit 13, and the thickness is measured with respect to the inspection target surface at the inspection position. Thickness measurement can be performed.

  Moreover, the hammering inspection unit 11 and the wall thickness measurement unit 12 at the inspection position are substantially between the inspection target surface corresponding rods 35a to 35d when viewed from the front of the apparatus main body 10a as shown in FIG. Located in the center. For this reason, when the apparatus main body 10a is pressed against the inspection target surface having a curved surface by adjusting the inspection target surface corresponding rods 35a to 35d to the same length (see FIG. 10 described later), the sound hitting inspection unit 11 Further, the thickness measuring unit 12 can be pressed evenly against the surface S to be inspected without any bias in the pressing force, and the accuracy of inspection and measurement can be reliably maintained.

  Further, the front end surface of the hammering inspection unit 11, the front surface of the wall thickness measurement unit 12, and the front end surface of the inspection obstacle removing unit 13 are in contact with the same surface. When the inspection obstacle is removed, the rotating part 13a protrudes from the same surface as described above and comes into contact with the inspection object surface to remove the inspection obstacle.

  As shown in FIGS. 1 to 5, the turret mechanism includes the sound inspection unit 11, the thickness measurement unit 12, and the inspection obstacle removal unit 13 in the apparatus main body 10 a together with the turret motor 22, the rotation shaft 22 a, and the turret plate 22 b. It is integrated and configured. This turret mechanism can be adjusted in angle within the apparatus main body 10a so that the extension axes of the hammering inspection unit 11, the wall thickness measurement unit 12, and the inspection obstacle removal unit 13 are substantially orthogonal to the surface to be inspected. For example, the angle θ of the front end surface of the rotating portion 13a, the front end surface of the sound hitting inspection portion 11, and the front surface of the thickness measuring portion 12 inclined from the horizontal direction as shown in FIG. Can be adjusted. It is possible to deal with an inclined inspection target surface by adjusting the angle θ.

  Next, the operation system / control system of the underwater inspection system 10 will be described with reference to the block diagram of FIG. As shown in FIG. 6, the underwater inspection system 10 includes an operation unit 1 for remotely operating the units 11 to 23 mounted on the apparatus main body 10a, and a liquid crystal panel that displays surrounding images when the apparatus main body 10a is operated. And the like, a control unit 2 including a personal computer for controlling each of the units 11 to 23, and a display unit including a liquid crystal panel for displaying various image signals, inspection data, measurement data, and the like on the screen. 3. A cable CB is connected to the operation unit 1 for supplying necessary power to the units 11 to 23 of the apparatus main body 10a and transmitting and receiving electrical signals as necessary.

  The operation unit 1, the operation display unit 5, the control unit 2, and the display unit 3 are installed on the ship, on the water, or on the land side, and remotely control and control the units 11 to 23 of the apparatus main body 10a to display image information. The control unit 2 includes a memory including a hard disk and a RAM, and records inspection results and measurement results including image information in the memory. That is, the hitting sound by the hitting inspection unit 11 is recorded in the memory and reproduced, thereby determining the presence / absence of defects such as cavities in the interior / surface of the concrete structure, peeling, jumpers and cracks at the inspection position. . Such a determination can be automatically made by a program in which the control unit 2 is installed, or an expert may actually make a listening to the reproduced sound. Further, the measured thickness value measured by the thickness measuring unit 12 is recorded in the memory.

  Further, the control unit 2 includes an underwater position measuring device 4, and the underwater position measuring device 4 is an ultrasonic sensor 21 of the apparatus main body 10a by a reference ultrasonic sensor (not shown) installed at a predetermined position in water. The propagation time of the ultrasonic signal from is measured, coordinate calculation is performed from the distance conversion information, and the underwater position of the apparatus main body 10a is measured substantially in real time. Inspection position information on the inspection target surface of the structure can be obtained from the underwater position information.

  The operation of the underwater inspection system 10 in FIGS. 1 to 6 will be described with reference to FIGS. 7 to 9. FIG. 7 is a flowchart for explaining steps S01 to S10 at the time of inspection by the underwater inspection system 10 of FIGS. FIG. 8 is a schematic view showing an apparatus main body in which the angle of the inspection obstacle removing unit is adjusted with respect to the inspection target surface. FIG. 9 is a schematic view showing an inspection obstacle removal region in which the inspection obstacle is removed from a part of the inspection target surface.

