JP2017154524A - Underwater remote control operation vehicle, in-vessel examination device, and in-vessel examination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater remote control operation vehicle which enables improvement of rectilinear movability and is easily operated.SOLUTION: An underwater remote control operation vehicle includes: an underwater imaging device 71 capable of imaging in water; a housing 70 on which the underwater imaging device 71 is mounted; a cable 51 which transmits a signal used at least in remote control operation and extends to a rear side of the housing 70 in a main moving direction; a connection part 62 for connecting the cable 51 to a rear part of the housing 70; and at least three main thrusters 59 which are disposed around the connection part 62 while arranged in a circumferential direction in a rear view of the housing 70.SELECTED DRAWING: Figure 6

Description

  Embodiments of the present invention relate to an underwater remote control vehicle and in-vessel survey technology used for surveying the internal structure of a nuclear power plant.

  2. Description of the Related Art Conventionally, in an underwater vehicle that performs wired remote operation, a cable is hung from an operation device on the water, and the cable is connected to the vehicle. In particular, some underwater vehicles for investigating special environments such as the inside of a reactor pressure vessel have a cable connected between two longitudinal propulsion mechanisms arranged side by side.

JP 7-311292 A

  However, when the underwater vehicle moves forward, a reaction force of traction force or water resistance is applied to the cable that moves forward together, so that a force pulled by the cable is applied to the vehicle. In particular, in the above technique, since a cable is connected between the two front-rear direction propulsion mechanisms arranged side by side, the vertical swing cannot be suppressed and the straightness is deteriorated. Has to be operated while always conscious of nose up and nose down, and there is a problem that it is difficult to operate.

  Embodiments of the present invention have been made in view of such circumstances, and provide an underwater remote operation vehicle that improves straightness and is easy to operate, and an in-container investigation technique using the underwater remote operation vehicle. Objective.

  An underwater remote control vehicle according to an embodiment of the present invention includes an underwater image capturing device capable of capturing an image in water, a housing in which the underwater image capturing device is mounted, and a cable that transmits at least a signal used for remote operation. A cable extending toward the rear side in the main traveling direction of the housing, a connection portion for connecting the cable to the rear portion of the housing, and arranged in the circumferential direction around the connection portion in the rear view of the housing At least three main thrusters.

  An in-container inspection device according to an embodiment of the present invention is an in-container inspection device that performs an investigation by inserting an underwater remote control vehicle into a container, and the above-mentioned through a through pipe that penetrates the wall of the container in the horizontal direction. A guide pipe that is inserted toward the inside of the container; a housing part that is provided on a distal end side of the guide pipe and houses the underwater remote operation vehicle; and the housing when the housing part is disposed inside the container. A swinging shaft portion that swings the portion downward, and an opening that faces downward when the housing portion is swung to lower the underwater remote control vehicle.

  An in-container inspection method according to an embodiment of the present invention is an in-container inspection method in which an underwater remote control vehicle is inserted into a container for investigation, and the underwater remote operation is placed in a storage section provided on the tip side of a guide pipe. An accommodation step for accommodating the operation vehicle, an insertion step for inserting the guide pipe toward the inside of the container through a through pipe penetrating the wall of the container in the horizontal direction, and the accommodating part are disposed inside the container. A swinging step for swinging the housing portion downward when the housing portion is swung, and a lowering step for lowering the underwater remote control vehicle from an opening facing downward when the housing portion is swung. And

  According to the embodiments of the present invention, an underwater remote operation vehicle that improves the straightness and is easy to operate, and an in-container investigation technique using the underwater remote operation vehicle are provided.

Sectional drawing which shows the wall part of the reactor containment vessel provided with the through pipe. Sectional drawing which shows the state which inserted the guide pipe in the through-pipe. Sectional drawing which shows the accommodating part of the front-end | tip of a guide pipe. Sectional drawing which shows the state by which the accommodating part was rock | fluctuated below. Sectional drawing which shows the state which the underwater remote control vehicle is investigating the inside of the reactor containment vessel. The perspective view which shows the state which looked at the underwater remote control vehicle from the front upper side. The perspective view which shows the state which looked at the underwater remote control vehicle from the rear lower side. The top view which shows an underwater remote control vehicle. The side view which shows an underwater remote control vehicle. Sectional drawing which shows an underwater remote control vehicle. The bottom view which shows an underwater remote control vehicle. The front view which shows an underwater remote control vehicle. The rear view which shows an underwater remote control vehicle. The block diagram which shows the structure of the investigation apparatus in a container. The conceptual diagram which shows the arrangement | positioning aspect of the main thruster of this embodiment. The conceptual diagram which shows the arrangement | positioning aspect of the main thruster of other embodiment. The conceptual diagram which shows the arrangement | positioning aspect of the main thruster of other embodiment. The flowchart which shows the investigation procedure in a nuclear reactor containment vessel.

  Hereinafter, this embodiment is described based on an accompanying drawing. As shown in FIG. 1, a boiling water reactor (BWR) which is an example of a nuclear power plant is provided with a reactor containment vessel 1 for housing a pressure vessel provided with a core. The reactor containment vessel 1 has a function of shielding the outside from the radioactive material and radiation so as not to leak. Therefore, the reactor containment vessel 1 has a wall portion 2 that is firmly formed of a steel plate member, concrete, or the like and has a predetermined thickness dimension.

  Usually, when investigating the inside of the reactor containment vessel 1, it is possible to insert the investigation device into the inside by opening the open / close hatch provided on the reactor containment vessel 1 side. However, when a severe accident such as core melting occurs, it becomes impossible to investigate the inside by opening the open / close hatch of the reactor containment vessel 1. Further, when a large amount of water 3 for cooling the core accumulates inside the reactor containment vessel 1, the investigation cannot be performed with a normal investigation device. Therefore, in the present embodiment, an underwater remote control vehicle 50 (see FIGS. 6 to 13) capable of photographing underwater is inserted into the reactor containment vessel 1, and the water 3 accumulated in the reactor containment vessel 1. Surveys are carried out by advancing through.

