JP2016188062A

JP2016188062A - Underwater inspection device

Info

Publication number: JP2016188062A
Application number: JP2015069902A
Authority: JP
Inventors: 貞夫川村; Sadao Kawamura
Original assignee: Ritsumeikan Trust
Current assignee: Ritsumeikan Trust
Priority date: 2015-03-30
Filing date: 2015-03-30
Publication date: 2016-11-04
Anticipated expiration: 2035-03-30
Also published as: JP6485633B2

Abstract

PROBLEM TO BE SOLVED: To provide an underwater inspection device capable of inspecting an inspecting target object by easily imaging the same even when the water is highly turbid, performing fixed point holding and attitude holding easily during inspection, and further, obtaining a position in the underwater highly accurately.SOLUTION: An underwater inspection device 1 includes: support legs 3 provided on a holding body 2; a buoyancy bodies 4 rotatably provided in the holding body 2; a motor for rotating the buoyancy bodies 4; front and rear thrusters 6 for generating propulsive power in the fore-and-aft direction; and cameras 8 for imaging a dam body. One of the front and rear thrusters 6 is driven to bring one support leg 3 into contact with the dam body, and in this state, the motor is driven to rotate the buoyancy bodies 4 to rotate the holding body 2 with one support leg 3 as a fulcrum. After the rotation of the holding body, the other support leg 3 is brought into contact with the dam body by driving the other of the front and rear thrusters 6. A position of the other support leg 3 after the rotation is obtained from attitude angles of the holding body 2 after the rotation and a lateral length of the holding body 2.SELECTED DRAWING: Figure 1

Description

本発明は、水中において、ダムの堤体などの被点検物を撮影して点検する際に用いられる水中点検装置に関するものである。 The present invention relates to an underwater inspection device used when photographing and inspecting an object to be inspected such as a dam body in water.

下記特許文献１には、水中カメラが設けられた無人潜水機であって、水平スラスタと垂直スラスタとを機体に備え、水平スラスタの駆動による前進または後進ができ、また、垂直スラスタの駆動による上昇または下降ができ、さらに、垂直スラスタが機体に回動自在に設けられることで、垂直スラスタの姿勢変更に伴って機体が傾斜し、その傾斜方向へ推進できる無人潜水機が開示されている。 The following Patent Document 1 is an unmanned submersible equipped with an underwater camera, which is equipped with a horizontal thruster and a vertical thruster and can be moved forward or backward by driving a horizontal thruster, and lifted by driving a vertical thruster. Further, there is disclosed an unmanned submersible that can be lowered and that a vertical thruster is rotatably provided on the airframe, so that the airframe can be tilted in accordance with a change in the attitude of the vertical thruster and can be propelled in the tilting direction.

特開２００６−２４８２７７号公報JP 2006-248277 A

しかしながら、前記特許文献１に開示された無人潜水機を用いて、水中の構造物を水中カメラにて撮影する際、通常は、水中カメラと構造物との間にある程度の距離を確保するが、濁度が高い場合には、水中カメラと構造物とが一定の距離以上離れると、構造物の十分な情報を得ることができない。そこで、無人潜水機を構造物に近付けるよう操作することが考えられる。しかしながら、無人潜水機が水中を浮遊移動するタイプのものであるため、この無人潜水機を構造物に近付ける際に、無人潜水機を構造物に接触させてしまい、この接触により無人潜水機が損傷してしまうおそれがある。特に、無人潜水機を移動させつつ水中の構造物を撮影する際には、そのおそれが高まる。 However, when photographing an underwater structure with an underwater camera using the unmanned submersible disclosed in Patent Document 1, usually, a certain distance is secured between the underwater camera and the structure. When the turbidity is high, sufficient information on the structure cannot be obtained if the underwater camera and the structure are separated by a certain distance or more. Therefore, it is conceivable to operate the unmanned submersible to approach the structure. However, since the unmanned submersible is a type that floats and moves underwater, the unmanned submersible is brought into contact with the structure when the unmanned submersible is brought close to the structure. There is a risk of it. In particular, when photographing an underwater structure while moving an unmanned submersible device, the risk increases.

また、無人潜水機が水中を浮遊移動するタイプのものであるため、風や波の影響により、無人潜水機の定点保持や姿勢保持を行うことが困難である。これらの保持のために、フィードバック制御を行うことが可能であるが、水平スラスタおよび垂直スラスタには、入力電流に対して出力の推力に無駄時間を含む強い非線形性があり、カメラの定点保持の要求に十分に対応できないおそれがある。 In addition, since the unmanned submersible is a type that floats and moves underwater, it is difficult to hold the fixed point and the posture of the unmanned submersible due to the influence of wind and waves. Feedback control can be performed to maintain these values. However, horizontal thrusters and vertical thrusters have strong nonlinearities including dead time in output thrust with respect to input current. There is a risk that the request cannot be fully met.

通常、前述した無人潜水機のような装置の位置計測は、ＳＳＢＬ（ＳｕｐｅｒＳｈｏｒｔＢａｓｅＬｉｎｅ）方式などの超音波を用いたシステムにて行われる。この超音波を用いたシステムでは、水中の障害物による超音波の反射の影響が大きく、高精度の計測が困難である。また、超音波を用いたシステムでは、水面に設置される受信機の測定可能範囲が限られており、水面付近の装置の位置を計測することは不可能である。さらに、超音波を用いたシステムでは、受信機と装置とが同一直線上に配置されていない場合、温度躍層での超音波の屈折の影響により、誤差が生じてしまう。 Usually, the position of an apparatus such as the above-described unmanned submersible is measured by a system using ultrasonic waves such as an SSBL (Super Short Base Line) method. In this system using ultrasonic waves, the influence of ultrasonic waves reflected by obstacles in the water is large, and high-precision measurement is difficult. Further, in a system using ultrasonic waves, the measurable range of a receiver installed on the water surface is limited, and it is impossible to measure the position of the device near the water surface. Furthermore, in a system using ultrasonic waves, if the receiver and the apparatus are not arranged on the same straight line, an error occurs due to the influence of ultrasonic refraction in the temperature climax.

本発明は、このような問題に鑑みてなされたものであり、その主たる目的は、簡易な構成で、水中の濁度が高い場合においても容易に被点検物を撮影して点検することができると共に、点検時において容易に定点保持および姿勢保持を行うことができ、さらに、水中での位置を高精度に求めることができる水中点検装置を提供することにある。 The present invention has been made in view of such problems, and the main object of the present invention is to easily shoot and inspect the inspection object even when the turbidity in water is high with a simple configuration. At the same time, it is an object of the present invention to provide an underwater inspection apparatus that can easily hold a fixed point and hold an attitude during inspection, and can obtain a position in water with high accuracy.

上記目的を達成するための本発明に係る水中点検装置は、保持体に左右方向へ離隔して設けられる支持脚と、前記保持体に前後方向へ沿う軸まわりに回動可能に設けられる浮力体と、この浮力体を回動させる浮力体回動手段と、前記保持体に左右方向へ離隔して設けられ、前後方向へ推進力を発生させる前後スラスタと、前記保持体の姿勢角を検出する姿勢角センサと、前記保持体に設けられ、被点検物を撮影する撮影手段とを備え、水中において、一方の前記前後スラスタの駆動により、一方の前記支持脚を介して、前記保持体が前記被点検物に接触され、その接触状態で、前記浮力体回動手段により前記浮力体を回動させることで、一方の前記支持脚を支点として前記保持体が回動され、回動後、他方の前記前後スラスタの駆動により、他方の前記支持脚を前記被点検物に接触させ、前記姿勢角センサにより前記保持体の回動後の姿勢角が検出され、この検出された姿勢角と前記保持体の左右長さとから、回動後の他方の前記支持脚の位置が求められることを特徴とする。 In order to achieve the above object, an underwater inspection apparatus according to the present invention includes a support leg provided on a holding body so as to be separated in the left-right direction, and a buoyancy body provided on the holding body so as to be rotatable about an axis extending in the front-rear direction. And a buoyancy body rotating means for rotating the buoyancy body, a front / rear thruster that is provided in the left-right direction and is separated from the holding body and generates a propulsive force in the front-rear direction, and detects a posture angle of the holding body. An attitude angle sensor; and an imaging unit that is provided on the holding body and shoots an object to be inspected. Underwater, the holding body is moved through one of the support legs by driving one of the front and rear thrusters. When the buoyancy body is rotated by the buoyancy body rotation means in contact with the object to be inspected, the holding body is rotated with one of the support legs as a fulcrum. By driving the front and rear thrusters of One of the support legs is brought into contact with the object to be inspected, and the posture angle after rotation of the holding body is detected by the posture angle sensor, and the rotation angle is determined from the detected posture angle and the left and right length of the holding body. The position of the other support leg after the movement is obtained.