  A case where a hammering test is performed on an underwater concrete structure and the inspection target surface S is inclined as shown in FIG. 8 will be described as an example.

  First, in accordance with the inclination angle of the inspection target surface S obtained by the inspection before the inspection, for example, the inspection target surface corresponding rods 35a and 35b are lengthened, and the inspection target surface corresponding rods 35c and 35d are adjusted to be short, The angle θ (FIG. 2C) of the front end surface of the rotating portion 13 a of the inspection obstacle removing unit 13, the front end surface of the hammering inspection unit 11, and the front surface of the wall thickness measuring unit 12 corresponds to the inspection target surface S. Adjust (S01).

  Next, the apparatus main body 10a supported by the rope hung on the suspension clamp 36 is put into water (S02). By operating the operation unit 1, the apparatus main body 10a is moved underwater to the vicinity of the target position on the inspection target surface S while driving the propulsion units 17 to 19 (S03). At this time, it is possible to finally confirm the position of the apparatus main body 10a based on the underwater position data obtained by the underwater position measuring device 4 by operating while displaying the image from the steering camera 20 on the operation display unit 5.

  Next, by driving the propulsion units 17 to 19 by operating the operation unit 1, the apparatus main body 10a is driven toward the inspection target surface S in the arrow direction F as shown in FIG. By applying the surfaces 35a to 35d to the inspection target surface S, the apparatus main body 10a is pressed horizontally corresponding to the inclined inspection target surface S, the apparatus main body 10a is stopped, and the posture of the apparatus main body 10a is securely held horizontally. (S04). At this time, the tip surface of the rotating portion 13a is substantially parallel to the inspection target surface S.

  Next, the rotation unit 13a of the inspection obstacle removing unit 13 is rotationally driven by the operation of the operation unit 1, and the cup brush is pressed against the inspection target surface S to rotate, thereby inspecting from a part of the inspection target surface S. The obstacle is removed (S05). As a result, as shown in FIG. 9, the inspection obstacle removal region S1 is formed in a circular shape on a part of the inspection target surface S.

  Next, the turret motor 22 is driven by the operation of the operation unit 1 and the rotation shaft 22a and the turret plate 22b are rotated by a predetermined angle, so that the hitting inspection unit 11 is positioned just before the inspection obstacle removal unit 13 It is rotated to the position (S06). By this rotation, the sound hitting inspection unit 11 moves to the position indicated by the broken line in FIG. 9 which is substantially the same as the inspection obstacle removal region S1.

  Next, the operation of the operation unit 1 causes the sounding inspection unit 11 to perform a sounding inspection in the inspection obstacle removal region S1 (S07). Subsequently, the measurement camera 14 inspects while illuminating with the light from the illumination unit 15. The inspection target surface S including the obstacle removal area S1 is photographed (S08). In addition, when water is turbid, the ultrasonic camera 16 can be used. Moreover, you may perform imaging | photography with a camera after a test | inspection obstruction removal, and before a hammering test | inspection. By photographing the inspection target surface S with such a camera, it is possible to grasp the state of the structure and the cleaning state in water.

  The hammering test result and the image information of the inspection target surface S acquired as described above are transmitted to the control unit 2 together with the underwater position data (inspection position data) obtained by the underwater position measurement device 4, and the memory of the control unit 2 (S09).

  When the inspection is further continued (S10), the process returns to step S03, and the propulsion units 17 to 19 are driven by the operation of the operation unit 1 so that the apparatus main body 10a is, for example, in the vicinity of the inspection obstacle removal region S1 in FIG. After moving to the area S2, the inspection obstacle removal and the hammering inspection are similarly performed in the area S2.

  Even when the inspection object is an underwater steel structure, the inspection can be performed by the same process as shown in FIG. In this case, after the thickness measuring unit 12 is rotated to the position where the inspection obstacle removing unit 13 is positioned just before in the rotation step S06, the thickness measuring unit 12 performs an inspection target surface of the steel structure in the inspection step S07. Measure the thickness of the steel plate.

  According to the underwater inspection system of the present embodiment, it is possible to realize a remote operation underwater inspection robot type inspection system capable of hammering sound inspection, wall thickness measurement, and appearance inspection by image acquisition for structures in water. .