  As shown in FIG. 1, the wall 2 of the reactor containment vessel 1 is provided with a through pipe 4 that extends in the horizontal direction and penetrates the wall 2. The through pipe 4 is a pipe having a predetermined inner diameter and having a cylindrical shape. In addition, an isolation valve 5 attached in advance is provided at the outer end of the through pipe 4. Note that the isolation valve 5 is closed before the inside of the reactor containment vessel 1 is examined. Such through pipes 4 are provided at several locations on the wall 2 of the reactor containment vessel 1, but when investigating the inside of the reactor containment vessel 1, the level is higher than the water level of the internal water 3. The through pipe 4 arranged at the position is used.

  As shown in FIG. 2, when investigating the inside of the reactor containment vessel 1, an extension pipe 6 for extending the through pipe 4 is connected via the isolation valve 5. The inner diameter of the extension pipe 6 is the same as the inner diameter of the through pipe 4. Further, the internal passage size when the isolation valve 5 is opened is the same as or larger than the inner diameter of the through pipe 4.

  The in-vessel investigation device of this embodiment includes an insertion device 10 for inserting the underwater remote operation vehicle 50 into the reactor containment vessel 1. The insertion device 10 includes a guide pipe 11 that is inserted into the through pipe 4. The guide pipe 11 has a dimension in which the longitudinal direction extends in the horizontal direction and is longer than the combined length of the through pipe 4, the isolation valve 5, and the extension pipe 6. The outer diameter of the guide pipe 11 is slightly smaller than the inner diameter of the through pipe 4.

  In addition, a storage unit 12 that stores the underwater remote operation vehicle 50 is provided at the tip of the guide pipe 11. The accommodating portion 12 has a pipe shape having the same outer diameter and inner diameter as the guide pipe 11. When the guide pipe 11 is inserted into the reactor containment vessel 1, the overhead camera device 40 for photographing the vehicle 50 is also housed in the housing portion 12 together with the vehicle 50 (see FIG. 3). This overhead camera device 40 has a size smaller than that of the vehicle 50.

  Furthermore, the in-container inspection device of this embodiment includes an attachment device 13 attached to the end of the extension pipe 6. The attachment device 13 is a device for allowing the guide pipe 11 to be inserted in a state where the opening portion of the extension tube 6 is sealed with an O-ring or the like when the guide pipe 11 is inserted into the extension tube 6. The isolation valve 5 is opened with the guide pipe 11 inserted into the extension pipe 6 via the attachment device 13. At this time, the attachment device 13 prevents the contaminated air inside the reactor containment vessel 1 from flowing out. Then, the guide pipe 11 is pushed forward, and the accommodating portion 12 at the tip end portion of the guide pipe 11 is disposed inside the reactor containment vessel 1 through the through pipe 4. The guide pipe 11 has a length dimension extending from the attachment device 13 to the inside of the reactor containment vessel 1. Further, when the entire length of the guide pipe 11 is inserted, the accommodating portion 12 protrudes from the inner surface of the wall portion 2 toward the inside of the reactor containment vessel 1.

  It should be noted that when the vehicle 50 is inserted into the reactor containment vessel 1 through the through pipe 4, the vehicle 50 is covered with the storage portion 12, so that the vehicle 50 is protected by the storage portion 12. Can be inserted. For example, even if there is an obstacle or the like inside the through-tube 4, the vehicle 50 will not be damaged because the container 12 comes into contact with the obstacle first. It is also possible to advance while pushing the obstacle by the accommodating portion 12 (guide pipe 11). Further, even if an obstacle or the like exists in the vicinity of the end of the through pipe 4 inside the reactor containment vessel 1, the first projecting from the end of the through pipe 4 is the housing portion 12, so that the vehicle 50 can be protected.

  In addition, the housing device wire pulling device 14 is attached to the attachment device 13. Further, a connecting valve 15 for connection is attached to the wire pulling device 14 for the accommodating portion. The overhead camera cable winding device 16 and the vehicle cable winding device 17 are connected via the connection valve 15. The in-container investigation device may be configured to be provided with other devices. Further, these devices can be driven in a state where the inside is sealed, and even if contaminated air inside the reactor containment vessel 1 flows through the through pipe 4, it does not flow outside. It has a structure.

  As shown in FIG. 3, the accommodating portion 12 has a length dimension necessary for accommodating the overhead camera device 40 together with the vehicle 50. That is, the accommodating part 12 has a dimension longer than the total length of the vehicle 50 and the overhead camera device 40. In addition, an opening 32 is formed at the distal end of the accommodating portion 12 so that the vehicle 50 and the overhead camera device 40 can be taken in and out. Since the vehicle 50 is accommodated with the front facing the opening 32, the vehicle 50 proceeds while photographing the front using the vehicle 50 as it proceeds through the through pipe 4. be able to.

  In addition, the lower portion of the base end portion of the accommodating portion 12 is attached to the distal end portion of the guide pipe 11 via the swing shaft portion 31. The housing portion 12 can swing downward about the swing shaft portion 31. Moreover, the accommodating part 12 is provided with the connection part 29 to which the wire 28 is connected to the upper part of the base end part. The wire 28 extends through the inside of the guide pipe 11 to the wire pulling device 14 for the accommodating portion.

  In a state where the wire 28 is pulled by the pulling device 14, the connecting portion 29 of the housing portion 12 is pulled, and the housing portion 12 faces in the horizontal direction. And the accommodating part 12 is provided in the same height position as the guide pipe 11 (refer FIG. 3). That is, the guide pipe 11 and the accommodating portion 12 are arranged in a straight line. Further, when the pulling of the wire 28 by the pulling device 14 is loosened, the accommodating portion 12 is swung downward about the swinging shaft portion 31 by its own weight (see FIG. 4). The accommodating portion 12 is swung downward about 90 °. In a state where the housing portion 12 is swung and turned in the vertical direction, the opening portion 32 faces downward, so that the vehicle 50 and the overhead camera device 40 can be lowered.

  The overhead camera device 40 is provided with a cable 41 for transferring a captured image. The overhead camera cable 41 extends through the guide pipe 11 to the overhead camera cable winding device 16. The vehicle 50 is attached with a cable 51 for performing remote operation. The vehicle cable 51 extends to the vehicle cable winding device 17 through the inside of the guide pipe 11.