また、本発明に係る水中点検装置は、前記浮力体および前記浮力体回動手段に代えてまたはそれに加えて、上下方向へ推進力を発生させる上下スラスタを備え、前記上下スラスタは、前記保持体に左右方向へ離隔して設けられ、一方の前記上下スラスタが一方の前記前後スラスタ側に配置されると共に、他方の前記上下スラスタが他方の前記前後スラスタ側に配置され、水中において、一方の前記前後スラスタの駆動により、一方の前記支持脚を介して、前記保持体が前記被点検物に接触され、その接触状態で、他方の前記上下スラスタの駆動により、一方の前記支持脚を支点として前記保持体が回動され、回動後、他方の前記前後スラスタの駆動により、他方の前記支持脚を前記被点検物に接触させることを特徴とする。 Further, the underwater inspection apparatus according to the present invention includes an upper and lower thruster that generates a propelling force in the vertical direction instead of or in addition to the buoyancy body and the buoyancy body rotation means, and the upper and lower thrusters are the holding body. The upper and lower thrusters are disposed on the one front and rear thruster side, and the other upper and lower thrusters are disposed on the other front and rear thruster side. When the front and rear thrusters are driven, the holding body is brought into contact with the object to be inspected via one of the support legs, and in the contact state, the other upper and lower thrusters are driven to use the one support leg as a fulcrum. The holding body is rotated, and after the rotation, the other support leg is brought into contact with the object to be inspected by driving the other front / rear thruster.

また、本発明に係る水中点検装置は、前記姿勢角センサに代えてまたはそれに加えて前記支持脚の水深を検出する水深センサを備えることを特徴とする。 The underwater inspection apparatus according to the present invention includes a water depth sensor that detects a water depth of the support leg instead of or in addition to the posture angle sensor.

さらに、本発明に係る水中点検装置は、前記保持体に左右方向へ沿う軸まわりに回動可能に設けられる補助浮力体と、この補助浮力体を回動させる補助浮力体回動手段とをさらに備えることを特徴とする。 Furthermore, the underwater inspection apparatus according to the present invention further includes an auxiliary buoyancy body provided on the holding body so as to be rotatable about an axis extending in the left-right direction, and an auxiliary buoyancy body rotating means for rotating the auxiliary buoyancy body. It is characterized by providing.

本発明に係る水中点検装置によれば、一方の支持脚を被点検物に接触させた状態で、その支持脚を支点として保持体を回動させ、他方の支持脚を被点検物に接触させることができる。このようにして被点検物に接触させつつ移動させることができることで、撮影手段を被点検物に十分近付けた状態を容易に維持することができる。従って、水中の濁度が高い場合においても、撮影手段により被点検物を撮影して、被点検物の十分な情報を得ることができ、被点検物の点検を容易に行うことができる。 According to the underwater inspection apparatus according to the present invention, in a state where one support leg is in contact with the object to be inspected, the holding body is rotated using the support leg as a fulcrum, and the other support leg is brought into contact with the object to be inspected. be able to. Thus, by being able to move while being in contact with the inspection object, it is possible to easily maintain a state where the photographing means is sufficiently close to the inspection object. Therefore, even when the turbidity in water is high, the object to be inspected can be imaged by the imaging means to obtain sufficient information on the object to be inspected, and the object to be inspected can be easily inspected.

水中点検装置の移動は、前後スラスタの駆動と浮力体の回動とによりなされることで、容易に行うことができる。また、水中点検装置が支持脚を介して被点検物に接触できることで、水中点検装置を被点検物に支持することができ、水中点検装置の定点保持や姿勢保持を容易に行うことができる。さらに、保持体の左右長さと回動後の保持体の姿勢角とから、回動後の他方の支持脚の位置を求めることができるため、超音波を用いた位置計測と比較して、高精度に位置を求めることができる。 The underwater inspection apparatus can be easily moved by driving the front and rear thrusters and rotating the buoyancy body. In addition, since the underwater inspection apparatus can contact the inspection object via the support legs, the underwater inspection apparatus can be supported by the inspection object, and the fixed point holding and posture holding of the underwater inspection apparatus can be easily performed. Furthermore, since the position of the other supporting leg after the rotation can be obtained from the left and right length of the holding body and the posture angle of the holding body after the rotation, compared with the position measurement using ultrasonic waves, The position can be obtained with high accuracy.

また、本発明に係る水中点検装置によれば、移動が、前後スラスタの駆動と浮力体の回動とによりなされることに代えて、前後スラスタの駆動と上下スラスタの駆動とによりなされても、前述した作用効果を奏することができる。 Further, according to the underwater inspection apparatus according to the present invention, instead of being moved by driving the front and rear thrusters and rotating the buoyant body, the movement is made by driving the front and rear thrusters and the upper and lower thrusters. The effects described above can be achieved.

また、本発明に係る水中点検装置によれば、水深センサにより、回動後の他方の支持脚の位置を計測することができるため、超音波を用いた位置計測と比較して、高精度の位置計測が可能である。 Further, according to the underwater inspection apparatus according to the present invention, the position of the other support leg after the rotation can be measured by the water depth sensor, so that it is more accurate than the position measurement using ultrasonic waves. Position measurement is possible.

さらに、本発明に係る水中点検装置によれば、補助浮力体を回動させることで、左右方向に沿う軸まわりに保持体を回動させることができる。 Furthermore, according to the underwater inspection apparatus according to the present invention, the holding body can be rotated around the axis along the left-right direction by rotating the auxiliary buoyancy body.

本発明の水中点検装置の実施例１を示す概略斜視図である。It is a schematic perspective view which shows Example 1 of the underwater inspection apparatus of this invention. 図１の水中点検装置の概略平面図である。It is a schematic plan view of the underwater inspection apparatus of FIG. 図１の水中点検装置の使用状態を示す概略左側面図である。It is a schematic left view which shows the use condition of the underwater inspection apparatus of FIG. 図１の水中点検装置の使用状態を示す概略背面図である。It is a schematic rear view which shows the use condition of the underwater inspection apparatus of FIG. 図１の水中点検装置の使用状態を示す概略背面図であり、図４の状態から傾斜させた状態を示している。It is a schematic rear view which shows the use condition of the underwater inspection apparatus of FIG. 1, and has shown the state inclined from the state of FIG. 図１の水中点検装置の使用状態を示す概略背面図であり、図５の状態からさらに傾斜させた状態を示している。It is a schematic rear view which shows the use condition of the underwater inspection apparatus of FIG. 1, and has shown the state further inclined from the state of FIG. 本発明の水中点検装置の実施例２を示す概略斜視図である。It is a schematic perspective view which shows Example 2 of the underwater inspection apparatus of this invention. 図７の水中点検装置の概略背面図である。It is a schematic back view of the underwater inspection apparatus of FIG. 図７の水中点検装置の使用状態を示す概略左側面図である。It is a schematic left view which shows the use condition of the underwater inspection apparatus of FIG. 図７の水中点検装置の使用状態を示す概略左側面図であり、図９の状態から傾斜させた状態を示している。It is a schematic left view which shows the use condition of the underwater inspection apparatus of FIG. 7, and has shown the state inclined from the state of FIG.

以下、本発明の具体的実施例を図面に基づいて詳細に説明する。 Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

図１から図６は、本発明の水中点検装置の実施例１を示す概略図であり、図１は概略斜視図、図２は概略平面図、図３は使用状態を示す概略左側面図、図４から図６は使用状態を時系列に示す概略背面図である。なお、図５および図６においては、一部を省略して示している。本実施例の水中点検装置１は、略直方体状に組み立てられた形材から構成される保持体２と、保持体２に設けられる一対の支持脚３，３と、保持体２に回動可能に設けられる浮力体４，４と、浮力体４，４を回動させる浮力体回動手段５と、前後方向へ推進力を発生させる前後スラスタ６，６と、被点検物７を撮影する撮影手段８と、浮力体回動手段５などを制御する図外の制御手段とを備え、水中において中性浮力となる。本実施例の水中点検装置１は、使用場所が特に限定されるものではないが、ここでは、被点検物であるダムの堤体７の壁面を撮影して点検する場合について説明する。 FIGS. 1 to 6 are schematic views showing Example 1 of the underwater inspection apparatus of the present invention, FIG. 1 is a schematic perspective view, FIG. 2 is a schematic plan view, and FIG. 3 is a schematic left side view showing a use state. 4 to 6 are schematic rear views showing the usage state in time series. In FIGS. 5 and 6, a part is omitted. The underwater inspection apparatus 1 according to the present embodiment can be rotated to a holding body 2 made of a shape assembled in a substantially rectangular parallelepiped shape, a pair of support legs 3 and 3 provided on the holding body 2, and the holding body 2. The buoyancy bodies 4, 4 provided on the buoyancy body, the buoyancy body rotation means 5 for rotating the buoyancy bodies 4, 4, the front and rear thrusters 6, 6 for generating a propulsion force in the front-rear direction, and the photographing for photographing the inspection object 7. Means 8 and control means (not shown) for controlling the buoyancy body rotating means 5 and the like are provided, and the neutral buoyancy is obtained in water. The underwater inspection apparatus 1 of the present embodiment is not particularly limited in use place, but here, a case will be described in which the wall surface of the dam body 7 of the dam that is the inspection object is photographed and inspected.