  Further, when the inspection obstacle is removed and inspected on the inspection object surface, the hammering inspection unit 11 or the wall thickness measurement unit 12 and the inspection obstacle removal unit 13 are rotated so that the positions of each other are interchanged. After the obstacle removal unit 13 removes the inspection obstacle from a part of the inspection target surface, the inspection obstacle removal is performed by rotating the hammering inspection unit 11 or the wall thickness measurement unit 12 to remove the inspection obstacle. The hammering inspection unit 11 or the wall thickness measurement unit 12 can perform the inspection in the region. For this reason, it is possible to easily and reliably perform inspection obstacle removal and inspection in the same region on the surface to be inspected in water.

  In addition, the apparatus main body 10a has propulsion units (thrusters) 17 to 19 that can move in a three-dimensional direction, and the apparatus main body 10a is stopped at a predetermined position by pressing the apparatus main body 10a against the structure side. Therefore, it is possible to perform inspection obstacle removal and hammering inspection (or thickness measurement) on the same region of the inspection target surface without moving in water. When the apparatus main body 10a is stationary / held, the inspection object surface corresponding rods 35a to 35d are applied to the inspection object surface so that the apparatus main body 10a can be pressed horizontally against the inspection object surface even when the inspection object surface is inclined. It is possible to hold the posture of the apparatus main body 10a horizontally.

  As structures in water that can be inspected by the underwater inspection system of this embodiment, there are concrete structures such as dams, revetment structures, quay structures, sea area control structures, marine structures, and steel structures, It is not limited to these.

  As described above, the modes for carrying out the present invention have been described. However, the present invention is not limited to these, and various modifications can be made within the scope of the technical idea of the present invention. For example, in the present embodiment, only one inspection obstacle removing unit 13 is provided, but the present invention is not limited to this, and two inspection obstacle removing units in which the material of the cup brush is changed are provided on the turret plate. The inspection obstacle may be removed from the inspection target surface in two stages.

  Further, in the present embodiment, the sound inspection unit 11 and the wall thickness measurement unit 12 are provided as the inspection unit, but the present invention is not limited thereto, and at least one of these is changed or added, You may provide the test | inspection part and measurement part which perform another kind of test | inspection and measurement.

  In addition, when the hammering inspection unit 11 and the wall thickness measurement unit 12 perform inspection and measurement in the inspection obstacle removal area S1 of FIG. 9, the turret motor 22 is subsequently driven, and the rotation shaft 22a and the turret plate 22b are moved. By slightly rotating, inspection and measurement may be performed at different positions in the inspection obstacle removal area S1, and a plurality of inspection data / measurement data may be obtained from the same inspection obstacle removal area S1.

  Further, in the present embodiment, the holding state of the apparatus main body 10a has been described by taking the case where the inspection target surface S is an inclined surface in FIG. 8 as an example, but the present invention is not limited to this, and the inspection target surface is, for example, It may be a curved surface or a step surface. As shown in FIGS. 10 and 11 below, even when the inspection target surface has a cylindrical surface or a step, it is possible to cope by adjusting the lengths of the inspection target surface corresponding rods 35a to 35d.

  10A and 10B are a top view (a) and a perspective view (b) schematically showing the apparatus main body held against the cylindrical inspection target surface in the present embodiment. As shown in FIGS. 10A and 10B, when the inspection target surface S is a cylindrical surface such as a steel pipe, the hammering test is performed by adjusting the inspection target surface corresponding rods 35a to 35d to the same length. Since the part 11 and the wall thickness measuring part 12 are located at substantially the center between the upper, lower, left and right rods 35a to 35d, the hammering test part 11 and the wall thickness measuring part 12 are not subject to a biasing force and are uniformly inspected on the cylindrical surface. It can be pressed against the surface S. Further, the posture of the apparatus main body 10a can be held horizontally. 10A and 10B exemplify a case where a steel pipe having a cylindrical surface is arranged extending in the vertical direction, but the above description also applies to a case where the steel pipe is extended in the horizontal direction. In the same manner, the apparatus main body 10a can be pressed against the cylindrical inspection target surface S.