  As shown in FIG. 4, a cable pipe 27 through which the vehicle cable 51 passes is provided inside the guide pipe 11. The vehicle cable 51 extends to the vehicle cable winding device 17 through the inside of the cable pipe 27. The cable pipe 27 has the same length as the guide pipe 11. The cable pipe 27 is fixed by a mounting bracket fixed to the inner peripheral surface of the guide pipe 11. The vehicle cable 51 is protected by the cable pipe 27 so as not to interfere with other members such as the overhead camera cable 41 and the accommodating portion wire 28.

  Thus, since the cable 51 does not interfere with other members inside the guide pipe 11 when the cable 51 is sent out, the cable 51 can be sent out smoothly while protecting the cable 51. In addition, a holding roller 30 that holds the wire 28 is provided at an upper portion of the distal end portion of the guide pipe 11. For this reason, the wire 28 does not interfere with the cables 41 and 51.

  In addition, inside the guide pipe 11, two delivery rollers 26 disposed near the tip of the cable pipe 27 are provided. These feed rollers 26 sandwich the vehicle cable 51 from above and below. A vehicle cable delivery device 18 (see FIG. 14) having a drive motor for rotating the delivery roller 26 is provided inside the guide pipe 11. The vehicle cable 51 sandwiched between the delivery rollers 26 is actively sent out by the rotation of the delivery roller 26. Note that when the vehicle cable 51 is pulled into the guide pipe 11, the feed roller 26 is rotated in the reverse direction.

  The vehicle cable take-up device 17 sends out the cable 51 and the sending device 18 rotates the sending roller 26 so that the vehicle cable 51 is sent out. And the vehicle 50 begins to fall from the opening part 32 of the accommodating part 12 with dead weight. When the overhead camera cable winding device 16 sends out the cable 41, the overhead camera device 40 starts to descend from the opening 32 of the housing portion 12 due to its own weight. When the cables 41 and 51 are sent out to a predetermined length, the overhead camera device 40 and the vehicle 50 enter the water 3 and the investigation inside the reactor containment vessel 1 is started (see FIG. 5).

  In the present embodiment, a vehicle cable delivery control unit 19 (see FIG. 14) is provided that controls the delivery amount of the cable 51 in accordance with the progress of the underwater remote operation vehicle 50. Therefore, the amount of the cable 51 that is required when the vehicle 50 moves to the target location inside the reactor containment vessel 1 can be set, and the possibility that the cable 51 is tangled or caught can be reduced. In this way, it is possible to always prevent the cable 51 from being excessively fed, so that it is possible to investigate continuously. The underwater remote operation vehicle 50 advances forward while pulling the cable 51. In addition, the sending control unit 19 controls the winding device 17 according to the current position of the vehicle 50 as well as the control for feeding the cable 51 according to the progress of the vehicle 50, winds the cable 51, and takes the inside of the guide pipe 11. The cable 51 is also controlled so as to prevent the cable 51 from being fed too much. Note that an acceleration sensor or a gyroscope may be mounted on the vehicle 50 in order to specify the current position of the vehicle 50.

  As shown in the block diagram of FIG. 14, the in-container inspection device of the present embodiment includes an insertion device 10, an overhead camera device 40, and an underwater remote operation vehicle 50. Furthermore, a remote operation PC 22 is provided for the operator to remotely operate the vehicle 50, the insertion device 10, and the like. The remote operation PC 22 is connected to the insertion device 10 via a communication line 23. The remote control PC 22 is provided in a building at a different position from the reactor building in which the reactor containment vessel 1 is arranged.

  The insertion device 10 also includes a wire pulling device 14 for an accommodating portion, a cable winding device 16 for an overhead camera, a cable winding device 17 for a vehicle, a cable sending device 18 for a vehicle, and a cable sending control unit 19 for a vehicle. And comprising. Further, the insertion device 10 includes a main control unit 20 that controls and controls these devices, and a communication unit 21 for communicating with the remote operation PC 22, the overhead camera device 40, and the underwater remote operation vehicle 50. Prepare. The insertion device 10 is connected to a power source 24 for supplying power to the devices. The power source 24 is configured by a generator or the like provided outdoors, and is connected to the insertion device 10 via a power supply line 25.

  In addition, an overhead camera device 40 is connected to the insertion device 10 via an overhead camera cable 41. The overhead camera cable 41 includes a power supply line 42 for supplying power to the overhead camera device 40 and a communication line 43 for transferring an image taken by the overhead camera device 40.

  The overhead camera device 40 includes an illumination device 44 having a plurality of LED lamps for illuminating the shooting direction, and a camera 45 having a lens with a wide angle of view (shooting range) such as a wide-angle lens or a fisheye lens. The plurality of LED lamps of the lighting device 44 are arranged so as to surround the lens of the camera 45. This overhead camera device 40 photographs the situation of the underwater remote control vehicle 50 and the vehicle cable 51 that perform an investigation of the inside of the reactor containment vessel 1. The captured image is transferred to the remote operation PC 22 in real time. The operator can confirm the state of the underwater remote operation vehicle 50 and the state of the vehicle cable 51 by confirming the image displayed on the display unit of the remote operation PC 22.

  In addition, an underwater remote operation vehicle 50 is connected to the insertion device 10 via a vehicle cable 51. The vehicle cable 51 includes a power supply line 52 for supplying power to the vehicle 50 and a communication line 53 for transferring an image photographed by the vehicle 50. The communication line 53 also transmits an operation signal transmitted from the remote operation PC 22 to operate the vehicle 50. That is, the communication line 53 is for transferring signals used for remote operation of the vehicle 50 such as images and operation signals.