保持体２は、横長の略直方体状に形成される。具体的には、前後左右の四隅に、上下方向へ沿うようにして支柱９，９，１０，１０が配置される。この際、前方左右の支柱９，９間の距離および後方左右の支柱１０，１０間の距離が、前後の支柱９，１０間の距離よりも長くなるよう配置される。本実施例では、各支柱９，１０は、断面矩形状のパイプが用いられている。前方左右の支柱９，９の上端部同士、前方左右の支柱９，９の下端部同士、後方左右の支柱１０，１０の上端部同士、および後方左右の支柱１０，１０の下端部同士はそれぞれ、第１接続材１１により接続される。この際、前方左右の支柱９，９の下端部同士および後方左右の支柱１０，１０の下端部同士を接続する第１接続材１１は、各支柱９，１０から左右方向外方へ延出している。本実施例では、各第１接続材１１は、断面矩形状のパイプが用いられている。 The holding body 2 is formed in a horizontally long substantially rectangular parallelepiped shape. Specifically, the support pillars 9, 9, 10, and 10 are arranged along the vertical direction at the four corners of the front, rear, left, and right. At this time, the distance between the front left and right support columns 9 and 9 and the distance between the rear left and right support columns 10 and 10 are longer than the distance between the front and rear support columns 9 and 10. In this embodiment, each of the columns 9 and 10 is a pipe having a rectangular cross section. The upper end portions of the front left and right support columns 9, 9, the lower end portions of the front left and right support columns 9, 9, the upper end portions of the rear left and right support columns 10, 10, and the lower end portions of the rear left and right support columns 10, 10 are respectively The first connecting material 11 is connected. At this time, the first connecting member 11 that connects the lower ends of the front left and right columns 9, 9 and the lower ends of the rear left and right columns 10, 10 extends from the columns 9, 10 outward in the left-right direction. Yes. In the present embodiment, each first connecting member 11 is a pipe having a rectangular cross section.

保持体２の左右両端部では、前後の支柱９，１０同士が第２接続材１２により接続される。具体的には、前後の支柱９，１０の上端部同士を接続する第２接続材１２は、前述した第１接続材１１が支柱９，１０の上端部に載せ置かれて固定されており、この第１接続材１１，１１間を架け渡すように設けられる。また、前後の支柱９，１０の下端部同士を接続する第２接続材１２は、前述した第１接続材１１の左右方向外方への延出部間を架け渡すように設けられる。さらに、前後の支柱９，１０の上下方向略中央部同士は、第３接続材１３により接続される。本実施例では、各第２接続材１２および各第３接続材１３は、断面矩形状のパイプが用いられている。 At the left and right ends of the holding body 2, the front and rear columns 9, 10 are connected to each other by the second connecting material 12. Specifically, the second connecting member 12 that connects the upper ends of the front and rear columns 9, 10 is fixed by placing the first connecting member 11 on the upper ends of the columns 9, 10; It is provided so as to bridge between the first connecting members 11 and 11. Moreover, the 2nd connection material 12 which connects the lower end parts of the front and back support | pillars 9 and 10 is provided so that it may span between the extension parts to the left-right direction outward of the 1st connection material 11 mentioned above. Furthermore, the substantially central portions in the vertical direction of the front and rear support columns 9 and 10 are connected by a third connecting member 13. In this embodiment, each second connecting member 12 and each third connecting member 13 are pipes having a rectangular cross section.

保持体２の上端部に配置される第２接続材１２，１２同士、および保持体２の下端部に配置される第２接続材１２，１２同士はそれぞれ、第４接続材１４により接続される。第４接続材１４は、保持体２の上端部に配置される第１接続材１１，１１間に前後に離隔して配置されると共に、保持体２の下端部に配置される第１接続材１１，１１間に前後に離隔して配置される。本実施例では、各第４接続材１４は、断面矩形状のパイプが用いられている。このような構成の本実施例の保持体２は、左右長さが約１．０１ｍ、上下長さが約０．６７ｍ、奥行きが約０．４６ｍとされている。 The second connecting members 12 and 12 arranged at the upper end of the holding body 2 and the second connecting members 12 and 12 arranged at the lower end of the holding body 2 are connected by the fourth connecting member 14, respectively. . The fourth connecting member 14 is disposed between the first connecting members 11 and 11 disposed at the upper end portion of the holding body 2 so as to be separated from the front and rear, and is disposed at the lower end portion of the holding body 2. 11 and 11 are spaced apart from each other in the front-rear direction. In the present embodiment, each fourth connecting member 14 is a pipe having a rectangular cross section. The holding body 2 of this embodiment having such a configuration has a left-right length of about 1.01 m, a vertical length of about 0.67 m, and a depth of about 0.46 m.

保持体２の下端部において、前側に配置される第４接続材１４および後側に配置される第４接続材１４にはそれぞれ、左右に離隔して上下方向へ沿って配置される短支柱１５，１５，１６，１６が設けられる。短支柱１５，１５の上端部同士および短支柱１６，１６の上端部同士は、短接続材１７により接続される。本実施例では、短支柱１５，１６および短接続材１７は、断面矩形状のパイプが用いられている。 In the lower end portion of the holding body 2, the fourth support member 14 disposed on the front side and the fourth connection member 14 disposed on the rear side are respectively separated from each other in the left-right direction and are arranged along the vertical direction. , 15, 16, 16 are provided. The upper ends of the short struts 15, 15 and the upper ends of the short struts 16, 16 are connected by a short connection material 17. In the present embodiment, the short struts 15 and 16 and the short connection material 17 are pipes having a rectangular cross section.

支持脚３は、保持体２の左右両端部に設けられる。各支持脚３は、ダムの堤体７への接触片１８と、接触片１８の保持体２への連結片１９とを備える。接触片１８は、四角形の板状に形成されており、前面にはゴム製の緩衝材２０が設けられる。緩衝材２０は、四角形の板状に形成されており、接触片１８の四隅と中央部に設けられる。接触片１８の後面の中央部には、後方への延出部２１，２１が上下に離隔して形成されている。 The support legs 3 are provided at both left and right ends of the holding body 2. Each support leg 3 includes a contact piece 18 to the dam body 7 of the dam and a connection piece 19 to the holding body 2 of the contact piece 18. The contact piece 18 is formed in a rectangular plate shape, and a rubber cushioning material 20 is provided on the front surface. The cushioning material 20 is formed in a rectangular plate shape, and is provided at the four corners and the center of the contact piece 18. In the central portion of the rear surface of the contact piece 18, rearward extending portions 21 and 21 are formed so as to be spaced apart from each other in the vertical direction.

支持脚３の連結片１９は、円筒状に形成されており、前後方向へ沿って配置される。連結片１９は、前端部が軸受２２に差し込まれており、この軸受２２には、前方への突出部２３が設けられる。突出部２３は、上下に離隔して配置された延出部２１，２１間に配置され、その状態において突出部２３を貫通しつつ延出部２１，２１間を架け渡すようにピン２４が設けられることで、そのピン２４まわりに回転可能に延出部２１に設けられる。この際、図２に示されるように、突出部２３と接触片１８との隙間が小さくされており、図２における時計方向および反時計方向へ突出部２３が回転した場合に、突出部２３が接触片１８の後面に接触して回転が規制される。連結片１９は、後端部がコ字形状材２５の開放両端部間に配置され、その状態においてボルトナットなどによりコ字形状材２５に取り付けられる。コ字形状材２５は、保持体２の前方側の支柱９の上下方向略中央部にボルトナットなどにより取り付けられる。このようにして、各支持脚３は、保持体２の左右両端部に前方へ突出して着脱可能に設けられる。 The connecting piece 19 of the support leg 3 is formed in a cylindrical shape and is arranged along the front-rear direction. The front end of the connecting piece 19 is inserted into the bearing 22, and the bearing 22 is provided with a forward projecting portion 23. The protruding portion 23 is disposed between the extending portions 21 and 21 that are spaced apart from each other in the vertical direction, and a pin 24 is provided so as to bridge the extending portions 21 and 21 while penetrating the protruding portion 23 in this state. As a result, the extension portion 21 is provided to be rotatable around the pin 24. At this time, as shown in FIG. 2, the gap between the protrusion 23 and the contact piece 18 is reduced, and when the protrusion 23 rotates clockwise and counterclockwise in FIG. The rotation is restricted by contacting the rear surface of the contact piece 18. The connecting piece 19 is disposed between the open ends of the U-shaped member 25 at the rear end, and in this state, is attached to the U-shaped member 25 with a bolt nut or the like. The U-shaped member 25 is attached to a substantially central portion in the vertical direction of the support column 9 on the front side of the holding body 2 with a bolt nut or the like. In this way, each support leg 3 is detachably provided at the left and right ends of the holding body 2 so as to protrude forward.