  FIG. 11 is a top view (a) and a perspective view (b) schematically showing the apparatus main body held against the inspection target surface having a step in the present embodiment. As shown in FIGS. 11A and 11B, when the inspection target surface S has a protruding surface SH and a concave surface SL as viewed from the top, and the step surface SS extends in the vertical direction, the upper and lower inspection target surfaces The corresponding rods 35a and 35c (FIG. 1) are adjusted to the same short length in accordance with the protruding surface SH, and the upper and lower inspection target surface corresponding rods 35b and 35d on the opposite side are adjusted to the concave surface SL and have the same long length. As shown in FIG. 11B, the apparatus main body 10a is held in parallel with the protruding surface SH and the recessed surface SL, and held horizontally and pressed against the inspection target surface S having a step. Can do. In FIG. 11A, the sound inspection unit 11, the wall thickness measuring unit 12, or the inspection obstacle removing unit 13 corresponds to the protruding surface SH, but the lengths of the inspection target surface corresponding rods 35a to 35d are adjusted. Thus, it can correspond to the indentation surface SL. 11A and 11B show the case where the step surface SS extends in the extending direction, but when the step surface extends in the horizontal direction, the upper left and right inspection target surface corresponding rods 35a and 35b are connected to the step surface. Adjust to the same length according to one surface, and adjust the lower left and right inspection target surface corresponding rods 35c and 35d to the same length according to the other surface of the step, so that the same can be handled. Can do.

  Further, in the present embodiment, the inspection target surface corresponding rods 35a to 35d are, for example, a mechanism for manually adjusting expansion / contraction, but the present invention is not limited to this, for example, having an expansion / contraction mechanism by hydraulic pressure or the like. In this case, the rod length can be adjusted by remote control.

  According to the present invention, the inspection obstacle removal and inspection can be performed easily and reliably in the same region of the inspection target surface of the underwater structure, so that the underwater structure inspection can be reliably and accurately executed. it can.

DESCRIPTION OF SYMBOLS 10 Underwater inspection system 10a Underwater inspection apparatus main body, apparatus main body 1 Operation part 2 Control part 11 Sound impact inspection part 12 Thickness measurement part 13 Inspection obstacle removal part 13a Rotation part 13b Motor 14 Measurement camera 15 Illumination part 16 Ultrasonic camera 17 -19 Propulsion part 22 Turret motor 22b Turret plate 33 Buoyancy bodies 35a-35d Inspection object surface corresponding rod S Inspection object surface S1 Inspection obstacle removal area

Claims (9)

An underwater inspection system for inspecting an underwater structure,
An inspection unit that inspects the inspection target surface of the underwater structure;
An inspection obstacle removing unit that removes an inspection obstacle from the inspection target surface for the inspection, and an apparatus main body,
The inspection unit and the inspection obstacle removing unit are configured to be interchanged by rotating each other,
After the inspection obstacle removing unit removes the inspection obstacle from a part of the inspection target surface, the inspection unit is rotated to perform inspection in the inspection obstacle removing region where the inspection obstacle is removed. An underwater inspection system characterized by being set to perform.   The underwater inspection system according to claim 1, wherein the inspection unit and the inspection obstacle removing unit are rotated by a turret mechanism to exchange their positions.   3. The inspection unit according to claim 1, wherein the inspection unit includes a hammering inspection unit that performs a hammering inspection on the inspection target surface and / or a wall thickness measurement unit that performs a wall thickness measurement on the inspection target surface. The underwater inspection system described.   The inspection obstacle removing unit includes a rotating unit that is driven to rotate, and the rotating unit is rotated while being in contact with the surface to be inspected, thereby removing an inspection obstacle in the impure part removing region. The underwater inspection system of any one of thru | or 3.   The underwater inspection system according to claim 4, wherein the rotating part is constituted by a replaceable cup brush.   The apparatus includes: a propulsion mechanism configured to be movable in a three-dimensional direction in water; and an operation unit that remotely operates the inspection unit, the inspection obstacle removing unit, and the propulsion mechanism. The underwater inspection system according to any one of 5.   When the inspection obstacle removing unit and the inspection unit face the inspection target surface in order to perform inspection obstacle removal and inspection, the apparatus main body is held by being pressed against the inspection target surface by the propulsion mechanism. The underwater inspection system according to claim 6.   The underwater inspection system according to any one of claims 1 to 7, further comprising an inspection target surface corresponding rod that can be expanded and contracted to maintain the posture of the apparatus main body corresponding to the inspection target surface.   The underwater inspection system of any one of Claims 1 thru | or 8 provided with the camera which acquires image information from the said test object surface.

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