  The underwater remote operation vehicle 50 includes an illumination device 54 having a plurality of LED lamps for illuminating the imaging direction, a camera 55 for imaging the inside of the reactor containment vessel 1, and the illumination device 54 and the camera 55. An imaging direction changing device 56 for changing the direction, a radiation dosimeter 57 for measuring the radiation dose inside the reactor containment vessel 1, a thermometer 58 for measuring the water temperature, and four main thrusters 59 (FIG. 13), a sub-thruster motor 60a for driving a sub-thruster 60 used for vertical movement (see FIG. 10), a housing 70 (see FIG. 10) of the vehicle 50, and a vehicle. A cable separating device 61 for separating the cable 51 for use.

  The plurality of LED lamps of the illumination device 54 are arranged so as to surround the lens of the camera 55. This underwater remote operation vehicle 50 uses the camera 55 to photograph the inside of the reactor containment vessel 1. The captured image is transferred to the remote operation PC 22 in real time. The operator can grasp the internal situation of the reactor containment vessel 1 by confirming the image displayed on the display unit of the remote control PC 22. Further, information indicating the current position of the vehicle 50, information indicating the amount of the vehicle cable 51 sent, and the like are also displayed on the display unit of the remote operation PC 22. The image taken by the vehicle 50 can be stored in the remote control PC 22.

  Next, the underwater remote operation vehicle 50 of this embodiment will be described with reference to FIGS. In the following description, the left side of FIGS. 8 to 11 is defined as the front side (front side) of the vehicle 50. 8 and the left side of FIG. 13 as the left side of the vehicle 50 and FIG. 9 as a left side view of the vehicle 50 will be described below.

  As shown in FIGS. 6 and 7, the vehicle 50 includes a casing 70 that extends in the front-rear direction and has a cylindrical shape. The housing 70 is formed of a synthetic resin or the like, and has a sealed space in which various devices are accommodated. A photographing device 71 (underwater photographing device) is mounted on the front side of the housing 70. In addition, on the rear side of the housing 70, four main thrusters 59 are mounted and the cable 51 is connected.

  When the vehicle 50 is thrown into the water, it is hung by the cable 51 and the photographing device 71 is directed downward (see FIG. 4). Further, when the vehicle 50 is submerged in water, buoyancy is generated, and the photographing device 71 and the housing 70 are aligned in the horizontal direction. When a thrust is applied by the main thruster 59, the vehicle 50 moves forward with the photographing device 71 as the front. The cable 51 extends to the rear side in the main traveling direction of the vehicle 50 (housing 70), and the cable 51 is pulled by the vehicle 50.

  As shown in FIG. 14, the photographing device 71 includes a housing sphere 71 a that has a spherical shape in which the lighting device 54, the camera 55, the photographing direction changing device 56, and the like are housed. The housing sphere 71a is formed of a transparent material such as acrylic resin or glass, and is formed to withstand a predetermined water pressure. Moreover, since the spherically-shaped accommodation ball 71a is arranged on the front side in the main traveling direction of the vehicle 50, it is possible to reduce the resistance of water when moving forward.

  In addition, as shown in the cross-sectional view of FIG. 10, the containing sphere 71a is connected to the housing 70 via the connecting pipe 71b. Various wires extending from the inside of the housing 70 via the connection pipe 71b are extended inside the housing sphere 71a and connected to various devices such as the camera 55 inside the housing sphere 71a. In FIG. 10, a part of the configuration is omitted to facilitate understanding.

  In the present embodiment, the shooting direction of the camera 55 can be changed forward, upward, and downward by the shooting direction changing device 56. That is, the camera 55 can swing in the vertical direction around a swing shaft provided at the center of the containing ball 71a. In addition, the illumination device 54 can be swung together with the camera 55. Note that when the shooting direction of the camera 55 is changed to the left or right, the vehicle 50 is turned left or right.

  As shown in FIGS. 8 to 10 and 13, a connection portion 62 for connecting the cable 51 is provided at the rear portion of the housing 70. The connecting portion 62 is provided at the center position (center of gravity position) in the vertical plane with respect to the traveling direction of the housing 70 in rear view (rear view). It is possible to pull up the vehicle 50 from the water by pulling the cable 51. When the vehicle 50 is pulled up from the water, the vehicle 50 is placed in a posture in which the front side of the vehicle 50 faces downward and can be accommodated in the accommodating portion 12 (see FIG. 4). In addition, when the connection part 62 is provided in the center position of the housing | casing 70 by the back view, when pulling up the vehicle 50. FIG. It comes to be arrange | positioned in the center of the accommodating part 12. FIG.

  Further, four main thrusters 59 are provided at the rear part of the casing 70 (see FIG. 15). These main thrusters 59 are arranged around the connecting portion 62 and are arranged at equal intervals in the circumferential direction. More specifically, two main thrusters 59 arranged on the left and right are arranged in two stages on the top and bottom. The lines connecting the center points of the main thrusters 59 are arranged in a square. That is, the four main thrusters 59 are arranged point-symmetrically (rotationally symmetric) with the connection portion 62 as the center point when the housing 70 is viewed from the back.

  The main thruster 59 has a screw propeller 59b that is rotationally driven by a main thruster motor 59a (see FIG. 14). Further, the main thruster 59 has a housing 59c that protects the screw propeller 59b and has a short cylindrical shape in the front and rear. The housing 59c functions as a current plate. When the screw propeller 59b rotates forward by the driving force of the motor 59a, the main thruster 59 generates a water flow toward the rear, and the vehicle 50 advances forward. Further, by rotating the motor 59a in the reverse direction, when the screw propeller 59b rotates in the reverse direction, the main thruster 59 generates a forward water flow, and the vehicle 50 advances backward. As described above, the main thruster 59 is fixedly disposed in the housing 70, and the direction of thrust is changed by changing the rotation direction of the screw propeller 59b.

  When the vehicle 50 moves forward, a reaction force of traction force or water resistance is applied to the cable 51 that moves forward together, so that a force pulled by the cable 51 is applied to the vehicle 50. In the present embodiment, since the cable 51 is disposed at the center portion surrounded by the four main thrusters 59 in the rear portion of the casing 70 of the vehicle 50, the vehicle 50 can be moved up and down even if a force pulled by the cable 51 occurs. The vehicle 50 is not shaken in the direction and the left-right direction, and the straight traveling property of the vehicle 50 is improved and the operation becomes easy.