前述したように、各支持脚３は、連結片１９が軸受２２を介して接触片１８に設けられているため、接触片１８に対して連結片１９がその軸線まわりに回転可能とされ、左右どちらか一方の接触片１８に対して保持体２が連結片１９まわりに回転可能とされている。また、各支持脚３は、突出部２３が延出部２１に対してピン２４まわりに回動可能に設けられているため、左右どちらか一方の接触片１８に対して保持体２が上下方向へ沿うピン２４まわりに回動可能とされている。 As described above, each support leg 3 is provided with the connecting piece 19 on the contact piece 18 via the bearing 22, so that the connecting piece 19 can rotate around its axis with respect to the contact piece 18. The holding body 2 is rotatable around the connecting piece 19 with respect to one of the contact pieces 18. Further, each support leg 3 is provided with the protruding portion 23 so as to be rotatable around the pin 24 with respect to the extending portion 21, so that the holding body 2 is vertically moved with respect to either the left or right contact piece 18. It can be rotated around a pin 24 along the line.

浮力体４は、保持体２の左右方向略中央部の前後両端部に配置される。各浮力体４は、正面視略蒲鉾状とされ、発泡ウレタンにより形成される。前後両浮力体４，４は、側面視において上方へ開口した略コ字形状の接続部材２６により互いに接続される。接続部材２６は、前後に離隔して上下方向へ沿って配置される円筒状の縦柱部２７と、縦柱部２７の下端部同士を接続する円筒状の横柱部２８とを有し、各縦柱部２７と横柱部２８とが連結部２９により互いに接続される。このような接続部材２６の各縦柱部２７の上端部に、前記浮力体４が設けられて、前後両浮力体４，４が互いに接続される。 The buoyancy body 4 is disposed at both front and rear ends of the substantially central portion in the left-right direction of the holding body 2. Each buoyancy body 4 is substantially bowl-shaped when viewed from the front, and is formed of urethane foam. The front and rear buoyancy bodies 4 and 4 are connected to each other by a substantially U-shaped connecting member 26 opened upward in a side view. The connecting member 26 includes a cylindrical vertical column portion 27 that is spaced apart in the front-rear direction and disposed in the vertical direction, and a cylindrical horizontal column portion 28 that connects the lower end portions of the vertical column portion 27 to each other. Each vertical column portion 27 and the horizontal column portion 28 are connected to each other by a connecting portion 29. The buoyancy body 4 is provided at the upper end of each vertical column portion 27 of the connecting member 26, and the front and rear buoyancy bodies 4, 4 are connected to each other.

接続部材２６は、保持体２に回転可能に設けられる。具体的には、取付片３０を介して短接続材１７に軸受３１が設けられ、この軸受３１に接続部材２６の横柱部２８が差し込まれて、接続部材２６が保持体２に回転可能に保持される。これにより、接続部材２６に設けられる浮力体４，４は、前後方向へ沿う軸である横柱部２８まわりに回動可能とされる。 The connection member 26 is rotatably provided on the holding body 2. Specifically, a bearing 31 is provided on the short connection member 17 via the mounting piece 30, and the horizontal column portion 28 of the connection member 26 is inserted into the bearing 31 so that the connection member 26 can rotate to the holding body 2. Retained. Thereby, the buoyancy bodies 4 and 4 provided in the connection member 26 can be rotated around the horizontal column portion 28 which is an axis along the front-rear direction.

浮力体回動手段５は、接続部材２６をその横柱部２８まわりに回動させる手段であって、本実施例ではモータとされる。このモータ５の駆動軸に設けられるギアと、接続部材２６の横柱部２８に設けられるギアとが互いに噛み合わされており、モータ５を正逆回転させることで接続部材２６を回動させることができる。従って、浮力体回転手段５により浮力体４，４を回動させることができる。 The buoyancy body rotating means 5 is means for rotating the connecting member 26 around the horizontal column portion 28, and is a motor in this embodiment. The gear provided on the drive shaft of the motor 5 and the gear provided on the horizontal column portion 28 of the connection member 26 are engaged with each other, and the connection member 26 can be rotated by rotating the motor 5 forward and backward. it can. Therefore, the buoyancy bodies 4 and 4 can be rotated by the buoyancy body rotation means 5.

前後スラスタ６は、保持体２の左右両端部に着脱可能に設けられる。本実施例では、前後スラスタ６は、取付部材３２を介して、前後の支柱９，１０の上下方向略中央部同士を接続する第３接続材１３に着脱可能に設けられる。なお、本実施例では、前後スラスタ６に加えて、上下方向へ推進力を発生させる上下スラスタ３３が保持体２の左右両端部に着脱可能に設けられると共に、左右方向へ推進力を発生させる左右スラスタ３４が保持体２の左右両端部に着脱可能に設けられる。図示例では、上下スラスタ３３および左右スラスタ３４はそれぞれ、取付部材３５，３６を介して、第３接続材１３に着脱可能に設けられる。 The front and rear thrusters 6 are detachably provided at both left and right ends of the holding body 2. In this embodiment, the front and rear thrusters 6 are detachably provided on the third connection member 13 that connects the substantially central portions in the vertical direction of the front and rear support columns 9 and 10 via the attachment member 32. In the present embodiment, in addition to the front and rear thrusters 6, upper and lower thrusters 33 that generate propulsive force in the vertical direction are detachably provided at both left and right ends of the holding body 2, and left and right that generate propulsive force in the horizontal direction. Thrusters 34 are detachably provided at the left and right ends of the holding body 2. In the illustrated example, the upper and lower thrusters 33 and the left and right thrusters 34 are detachably attached to the third connecting member 13 via attachment members 35 and 36, respectively.

撮影手段８は、ダムの堤体７の壁面を撮影する手段であって、本実施例では、カメラとされる。カメラ８は、左右に離隔して保持体２に着脱可能に設けられる。本実施例では、各カメラ８は、取付部材３７を介して、保持体２の上端部に配置される第４接続材１４の内、前側に配置される第４接続材１４に着脱可能に設けられる。この際、各カメラ８は、左右方向内側に傾斜して設けられる。 The photographing means 8 is means for photographing the wall surface of the dam body 7 and is a camera in this embodiment. The camera 8 is detachably provided on the holding body 2 so as to be separated from the left and right. In the present embodiment, each camera 8 is detachably provided on the fourth connecting member 14 disposed on the front side among the fourth connecting members 14 disposed on the upper end portion of the holding body 2 via the attachment member 37. It is done. At this time, each camera 8 is provided to be inclined inward in the left-right direction.

制御手段は、モータ５などに接続されている。本実施例では、水中点検装置１の保持体２の姿勢角を検出する図外の姿勢角センサを備えており、この姿勢角センサにも制御手段が接続されている。そして、制御手段は、姿勢角センサの検出信号に基づき、モータ５を制御することができる。 The control means is connected to the motor 5 or the like. In this embodiment, a posture angle sensor (not shown) for detecting the posture angle of the holding body 2 of the underwater inspection apparatus 1 is provided, and a control means is also connected to this posture angle sensor. And a control means can control the motor 5 based on the detection signal of a posture angle sensor.

制御手段は、断面円形の中空状に形成された耐圧容器３８内に収容されている。この耐圧容器３８は、軸方向が左右方向へ沿うようにして、浮力体４，４間に配置される。具体的には、耐圧容器３８の左右両端部にそれぞれ、フランジ状に延出して板材３９，３９が固定され、これらの板材３９の上端部が第４接続材１４に固定されると共に、板材３９の下端部が短接続材１７に固定される。 The control means is accommodated in a pressure resistant container 38 formed in a hollow shape with a circular cross section. The pressure vessel 38 is disposed between the buoyancy bodies 4 and 4 so that the axial direction is along the left-right direction. Specifically, the left and right end portions of the pressure vessel 38 extend in a flange shape and are fixed with plate members 39, 39. The upper end portions of these plate members 39 are fixed to the fourth connecting member 14, and the plate member 39. Is fixed to the short connecting member 17.