  Further, when the screw propellers 59b of the two right main thrusters 59 are rotated forward, the vehicle 50 turns leftward. At this time, the screw propellers 59b of the two left main thrusters 59 may be rotated in reverse. Further, when the screw propellers 59b of the two left main thrusters 59 are rotated forward, the vehicle 50 turns rightward. At this time, the screw propellers 59b of the two right main thrusters 59 may be rotated in reverse. That is, at least two main thrusters 59 are used for the yaw attitude control of the vehicle 50.

  Further, when the screw propellers 59b of the two upper main thrusters 59 are rotated forward, the vehicle 50 turns downward. At this time, the screw propellers 59b of the two lower main thrusters 59 may be rotated in reverse. Further, when the screw propellers 59b of the two lower main thrusters 59 are rotated forward, the vehicle 50 turns upward. At this time, the screw propellers 59b of the upper two main thrusters 59 may be rotated in reverse. That is, at least two main thrusters 59 are used for pitching attitude control of the vehicle 50.

  In this way, by changing the thrust of the four main thrusters 59, the vehicle 50 (housing 70) can be turned in the vertical direction and the horizontal direction. When the vehicle 50 is yawed or pitched, the two main thrusters 59 always generate thrust, and the connecting portion 62 of the cable 51 is disposed between the main thrusters 59, so that the cable 51 is pulled. Even if force is generated, the vehicle 50 can be stably turned. Further, even when the vehicle 50 is pulled by the cable 51 during turning, the cable 51 can be used as a virtual reverse thrust, and the force pulled by the cable 51 acting in the direction opposite to the thrust of the main thruster 59 is applied to the vehicle 50. It can be used as a force for turning.

  As shown in FIG. 6, FIG. 8, FIG. 9 and FIG. 11, a plurality of stabilizers 73 having a fin shape whose longitudinal direction extends along the traveling direction of the vehicle 50 are provided on the side surface and the lower surface of the housing 70. Yes. In the present embodiment, two stabilizers 73 forming a pair of upper and lower sides are provided on each of the left side surface and the right side surface of the housing 70. In addition, two stabilizers 73 forming a pair of left and right are provided on the lower surface of the housing 70. The stabilizer 73 is a plate-like member having a linear shape, and has a shape in which a front edge and a rear edge thereof are curved. Further, the curvature of the leading edge is larger than the curvature of the trailing edge. That is, the stabilizer 73 has a streamline shape in a plan view or a side view. These stabilizers 73 are integrally formed on the peripheral surface of the housing 70 and protrude in the radial direction of the housing 70.

  As shown in the conceptual diagram of FIG. 15, the stabilizer 73 has a protruding dimension inscribed in a virtual circle A having a specific diameter with the connection portion 62 as the center in the rear view of the housing 70. That is, the protruding end (edge) of the stabilizer 73 is inscribed in the virtual circle A. As described above, since the plurality of stabilizers 73 are projected with an equal dimension around the connection portion 62, the housing 70 is shaken when the vehicle 50 is moving, in particular, the cable 51 (connection portion 62) is used as an axis. Since rolling of the housing 70 is suppressed, the straight traveling performance of the vehicle 50 is improved. Moreover, the dimension of the stabilizer 73 can be set to a dimension that fits in a virtual circle A having a specific diameter with the connection portion 62 as the center. For example, it can be set as the underwater remote operation vehicle 50 which can be accommodated in the accommodating part 12 (refer FIG. 3) which has a specific internal diameter. Further, since the stabilizer 73 is not protruded more than necessary from the housing 70, the vehicle 50 is easily turned. It should be noted that all the parts of the vehicle 50 including the housing 59c of the main thruster 59 are sized to fit in the virtual circle A.

  As shown in FIGS. 9 and 11, a weight 80 (weight) for adjusting the weight balance of the vehicle 50 can be attached to and detached from the stabilizer 73. These weights 80 are screwed together using mounting holes 73 a that are penetrated by the stabilizer 73. The weight 80 is a plate-like member that is formed of a metal material such as lead and has the same shape as the stabilizer 73. The weight 80 is attached to the stabilizer 73 in advance before the vehicle 50 is used for investigation. Then, when the vehicle 50 is submerged in the water, adjustment is performed by changing the weight and position of the weight 80 so that the front-rear direction of the vehicle 50 faces the horizontal direction. Thus, by providing the weights 80 that can be attached to and detached from the stabilizer 73, the weights 80 can be easily attached and detached, and the stabilizer 73 can also be used as an attachment portion for the weights 80.

  As shown in FIGS. 8, 10, and 11, a sub-thruster 60 that is used to move the vehicle 50 up and down is provided at the center of the housing 70. In addition, by driving the sub-thruster 60, the vehicle 50 can be moved up and down while maintaining the front-rear direction in the horizontal direction. The sub thruster 60 includes a screw propeller 60b that is rotationally driven by a sub thruster motor 60a. Furthermore, a flow path 74 penetrating in the vertical direction is formed at the center of the housing 70. A sub-thruster 60 is disposed in the flow path 74. Further, the sub-thruster 60 has a wiring pipe 60c. Various wires extending from the inside of the housing 70 are connected to the sub-thruster motor 60a through the wiring tube 60c.

  When the screw propeller 60b is rotated forward by the driving force of the motor 60a, the sub thruster 60 generates a downward water flow, and the vehicle 50 is raised. Further, when the screw propeller 60b is rotated in the reverse direction by rotating the motor 60a in the reverse direction, the sub thruster 60 generates an upward water flow, and the vehicle 50 is lowered. In this way, the sub thruster 60 is fixedly disposed in the housing 70, and the direction of thrust is changed by changing the rotation direction of the screw propeller 60b. The vehicle 50 may have a buoyancy that floats on water, and the vehicle 50 may be lowered by driving the sub-thruster 60 to perform diving.

  As shown in FIGS. 7 to 10 and 13, a guide portion 63 extending from the connection portion 62 to the main thruster 59 is provided at the rear portion of the housing 70. The guide portion 63 is made of a strong material such as metal. The central portion of the guide portion 63 is screwed in the vicinity of the connection portion 62 on the rear surface of the housing 70. This guide portion 63 is accommodated by the main thruster 59 and the like when the underwater remote control vehicle 50 is drawn from the opening portion 32 of the accommodating portion 12 (see FIG. 4) and recovered by pulling the vehicle cable 51 after the survey is completed. It is provided in order to prevent being caught on the edge of the opening 32 of the portion 12. That is, the vehicle 50 is guided by the guide portion 63 and pulled into the housing portion 12.

  The guide portion 63 has four plate portions 63 a extending from the center of the housing 70 toward the center of the main thruster 59 in the rear view (rear view). The front end portions of these plate portions 63a are screwed to the central portion of the main thruster 59. The plate portion 63a has a shape in which the edge is curved. That is, the guide part 63 has a V shape in plan view and side view. When the vehicle 50 is pulled into the housing portion 12 (see FIG. 4), the curved edge of the plate portion 63 a hits the edge of the opening 32 and guides the vehicle 50 to the center of the opening 32.

  Further, in the rear view in FIG. 13, a hole portion 63 b in which the connection portion 62 is disposed is provided in the center portion of the guide portion 63. Further, by bringing the outer peripheral surface of the connecting portion 62 into contact with the inner peripheral surface of the hole 63b, the guide portion 63 can receive stress applied to the connecting portion 62 from the cable 51, and the strength of the connecting portion 62 is improved. .

  Note that the four plate portions 63 a of the guide portion 63 have an X shape in rear view and are disposed behind the main thruster 59. Therefore, when the main thruster 59 generates a backward water flow, the flow is stably flowed backward by the plate portion 63a, so that the straight traveling performance of the underwater remote operation vehicle 50 is improved. That is, the plate part 63a functions as a current plate. Further, when the vehicle 50 travels forward, turbulent flow (Kalman vortex) can be prevented from occurring behind the housing 70 by the plate portion 63a, and the straight traveling performance of the vehicle 50 is improved.

  As shown in FIG. 10, the connection portion 62 is provided with a cable separation device 61 (separation portion) for separating the housing 70 and the cable 51. If the underwater remote control vehicle 50 cannot be recovered for some reason during the investigation inside the reactor containment vessel 1, the vehicle 50 and the cable 51 are separated using the separation device 61, and the vehicle 50 is discarded. Then, only the cable 51 is collected. The separation device 61 is controlled by the remote control PC 22 (see FIG. 14).

  If the abandonment of the underwater remote operation vehicle 50 is abandoned and the vehicle cable 51 is discarded without being separated, the long cable 51 remains inside the reactor containment vessel 1. End up. In the next investigation of the inside of the reactor containment vessel 1, the vehicle cable 51 used last time becomes an obstacle. In particular, since the vehicle cable 51 is long, if it is left inside the reactor containment vessel 1, there is a possibility that the investigation may be hindered.

  In the present embodiment, since the separation device 61 is provided, when the recovery of the underwater remote operation vehicle 50 is abandoned, the vehicle 50 and the cable 51 are separated by the separation device 61 and only the cable 51 is pulled up and collected. be able to. Since the long cable 51 does not remain inside the reactor containment vessel 1, the cable 51 used last time does not get in the way during the next investigation.

  As shown in FIGS. 4 and 5, when the investigation inside the reactor containment vessel 1 is successfully completed, the overhead camera device 40 is accommodated by winding the cable 41 using the overhead camera cable winding device 16. Collected in the section 12. Further, by winding the cable 51 using the vehicle cable winding device 17, the vehicle 50 is collected in the housing portion 12. Furthermore, by pulling the wire 28 by the wire pulling device 14 for the housing portion, the connecting portion 29 of the housing portion 12 is pulled, and the housing portion 12 is swung around the rocking shaft portion 31 to face the horizontal direction. It becomes like this. And the accommodating part 12 is returned to the same height position as the guide pipe 11 (refer FIG. 3). Thereafter, the accommodating portion 12 can be pulled out from the through pipe 4 together with the guide pipe 11.

  Next, the investigation procedure in the reactor containment vessel of this embodiment will be described with reference to FIG. In the description of each step in the flowchart, for example, a portion described as “Step S11” is abbreviated as “S11”.

  As shown in FIG. 18, when investigating the inside of the reactor containment vessel 1, first, the overhead camera device 40 and the underwater remote control vehicle 50 are accommodated in the accommodating portion 12 provided on the distal end side of the guide pipe 11. (S11: accommodation step).

  Next, as shown in FIG. 2, the accommodating portion 12 and the guide pipe 11 are inserted toward the inside of the reactor containment vessel 1 through the through pipe 4 that penetrates the wall portion 2 of the reactor containment vessel 1 in the horizontal direction ( S12: Insertion step). And if the full length of the guide pipe 11 is inserted, the accommodating part 12 will protrude inside the nuclear reactor containment vessel 1.

  Next, as shown in FIG. 4, when the container 12 is disposed inside the reactor containment vessel 1, the container 12 is moved downward by loosening the pulling of the wire 28 by the container wire pulling device 14. Swing (S13: Swing step). Next, as shown in FIG. 5, the vehicle cable take-up device 17 sends out the cable 51, and the sending device 18 rotates the sending roller 26, so that the underwater remote operation vehicle 50 is moved from the opening 32 of the housing portion 12. Lower (S14: descent step). Next, the overhead camera cable winding device 16 sends out the cable 41, thereby lowering the overhead camera device 40 from the opening 32 of the accommodating portion 12 (S15).

  Next, when the bird's-eye camera device 40 and the vehicle 50 enter the water 3, the bird's-eye camera device 40 performs photographing and starts the underwater remote operation vehicle 50. At this time, the vehicle cable delivery control unit 19 controls the delivery amount of the cable 51 according to the progress of the underwater remote control vehicle 50 (S16: delivery control step).

  Next, an investigation (photographing) of the internal state of the reactor containment vessel 1 is performed by the underwater remote control vehicle 50 (S17). Then, it is determined whether or not the survey is finished (S18). If the survey is not completed, the process returns to S16 described above, and the vehicle 50 is moved to the next survey location or the next survey target is surveyed. On the other hand, when the survey is completed, it is determined whether or not the vehicle 50 is to be collected (S19: determination step).