次に、本実施例の水中点検装置１の動作について説明する。水中点検装置１は、図外の電源が装置外部に設けられており、この電源から図外のケーブルを介して電力が供給される。また、水中点検装置１は、図外の水深センサを備えており、この水深センサにより支持脚３の水深を計測することができる。 Next, operation | movement of the underwater inspection apparatus 1 of a present Example is demonstrated. The underwater inspection apparatus 1 is provided with a power source outside the figure, and power is supplied from the power source via a cable outside the figure. The underwater inspection apparatus 1 includes a water depth sensor (not shown), and the water depth of the support leg 3 can be measured by the water depth sensor.

水中点検装置１は、水中に投入された後、前後スラスタ６，６、上下スラスタ３３，３３および左右スラスタ３４，３４を駆動させて、堤体７の壁面の目標位置に移動される。この目標位置では、図３および図４に示されるように、水中点検装置１は、水平に配置された状態で、左右の支持脚３，３の接触片１８が緩衝材２０を介して堤体７に接触されて保持体２に支持される。これは、左右に配置されている前後スラスタ６，６により前方への推進力を発生させることでなされる。この際、上下スラスタ３３および左右スラスタ３４は、支持脚３の堤体７への接触を妨げないように、駆動の有無や駆動力が適宜に制御される。 After being put into the water, the underwater inspection device 1 is moved to the target position on the wall surface of the levee body 7 by driving the front and rear thrusters 6 and 6, the upper and lower thrusters 33 and 33, and the left and right thrusters 34 and 34. At this target position, as shown in FIG. 3 and FIG. 4, the underwater inspection apparatus 1 has the contact piece 18 of the left and right support legs 3, 3 through the cushioning material 20 in a state of being horizontally disposed. 7 and is supported by the holding body 2. This is done by generating forward thrust by the front and rear thrusters 6, 6 arranged on the left and right. At this time, whether or not the upper and lower thrusters 33 and the left and right thrusters 34 are driven is appropriately controlled so as not to prevent the support legs 3 from coming into contact with the bank 7.

この状態から、図５に示されるように、モータ５を駆動させることで、浮力体４を接続部材２６の横柱部２８まわりに時計方向へ回動させる。これにより、左側の支持脚３が堤体７に接触した状態で、左側の支持脚３を支点として保持体２を反時計方向へ回動させることができる。この回動時、左側の支持脚３の接触片１８が堤体７に接触した状態で、左側の支持脚３の連結片１９がその軸線まわりに回転されると共に、左側の支持脚３の連結片１９がピン２４まわりに回動される。この際、左側の前後スラスタ６の駆動により、左側の支持脚３が堤体７に接触した状態とされる。また、右側の前後スラスタ６、上下スラスタ３３および左右スラスタ３４は、保持体２の反時計方向への回動を妨げないように、駆動の有無や駆動力が適宜に制御される。 From this state, as shown in FIG. 5, the buoyancy body 4 is rotated around the horizontal column portion 28 of the connection member 26 in the clockwise direction by driving the motor 5. Thereby, the holding body 2 can be rotated counterclockwise with the left support leg 3 as a fulcrum while the left support leg 3 is in contact with the bank 7. At the time of this rotation, the connecting piece 19 of the left support leg 3 is rotated around its axis line while the contact piece 18 of the left support leg 3 is in contact with the dam body 7 and the left support leg 3 is connected. The piece 19 is rotated around the pin 24. At this time, the left supporting leg 3 is brought into contact with the bank body 7 by driving the left front / rear thruster 6. In addition, the presence / absence of driving and the driving force of the right front / rear thruster 6, the vertical thruster 33, and the left / right thruster 34 are appropriately controlled so as not to prevent the holding body 2 from rotating counterclockwise.

保持体２を反時計方向へ回動させることで、図６に示されるように、右側の支持脚３が左側の支持脚３よりも下方に配置された状態で、保持体２を傾斜させることができる。この保持体２の傾斜角度は、予め設定されており、本実施例では、１５°〜３０°とされる。すなわち、姿勢角センサに基づく保持体２の傾斜角度が、予め設定されている傾斜角度と一致するように、モータ５を制御して浮力体４を回動させる。 By rotating the holding body 2 counterclockwise, as shown in FIG. 6, the holding body 2 is tilted in a state where the right support leg 3 is disposed below the left support leg 3. Can do. The inclination angle of the holding body 2 is set in advance, and is set to 15 ° to 30 ° in the present embodiment. That is, the buoyancy body 4 is rotated by controlling the motor 5 so that the inclination angle of the holding body 2 based on the attitude angle sensor matches the preset inclination angle.

保持体２の回動後、モータ５の駆動により、浮力体４を接続部材２６の横柱部２８まわりに反時計方向へ回動させて水平状態に戻すことができると共に、右側の前後スラスタ６の駆動により、右側の支持脚３の接触片１８が緩衝材２０を介して堤体７に接触させることができる。これにより、保持体２が傾斜した状態で、左右の支持脚３，３が堤体７に接触され、水中点検装置１を堤体７に保持することができる。この際、上下スラスタ３３および左右スラスタ３４は、保持体２の堤体７への保持を妨げないように、駆動の有無や駆動力が制御される。保持体２が堤体７に保持された状態において、カメラ８により堤体７の壁面が撮影され、目視にて堤体７の壁面のクラックの有無などが点検される。 After the holding body 2 is rotated, by driving the motor 5, the buoyancy body 4 can be rotated counterclockwise around the horizontal column portion 28 of the connecting member 26 to return to the horizontal state, and the right front-rear thruster 6 , The contact piece 18 of the right support leg 3 can be brought into contact with the dam body 7 through the cushioning material 20. Thereby, in the state which the holding body 2 inclined, the left and right support legs 3 and 3 are contacted with the bank body 7, and the underwater inspection apparatus 1 can be held on the bank body 7. At this time, whether or not the upper and lower thrusters 33 and the left and right thrusters 34 are driven is controlled so as not to prevent the holding body 2 from being held on the bank 7. In a state where the holding body 2 is held by the bank body 7, the wall surface of the bank body 7 is photographed by the camera 8, and the presence or absence of cracks on the wall surface of the bank body 7 is visually inspected.

そして、この状態からさらに、モータ５の駆動により、浮力体４を接続部材２６の横柱部２８まわりに反時計方向へ回動させることで、右側の支持脚３が堤体７に接触した状態で、右側の支持脚３を支点として保持体２を時計方向へ回動させることができる。この回動時、右側の支持脚３の接触片１８が堤体７に接触した状態で、右側の支持脚３の連結片１９がその軸線まわりに回転されると共に、右側の支持脚３の連結片１９がピン２４まわりに回動される。この際、右側の前後スラスタ６の駆動により、右側の支持脚３が堤体７に接触した状態とされる。また、左側の前後スラスタ６、上下スラスタ３３および左右スラスタ３４は、保持体２の時計方向への回動を妨げないように、駆動の有無や駆動力が適宜に制御される。 Further, from this state, by driving the motor 5, the buoyant body 4 is rotated counterclockwise around the horizontal column portion 28 of the connecting member 26 so that the right support leg 3 is in contact with the dam body 7. Thus, the holding body 2 can be rotated clockwise with the right support leg 3 as a fulcrum. At the time of this rotation, the connecting piece 19 of the right support leg 3 is rotated around its axis while the contact piece 18 of the right support leg 3 is in contact with the dam body 7 and the right support leg 3 is connected. The piece 19 is rotated around the pin 24. At this time, the right support leg 3 is brought into contact with the bank body 7 by driving the right front and rear thrusters 6. Further, the presence / absence of driving and the driving force of the left and right front and rear thrusters 6, the upper and lower thrusters 33, and the left and right thrusters 34 are appropriately controlled so as not to prevent the holder 2 from rotating clockwise.

保持体２を時計方向へ回動させることで、左側の支持脚３が右側の支持脚３よりも下方に配置された状態で、保持体２を傾斜させることができる。この保持体２の傾斜角度は、予め設定されており、本実施例では、１５°〜３０°とされる。すなわち、姿勢角センサに基づく保持体２の傾斜角度が、予め設定されている傾斜角度と一致するように、モータ５を制御して浮力体４を回動させる。 By rotating the holding body 2 in the clockwise direction, the holding body 2 can be tilted in a state where the left support leg 3 is disposed below the right support leg 3. The inclination angle of the holding body 2 is set in advance, and is set to 15 ° to 30 ° in the present embodiment. That is, the buoyancy body 4 is rotated by controlling the motor 5 so that the inclination angle of the holding body 2 based on the attitude angle sensor matches the preset inclination angle.

保持体２の回動後、モータ５の駆動により、浮力体４を接続部材２６の横柱部２８まわりに時計方向へ回動させて水平状態に戻すことができると共に、左側の前後スラスタ６の駆動により、左側の支持脚３の接触片１８が緩衝材２０を介して堤体７に接触させることができる。これにより、保持体２が傾斜した状態で、左右の支持脚３，３が堤体７に接触され、水中点検装置１を堤体７に保持することができる。この際、上下スラスタ３３および左右スラスタ３４は、保持体２の堤体７への保持を妨げないように、駆動の有無や駆動力が制御される。保持体２が堤体７に保持された状態において、カメラ８により堤体７の壁面が撮影され、目視にて堤体７の壁面のクラックの有無などが点検される。そして、その状態からさらに、浮力体４の回動により保持体２を反時計方向へ回動させることで、右側の支持脚３が左側の支持脚３よりも下方に配置された状態で保持体２を傾斜させることができ、その傾斜状態において両支持脚３，３を堤体７に接触させることで、保持体２を堤体７に保持することができる。 After the holding body 2 is rotated, by driving the motor 5, the buoyancy body 4 can be rotated clockwise around the horizontal column portion 28 of the connecting member 26 to return to the horizontal state, and the left and right front and rear thrusters 6 By driving, the contact piece 18 of the left support leg 3 can be brought into contact with the dam body 7 through the cushioning material 20. Thereby, in the state which the holding body 2 inclined, the left and right support legs 3 and 3 are contacted with the bank body 7, and the underwater inspection apparatus 1 can be held on the bank body 7. At this time, whether or not the upper and lower thrusters 33 and the left and right thrusters 34 are driven is controlled so as not to prevent the holding body 2 from being held on the bank 7. In a state where the holding body 2 is held by the bank body 7, the wall surface of the bank body 7 is photographed by the camera 8, and the presence or absence of cracks on the wall surface of the bank body 7 is visually inspected. Then, by further rotating the holding body 2 counterclockwise by the rotation of the buoyancy body 4 from that state, the holding body in a state where the right support leg 3 is disposed below the left support leg 3. 2 can be inclined, and the holding body 2 can be held on the bank body 7 by bringing both support legs 3 and 3 into contact with the bank body 7 in the tilted state.

このようにして、左側の支持脚３を支点とした保持体２の回動と、右側の支持脚３を支点とした保持体２の回動とを交互に繰り返すことで、水中点検装置１を下方へ移動させつつ、カメラ８にて堤体７の壁面を撮影して点検することができる。なお、本実施例の水中点検装置１は、水深センサを備えており、この水深センサにより下方へ移動した支持脚３、すなわち、回動時の支点となる支持脚３と左右方向反対側の支持脚３の水深を検出することができる。そして、検出された水深に基づき、ダムの堤体７において支持脚３が接触した位置を導出することができる。すなわち、水中点検装置１の位置を求めることができ、これにより、堤体７の壁面にクラックが生じている場合、そのクラックの位置を求めることができる。 In this way, the underwater inspection apparatus 1 is configured by alternately repeating the rotation of the holding body 2 with the left support leg 3 as a fulcrum and the rotation of the holding body 2 with the right support leg 3 as a fulcrum. The wall surface of the bank 7 can be photographed and inspected by the camera 8 while being moved downward. The underwater inspection apparatus 1 according to the present embodiment includes a water depth sensor, and the support leg 3 moved downward by the water depth sensor, that is, the support leg 3 serving as a fulcrum at the time of rotation and the support on the opposite side in the left-right direction. The water depth of the leg 3 can be detected. And the position where the support leg 3 contacted in the dam body 7 of a dam can be derived | led-out based on the detected water depth. That is, the position of the underwater inspection device 1 can be obtained, and thereby, when a crack is generated on the wall surface of the levee body 7, the position of the crack can be obtained.

次に、本発明の水中点検装置の実施例２について説明する。本実施例２の水中点検装置１も基本的には、前記実施例１と同様の構成である。そこで、以下では、両者の異なる点を中心に説明し、対応する箇所には同一の符号を付して説明する。図７〜図１０は、本実施例の水中点検装置を示す概略図であり、図７は概略斜視図、図８は概略背面図、図９および図１０は使用状態を時系列に示す概略左側面図である。なお、図１０においては、一部を省略して示している。 Next, a second embodiment of the underwater inspection apparatus of the present invention will be described. The underwater inspection device 1 according to the second embodiment is basically configured in the same manner as the first embodiment. Therefore, in the following description, the differences between the two will be mainly described, and corresponding portions will be described with the same reference numerals. FIGS. 7 to 10 are schematic views showing the underwater inspection device of the present embodiment, FIG. 7 is a schematic perspective view, FIG. 8 is a schematic rear view, and FIGS. 9 and 10 are schematic left-hand sides showing usage states in time series. FIG. In FIG. 10, a part of it is omitted.

前記実施例１では、浮力体４の回動により保持体２を回動させることができたが、本実施例２では、上下スラスタ３３により保持体２を回動させることができる。すなわち、本実施例では、浮力体４と浮力体回動手段５とが設けられない。 In the first embodiment, the holding body 2 can be rotated by the rotation of the buoyancy body 4, but in the second embodiment, the holding body 2 can be rotated by the upper and lower thrusters 33. That is, in this embodiment, the buoyancy body 4 and the buoyancy body rotation means 5 are not provided.

本実施例では、左側の前後スラスタ６の駆動により左側の支持脚３が堤体７に接触した状態とされ、この状態において、右側の上下スラスタ３３の駆動により、左側の支持脚３を支点として保持体２を反時計方向へ回動させることができる。この回動後、右側の前後スラスタ６の駆動により右側の支持脚３が堤体７に接触した状態とされ、この状態において、左側の上下スラスタ３３の駆動により、右側の支持脚３を支点として保持体２を時計方向へ回動させることができる。その他の構成および制御は、前記実施例１と同様のため、説明を省略する。 In this embodiment, the left support leg 3 is brought into contact with the dam body 7 by driving the left front and rear thrusters 6. In this state, the left support leg 3 is used as a fulcrum by driving the right upper and lower thrusters 33. The holding body 2 can be rotated counterclockwise. After this rotation, the right support leg 3 is brought into contact with the dam body 7 by driving the right front / rear thruster 6. In this state, the right support leg 3 is used as a fulcrum by driving the left upper and lower thrusters 33. The holding body 2 can be rotated clockwise. Other configurations and controls are the same as those in the first embodiment, and thus description thereof is omitted.

また、本実施例の水中点検装置１は、補助浮力体４０，４０と、この補助浮力体４０，４０を回動させる補助浮力体回動手段４１とをさらに備える。補助浮力体４０は、保持体２の左右両端部に配置される。各補助浮力体４０は、側面視略蒲鉾状とされ、発泡ウレタンにより形成される。左右両補助浮力体４０，４０は、正面視において上方へ開口した略コ字形状の接続部材４２により互いに接続される。接続部材４２は、左右に離隔して上下方向へ沿って配置される円筒状の縦柱部４３と、縦柱部４３の下端部同士を接続する円筒状の横柱部４４とを有し、各縦柱部４３と横柱部４４とが連結部４５により互いに接続される。このような接続部材４２の各縦柱部４３の上端部に、前記補助浮力体４０が設けられて、左右両補助浮力体４０，４０が互いに接続される。 The underwater inspection apparatus 1 of this embodiment further includes auxiliary buoyancy bodies 40 and 40 and auxiliary buoyancy body rotation means 41 that rotates the auxiliary buoyancy bodies 40 and 40. The auxiliary buoyancy bodies 40 are arranged at both left and right ends of the holding body 2. Each auxiliary buoyancy body 40 has a substantially bowl shape in a side view and is formed of urethane foam. The left and right auxiliary buoyancy bodies 40, 40 are connected to each other by a substantially U-shaped connection member 42 opened upward in a front view. The connecting member 42 has a cylindrical vertical column portion 43 that is arranged in the vertical direction and is separated from the left and right, and a cylindrical horizontal column portion 44 that connects the lower ends of the vertical column portion 43 to each other. Each vertical column portion 43 and the horizontal column portion 44 are connected to each other by a connecting portion 45. The auxiliary buoyancy body 40 is provided at the upper end of each vertical column portion 43 of the connecting member 42, and the left and right auxiliary buoyancy bodies 40, 40 are connected to each other.