  Here, if the underwater remote control vehicle 50 cannot be recovered for some reason, it is determined that the vehicle 50 will not be recovered, and the separation device 61 is used to separate the vehicle 50 (housing 70) and the vehicle cable 51 from each other. Then, the vehicle 50 is discarded (S24: separation step). And the overhead camera device 40 is collect | recovered in the accommodating part 12 by winding up the overhead camera cable 41 using the overhead camera cable winding device 16 (S25). Further, by winding the vehicle cable 51 using the vehicle cable winding device 17, only the vehicle cable 51 is recovered (S26: recovery step), and the process proceeds to S22 described later.

  On the other hand, if the investigation inside the reactor containment vessel 1 is successfully completed and it is determined in S19 that the vehicle 50 is to be recovered, the overhead camera cable 41 is wound up by using the overhead camera cable winding device 16. The overhead camera device 40 is collected in the storage unit 12 (S20). Further, the vehicle cable 51 is taken up by using the vehicle cable take-up device 17, whereby the vehicle 50 is collected in the housing portion 12 (S 21).

  Next, the wire 28 connected to the accommodating portion 12 is pulled by the accommodating portion wire pulling device 14, and the accommodating portion 12 is swung so that the accommodating portion 12 facing downward faces in the horizontal direction (S22). : Tow step). Next, the operation of pulling out the accommodating portion 12 together with the guide pipe 11 from the through pipe 4 is performed (S23). Then, equipment other than the isolation valve 5 attached to the through pipe 4 of the wall 2 of the reactor containment vessel 1 is removed, and the investigation in the reactor containment vessel is completed.

  As mentioned above, although one aspect of the underwater remote control vehicle 50 of the present embodiment has been described, other aspects may be used. For example, in the above-described embodiment, as shown in the conceptual diagram of FIG. 15, the four main thrusters 59 are point-symmetrically arranged with the connection portion 62 as the center point in the rear view (rear view) of the housing 70. . On the other hand, as another embodiment, as shown in the conceptual diagram of FIG. 16, the connection portion 62 is provided at the center position (center of gravity) in the vertical plane with respect to the traveling direction of the housing 70 in the rear view. Instead, it may be provided at a position shifted upward from the center position of the housing 70. Even in such a case, if the connecting portion 62 is provided inside the virtual circle C connecting the center points B of the main thrusters 59, the straight traveling performance of the vehicle 50 is improved and it is easy to operate. It becomes.

  Furthermore, in another embodiment, as shown in the conceptual diagram of FIG. 17, three main thrusters 59 are arranged around the connection portion 62 in the rear view (rear view) of the housing 70 and are equally spaced in the circumferential direction. You may line up. Further, the number of main thrusters 59 is not limited to the above-described embodiment, and may be three or more, for example, five, six, seven, or eight main thrusters 59 may be provided. Even in such a case, if the main thrusters 59 are arranged around the connection portion 62 and are arranged at equal intervals in the circumferential direction, the straight advanceability of the vehicle 50 is improved and the operation becomes easy.

  In the present embodiment, a step for determining whether or not the underwater remote operation vehicle 50 is to be recovered is provided. However, it is assumed that the underwater remote operation vehicle 50 is not recovered. May be performed.

  In the present embodiment, when the shooting direction of the camera 55 is changed to the left or right, the vehicle 50 is turned left or right. However, the camera 55 is changed by the shooting direction changing device 56. The shooting direction may be changed left and right.

  In the present embodiment, one wire 28 pulls and swings the accommodating portion 12, but two or three wires 28 pull and retract the accommodating portion 12. May be. In this way, even if any one wire 28 breaks, the accommodating part 12 can be reliably rocked.

  In the present embodiment, the main thruster 59 is fixedly disposed in the housing 70, and the direction of thrust is changed by changing the rotation direction of the screw propeller 59b. However, the main thruster 59 is changed to the screw propeller. You may have the thrust change apparatus which changes the direction of 59b. The attitude control of the housing 70 may be performed by changing the direction of the screw propeller 59b without changing the direction of rotation.

  In the present embodiment, a gap may be provided between the guide portion 63 and the connection portion 62 without bringing the outer peripheral surface of the connection portion 62 into contact with the inner peripheral surface of the hole portion 63b of the guide portion 63. By providing this gap, the stress applied from the cable 51 to the connection portion 62 may not be applied to the guide portion 63.

  In the present embodiment, the vehicle 50 and the cable 51 are separated using the separation device 61 included in the connection portion 62, but may be separated from each other in other manners. For example, the connection part 62 and the housing 70 may be connected using a separation bolt having explosives, and the separation bolt may be exploded to separate each other.

  Further, the connection part 62 itself may have a function of a separation part. For example, when a traction force of a predetermined amount or more is applied to the connection part 62, the connection part 62 may be detached from the housing 70. Further, the connecting portion 62 may be formed of a member that is weak in strength due to electric field corrosion (dissimilar metal contact corrosion) by being in water for a certain period of time. In that case, when abandoning the collection of the vehicle 50, the connection part 62 may be corroded and the vehicle 50 and the cable 51 may be separated by leaving them for several hours to one day or more. By doing in this way, even if the vehicle 50 fails and cannot be controlled under a high radiation dose, the vehicle 50 and the cable 51 can be separated.

  In the present embodiment, the underwater remote operation vehicle 50 is used to investigate the inside of the reactor containment vessel 1, but the underwater remote operation vehicle 50 may be used to investigate the inside of other structures. . For example, the underwater remote operation vehicle 50 may be used to investigate the interior space of a closed structure such as a water pipe or a water storage tank.

  In the present embodiment, the underwater remote control vehicle 50 is inserted into the reactor containment vessel 1 through the through pipe 4 extending in the horizontal direction. However, the through pipe 4 may extend in the substantially horizontal direction. The through pipe 4 may be inclined so as to descend downward as it goes into the reactor containment vessel 1, or the through pipe 4 rises upward as it goes into the reactor containment vessel 1. It may be inclined like this. Further, the underwater remote control vehicle 50 may be inserted into the reactor containment vessel 1 through the through pipe 4 extending in the vertical direction.

  In the present embodiment, the underwater remote operation vehicle 50 performs an investigation by photographing the inside of the reactor containment vessel 1, but the vehicle 50 may have other functions. For example, a robot arm may be mounted on the vehicle 50 to collect a structure, or a water absorption device may be mounted on the vehicle 50 to collect the water 3 inside the reactor containment vessel 1. May be.

  According to the embodiment described above, the underwater remote operation vehicle has at least three main thrusters arranged around the connection portion in the rear view of the housing and arranged at equal intervals in the circumferential direction, thereby improving straightness. It is possible to provide an underwater remote operation vehicle that is easy to operate.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, changes, and combinations can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Reactor containment vessel, 2 ... Wall part, 3 ... Water, 4 ... Through pipe, 5 ... Isolation valve, 6 ... Extension pipe, 10 ... Insertion device, 11 ... Guide pipe, 12 ... Storage part, 13 ... Mounting device , 14... Wire pulling device for accommodating portion, 15... Connection valve, 16. Cable take-up device for overhead camera, 17. Cable take-up device for vehicle, 18 ... Cable feed device for vehicle, 19. , 20 ... main control unit, 21 ... communication unit, 22 ... PC for remote operation, 23 ... communication line, 24 ... power supply, 25 ... power supply line, 26 ... delivery roller, 27 ... cable pipe, 28 ... for housing unit Wire ... 29 ... Connection part, 30 ... Holding roller, 31 ... Swing shaft part, 32 ... Opening part, 40 ... Overhead camera device, 41 ... Overhead camera cable, 42 ... Power supply line, 43 ... Communication line, 44 ... Illumination device, 45 ... camera, 50 Underwater remote control vehicle, 51 ... vehicle cable, 52 ... power supply line, 53 ... communication line, 54 ... illumination device, 55 ... camera, 56 ... imaging direction change device, 57 ... radiation dosimeter, 58 ... thermometer, 59 ... main thruster, 59a ... motor for main thruster, 59b ... screw propeller, 59c ... housing, 60 ... sub thruster, 60a ... sub thruster motor, 60b ... screw propeller, 60c ... wiring pipe, 61 ... cable separating device, 62 ... connecting portion 63 ... Guide part, 63a ... Plate part, 63b ... Hole, 70 ... Housing, 71 ... Shooting device, 71a ... Accommodating ball, 71b ... Connection pipe, 73 ... Stabilizer, 73a ... Mounting hole, 74 ... Flow Road, 80 ... Weight.

Claims (15)

An underwater shooting device capable of shooting underwater,
A housing in which the underwater photographing device is mounted;
A cable for transmitting at least a signal used for remote operation and extending toward the rear side in the main traveling direction of the casing;
A connection for connecting the cable to the rear of the housing;
At least three main thrusters arranged side by side in the circumferential direction around the connection portion in a rear view of the housing;
An underwater remote control vehicle characterized by comprising:   The underwater remote operation vehicle according to claim 1, wherein the main thruster is point-symmetrically arranged with the connection portion as a center point in a rear view of the housing. Provided with a plurality of stabilizers in the form of fins provided on the peripheral surface of the housing and extending in the longitudinal direction along the traveling direction;
3. The underwater remote operation vehicle according to claim 1, wherein the stabilizer has a projecting dimension inscribed in a virtual circle having a specific diameter with the connection portion as a center in a rear view of the housing.   The underwater remote control vehicle according to claim 3, further comprising a weight that is attachable to and detachable from the stabilizer.   The underwater remote operation vehicle according to any one of claims 1 to 4, wherein the connection portion includes a separation portion for separating the housing and the cable.   The underwater remote operation vehicle according to any one of claims 1 to 5, further comprising a guide portion provided at a rear portion of the housing and extending from the connection portion to the main thruster. An in-container investigation device for conducting an investigation by inserting the underwater remote control vehicle according to any one of claims 1 to 6 into a container,
A guide pipe inserted toward the inside of the container through a through pipe penetrating the wall of the container in the horizontal direction;
An accommodating portion that is provided on a distal end side of the guide pipe and accommodates the underwater remote operation vehicle;
A rocking shaft portion that rocks the housing portion downward when the housing portion is disposed inside the container;
An opening that faces downward when the housing is swung to lower the underwater remote control vehicle;
An in-container investigation device comprising:   The in-container inspection device according to claim 7, further comprising a delivery control device that controls the delivery amount of the cable according to the progress of the underwater remote operation vehicle.   The in-container investigation device according to claim 7 or 8, further comprising a traction device that pulls a wire connected to the housing portion.   The in-container inspection device according to any one of claims 7 to 9, further comprising a cable pipe provided inside the guide pipe and through which the cable passes.   The in-container inspection device according to any one of claims 7 to 10, further comprising a vehicle photographing device that is thrown into water together with the underwater remote operation vehicle to photograph the underwater remote operation vehicle. An in-container investigation method for conducting an investigation by inserting the underwater remote control vehicle according to any one of claims 1 to 6 into a container,
A housing step for housing the underwater remote operation vehicle in a housing portion provided on the tip side of the guide pipe;
An insertion step of inserting the guide pipe toward the inside of the container through a through pipe penetrating the wall of the container in the horizontal direction;
A swinging step of swinging the storage portion downward when the storage portion is disposed inside the container;
A lowering step of lowering the underwater remote control vehicle from an opening facing downward when the accommodating portion is swung;
An in-container survey method characterized by comprising:   The in-container inspection method according to claim 12, further comprising a delivery control step of controlling the delivery amount of the cable in accordance with the progress of the underwater remote operation vehicle. A determination step of determining whether to recover the underwater remote control vehicle;
A separation step of separating the housing and the cable when it is determined not to collect the underwater remote operation vehicle;
A recovery step of recovering the cable;
The in-container investigation method of Claim 12 or Claim 13 containing this.   The in-container investigation method according to any one of claims 12 to 14, further comprising a pulling step of pulling a wire connected to the housing portion.

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