接続部材４２は、保持体２に回転可能に設けられる。具体的には、取付片４６を介して短接続材１７に軸受４７が設けられ、この軸受４７に接続部材４２の横柱部４４が差し込まれて、接続部材４２が保持体２に回転可能に保持される。これにより、接続部材４２に設けられる補助浮力体４０は、左右方向へ沿う軸である横柱部４４まわりに回動可能とされる。 The connection member 42 is rotatably provided on the holding body 2. Specifically, a bearing 47 is provided on the short connection member 17 via the attachment piece 46, and the horizontal column portion 44 of the connection member 42 is inserted into the bearing 47 so that the connection member 42 can rotate to the holding body 2. Retained. Thereby, the auxiliary buoyancy body 40 provided in the connection member 42 can be rotated around the horizontal column portion 44 that is an axis extending in the left-right direction.

補助浮力体回動手段４１は、接続部材４２をその横柱部４４まわりに回動させる手段であって、本実施例ではモータとされる。このモータ４１の駆動軸に設けられるギアと、接続部材４２の横柱部４４に設けられるギアとが互いに噛み合わされており、モータ４１を正逆回転させることで接続部材４２を回動させることができる。従って、補助浮力体回転手段４１により補助浮力体４０を回動させることができる。 The auxiliary buoyancy body rotation means 41 is a means for rotating the connecting member 42 around the horizontal column portion 44, and is a motor in this embodiment. The gear provided on the drive shaft of the motor 41 and the gear provided on the horizontal column portion 44 of the connection member 42 are meshed with each other, and the connection member 42 can be rotated by rotating the motor 41 forward and backward. it can. Therefore, the auxiliary buoyancy body 40 can be rotated by the auxiliary buoyancy body rotation means 41.

図１０に示されるように、本実施例では、モータ４１を駆動させることで、補助浮力体４０を接続部材４２の横柱部４４まわりに時計方向へ回動させることができる。これにより、保持体２を接続部材４２の横柱部４４まわりに反時計方向へ回動させることができる。これとは逆に、補助浮力体４０を接続部材４２の横柱部４４まわりに反時計方向へ回動させることで、保持体２を接続部材４２の横柱部４４まわりに時計方向へ回動させることができる。従って、本実施例の水中点検装置１によれば、ダムの堤体７の壁面が傾斜している場合において、保持体２を接続部材４２の横柱部４４まわりに回動させて、傾斜した堤体７の壁面と支持脚３の連結片１９とが垂直に配置された状態で、支持脚３を介して堤体７に支持することができる。そして、左側の支持脚３を支点とした保持体２の回動と、右側の支持脚３を支点とした保持体２の回動とを交互に繰り返すことで、水中点検装置１を移動させることができる。 As shown in FIG. 10, in this embodiment, by driving the motor 41, the auxiliary buoyancy body 40 can be rotated around the horizontal column portion 44 of the connection member 42 in the clockwise direction. Thereby, the holding body 2 can be rotated counterclockwise around the horizontal column portion 44 of the connection member 42. On the contrary, by rotating the auxiliary buoyancy body 40 counterclockwise around the horizontal column portion 44 of the connection member 42, the holder 2 is rotated clockwise around the horizontal column portion 44 of the connection member 42. Can be made. Therefore, according to the underwater inspection apparatus 1 of the present embodiment, when the wall surface of the dam body 7 is inclined, the holding body 2 is rotated around the horizontal column portion 44 of the connection member 42 and is inclined. The wall surface of the levee body 7 and the connecting piece 19 of the support leg 3 can be supported by the dam body 7 via the support leg 3 in a state where the connecting piece 19 is vertically arranged. Then, the underwater inspection device 1 is moved by alternately repeating the rotation of the holding body 2 using the left support leg 3 as a fulcrum and the rotation of the holding body 2 using the right support leg 3 as a fulcrum. Can do.

また、補助浮力体４０の回動により、水中点検装置１を、水平状態から右側の支持脚３を支点として反時計方向へ１８０°回動させる際に、右側の支持脚３を堤体７により強く押し付けることができる。具体的には、左側の上下スラスタ３３の駆動により保持体２を右側の支持脚３を支点として回動させ、保持体２が鉛直方向へ沿って配置された際に、補助浮力体４０を９０°回動させて、保持体２の右側の支持脚３を支点とした回動を妨げないようにする。そして、さらに補助浮力体４０を回動させて、浮心が水中点検装置１の重心と堤体７との間に配置されることで、右側の支持脚３を堤体７に押し付ける方向のモーメントを発生させることができ、右側の支持脚３をより強く堤体７に押し付けることができる。これとは逆に、水平状態から左側の支持脚３を支点として時計方向へ１８０°回動させる場合も、同様にして、左側の支持脚３をより強く堤体７に押し付けることができる。従って、水中点検装置１を１８０°回動させる際に、回動の支点となる支持脚３の堤体７への保持をより確実に行うことができる。 Further, when the underwater inspection device 1 is rotated 180 ° counterclockwise from the horizontal state with the right support leg 3 as a fulcrum by the rotation of the auxiliary buoyancy body 40, the right support leg 3 is moved by the dam body 7. Can be pressed strongly. Specifically, the auxiliary buoyancy body 40 is moved to 90 when the holding body 2 is rotated along the vertical direction by rotating the holding body 2 about the right support leg 3 by driving the left upper and lower thrusters 33. Rotate so that the rotation with the support leg 3 on the right side of the holding body 2 as a fulcrum is not hindered. Then, the auxiliary buoyancy body 40 is further rotated so that the buoyancy is disposed between the center of gravity of the underwater inspection device 1 and the levee body 7, so that the moment in the direction in which the right support leg 3 is pressed against the dam body 7. Can be generated, and the right support leg 3 can be more strongly pressed against the bank 7. On the contrary, when the left support leg 3 is rotated 180 ° clockwise from the horizontal state with the left support leg 3 as a fulcrum, the left support leg 3 can be pressed more strongly against the dam body 7 in the same manner. Therefore, when the underwater inspection apparatus 1 is rotated by 180 °, the support leg 3 serving as a fulcrum of rotation can be more securely held on the bank body 7.

前記各実施例の水中点検装置１によれば、左側の支持脚３を支点とした保持体２の回動と、右側の支持脚３を支点とした保持体２の回動とを交互に繰り返し行うことで、ダムの堤体７に接触させつつ下方へ移動させることができる。従って、下方への移動の際に、カメラ８をダムの堤体７に十分近づけた状態を容易に維持することができ、これにより、水中の濁度が高い場合においても、カメラ８により堤体７の壁面を撮影して、その壁面の十分な情報を得ることができ、堤体７の壁面の点検を目視にて容易に行うことができる。 According to the underwater inspection device 1 of each of the above embodiments, the rotation of the holding body 2 using the left support leg 3 as a fulcrum and the rotation of the holding body 2 using the right support leg 3 as a fulcrum are alternately repeated. By doing so, it can be moved downward while contacting the dam body 7 of the dam. Therefore, when moving downward, the camera 8 can be easily maintained in a state where the camera 8 is sufficiently close to the dam body 7, so that even when the turbidity in water is high, the camera 8 can perform the dam body. 7 can be imaged to obtain sufficient information on the wall surface, and the wall surface of the levee body 7 can be easily inspected visually.

また、前記各実施例の水中点検装置１によれば、下方への移動が、前後スラスタ６の駆動と浮力体４の回動、または前後スラスタ６の駆動と上下スラスタ３３の駆動とによりなされることで、容易に移動させることができる。また、前記各実施例の水中点検装置１によれば、左右両支持脚３，３を介して堤体７の壁面に接触できることで、堤体７に容易に支持することができ、点検時において、水中点検装置１の定点保持や姿勢保持を容易に行うことができる。 Further, according to the underwater inspection device 1 of each of the above embodiments, the downward movement is performed by driving the front and rear thrusters 6 and rotating the buoyancy body 4 or driving the front and rear thrusters 6 and the upper and lower thrusters 33. Therefore, it can be easily moved. Moreover, according to the underwater inspection apparatus 1 of each said Example, since it can contact the wall surface of the levee body 7 via both right-and-left support legs 3 and 3, it can support to the dam body 7 easily, and at the time of inspection In addition, it is possible to easily hold the fixed point and the posture of the underwater inspection apparatus 1.

また、前記各実施例の水中点検装置１によれば、水深センサによって支持脚３の位置を計測することができるため、ＳＳＢＬ方式などの超音波を用いた位置計測と比較して、支持脚３の位置計測を高精度に行うことができる。従って、検出された水深に基づき、ダムの堤体７において支持脚３が接触した位置、ひいては水中点検装置１の位置を高精度に計測することができ、これにより、堤体７の壁面にクラックが生じている場合、そのクラックの位置を高精度に求めることができる。 In addition, according to the underwater inspection device 1 of each of the above embodiments, since the position of the support leg 3 can be measured by the water depth sensor, the support leg 3 is compared with the position measurement using ultrasonic waves such as the SSBL method. Can be measured with high accuracy. Therefore, based on the detected water depth, the position where the support leg 3 contacts the dam body 7 and thus the position of the underwater inspection device 1 can be measured with high accuracy. If this occurs, the position of the crack can be obtained with high accuracy.

さらに、前記各実施例の水中点検装置１によれば、電源を装置外部に設けることで、装置１の重量を軽くすることができ、装置１の運動性能を向上させることができる。また、水中点検装置１の重量を軽くすることで、数人の作業者によって、水中点検装置１を水中に容易に投入することができる。 Furthermore, according to the underwater inspection device 1 of each of the above embodiments, by providing a power source outside the device, the weight of the device 1 can be reduced and the exercise performance of the device 1 can be improved. Further, by reducing the weight of the underwater inspection device 1, the underwater inspection device 1 can be easily put into the water by several operators.

本発明の水中点検装置は、前記各実施例の構成に限らず、適宜変更可能である。たとえば、前記実施例１の水中点検装置１が、補助浮力体４０および補助浮力体回動手段４１を備えていてもよいし、前記実施例２の水中点検装置１が、補助浮力体４０および補助浮力体回動手段４１を備えていなくてもよい。また、前記実施例１の水中点検装置１において、前記実施例２のように上下スラスタ３３，３３を用いて保持体２を回動させてもよい。また、浮力体４と上下スラスタ３３との双方を用いて、保持体２を回動させてもよい。また、前記実施例１の水中点検装置１において、上下スラスタ３３，３３を省略してもよい。 The underwater inspection apparatus of the present invention is not limited to the configuration of each of the above embodiments, and can be changed as appropriate. For example, the underwater inspection apparatus 1 of the first embodiment may include the auxiliary buoyancy body 40 and the auxiliary buoyancy body rotating means 41, and the underwater inspection apparatus 1 of the second embodiment includes the auxiliary buoyancy body 40 and the auxiliary buoyancy body 40. The buoyancy body rotation means 41 may not be provided. Further, in the underwater inspection apparatus 1 of the first embodiment, the holding body 2 may be rotated using the upper and lower thrusters 33, 33 as in the second embodiment. Further, the holding body 2 may be rotated using both the buoyancy body 4 and the upper and lower thrusters 33. In the underwater inspection apparatus 1 of the first embodiment, the upper and lower thrusters 33, 33 may be omitted.

また、前記各実施例では、水深センサにより支持脚３の水深が機械的に計測されたが、姿勢角センサにより検出された保持体２の姿勢角を用いて、下方へ移動した支持脚３の位置を求めてもよい。具体的には、保持体２の左右長さは既知であり、この保持体２の左右長さと回動後の保持体２の姿勢角とから、下方への移動前の支持脚３と移動後の支持脚３との間の上下の差を求めることができ、ひいては、下方へ移動した支持脚３の位置を求めることができる。この場合、水深センサを省略することができる。また、水深センサと姿勢角センサとの双方を用いて、下方へ移動した支持脚３の位置を求めてもよい。また、水深センサを用いて下方へ移動した支持脚３の位置を求める際には、姿勢角センサを省略することができる。この場合、浮力体４の回動角度を予め設定しておけばよい。 Further, in each of the embodiments, the water depth of the support leg 3 is mechanically measured by the water depth sensor, but the support leg 3 moved downward using the posture angle of the holding body 2 detected by the posture angle sensor. The position may be obtained. Specifically, the left and right lengths of the holding body 2 are known. From the left and right lengths of the holding body 2 and the posture angle of the holding body 2 after the rotation, the support leg 3 before the downward movement and the after movement The vertical difference between the support leg 3 and the support leg 3 can be obtained. As a result, the position of the support leg 3 moved downward can be obtained. In this case, the water depth sensor can be omitted. Further, the position of the support leg 3 moved downward may be obtained using both the water depth sensor and the attitude angle sensor. Moreover, when calculating | requiring the position of the support leg 3 which moved below using the water depth sensor, a posture angle sensor can be abbreviate | omitted. In this case, the rotation angle of the buoyancy body 4 may be set in advance.

また、前記各実施例では、前後スラスタ６、上下スラスタ３３および左右スラスタ３４は、左右に１つずつ設けられたが、左右それぞれに複数設けてもよい。また、前記各実施例では、カメラ８は、２台設けられたが、１台でもよいし、３台以上であってもよい。また、カメラ８の取付位置は、保持体２の下端部としてもよいし、保持体２の上下両端部としてもよい。さらに、前記各実施例では、緩衝材２０は、ゴム製とされたが、これに限定されるものではなく、堤体７の壁面に傷がつくのを防止することができるものであればよい。これに加えて、緩衝材２０は、堤体７との摩擦力が高いものが好ましい。 Further, in each of the embodiments, the front and rear thrusters 6, the upper and lower thrusters 33, and the left and right thrusters 34 are provided one by one on the left and right, but a plurality may be provided on each of the left and right. In each of the above embodiments, two cameras 8 are provided. However, one camera or three or more cameras may be used. Further, the attachment position of the camera 8 may be the lower end portion of the holding body 2 or the upper and lower end portions of the holding body 2. Furthermore, in each said Example, although the shock absorbing material 20 was made from rubber | gum, it is not limited to this, What is necessary is just to be able to prevent that the wall surface of the bank 7 is damaged. . In addition to this, it is preferable that the cushioning material 20 has a high frictional force with the bank body 7.

１水中点検装置
２保持体
３支持脚
４浮力体
５モータ（浮力体回動手段）
６前後スラスタ
７堤体（被点検物）
８カメラ（撮影手段）
３３上下スラスタ
４０補助浮力体
４１モータ（補助浮力体回動手段） DESCRIPTION OF SYMBOLS 1 Underwater inspection apparatus 2 Holding body 3 Support leg 4 Buoyancy body 5 Motor (buoyancy body rotation means)
6 Front and rear thrusters 7 Embankment (inspected object)
8 Camera (photographing means)
33 Vertical thruster 40 Auxiliary buoyancy body 41 Motor (auxiliary buoyancy body rotation means)

Claims

A support leg provided on the holding body in the left-right direction,
A buoyancy body provided on the holding body so as to be rotatable around an axis extending in the front-rear direction;
Buoyancy body rotation means for rotating the buoyancy body;
A front-rear thruster that is provided in the holding body so as to be spaced apart in the left-right direction and generates a propulsive force in the front-rear direction;
A posture angle sensor for detecting a posture angle of the holding body;
An imaging means provided on the holding body for imaging the inspection object;
Underwater, the holder is brought into contact with the object to be inspected through one support leg by driving one of the front and rear thrusters. By moving, the holding body is rotated with one of the support legs as a fulcrum, and after the rotation, the other support leg is brought into contact with the object to be inspected by driving the other front and rear thrusters,
The posture angle after rotation of the holding body is detected by the posture angle sensor, and the position of the other support leg after rotation is obtained from the detected posture angle and the horizontal length of the holding body. Underwater inspection device characterized by.

In place of or in addition to the buoyancy body and the buoyancy body rotation means, comprising a vertical thruster that generates a propulsive force in the vertical direction,
The upper and lower thrusters are spaced apart from each other in the horizontal direction on the holding body, and one of the upper and lower thrusters is disposed on one of the front and rear thrusters, and the other upper and lower thruster is disposed on the other front and rear thruster. And
In the water, the holding body is brought into contact with the object to be inspected through one of the support legs by driving one of the front and rear thrusters, and in the contact state, by driving the other upper and lower thrusters, The support body is rotated with a support leg as a fulcrum, and after the rotation, the other support leg is brought into contact with the object to be inspected by driving the other front and rear thrusters. Underwater inspection device.

The underwater inspection apparatus according to claim 1, further comprising a water depth sensor that detects a water depth of the support leg instead of or in addition to the posture angle sensor.

An auxiliary buoyancy body provided on the holding body so as to be rotatable about an axis extending in the left-right direction;
The underwater inspection device according to any one of claims 1 to 3, further comprising auxiliary buoyancy body rotation means for rotating the auxiliary buoyancy body.