JP2018058498A - On-water movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-water movable body which is suitable for, e.g., inspecting a bulkhead and the like, enables an easy turnabout without limitation of travel directions, allows use even in a narrow space, suffers no damage from contact with an object, and permits inspection and the like in proximity.SOLUTION: The on-water movable body comprises: an object device mounting body (1) for mounting an object device; a buoyancy member attaching body (2) for attaching a buoyancy member that imparts buoyancy to the object device mounting body (1); a shaft body (3) being coaxial with the object device mounting body (1) and the buoyancy member attaching body (2) and located at the center; and a driving body (4) to obtain driving force. The object device mounting body (1) comprises: a first substrate (11) provided with a travel direction monitoring unit (111); and a second substrate (12) provided with an object device unit (121). The object device mounting body (1) and the buoyancy member attaching body (2) move independently of each other.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a water moving body.

  A method and apparatus using a small boat as described in Patent Document 1 has been proposed in the case of inspection, investigation, inspection or the like of a structure such as a pier constructed in a seawall or underwater.

  That is, in Patent Document 1, an imaging device with a posture control function is attached in the vicinity of the center of gravity of a small ship, and the imaging apparatus is detected by detecting rolling, pitching, yawing and vertical movement of the small ship while navigating the small ship. The target portion of the harbor structure is continuously imaged while maintaining the posture and height of the image pickup portion of the image pickup device substantially constant, and a process of creating a developed image by connecting the imaged images is performed to reduce the deterioration of the target portion. In addition to the method of diagnosing port structure deterioration characterized by diagnosis, a rolling sensor that can detect rolling, a pitching sensor that can detect pitching, a yawing sensor that can detect yawing, and vertical motion detection A vertical movement sensor, a first drive shaft that is rotatable in a direction that cancels rolling detected by the rolling sensor, and the pitching sensor. A second drive shaft that can rotate in a direction that cancels the pitching detected by the servo, a third drive shaft that can rotate in a direction that cancels the yawing detected by the yawing sensor, and the vertical movement detected by the vertical motion sensor. While vertically moving means that can move up and down so as to cancel, and continuously imaging the target portion of the port structure, by the first drive shaft, the second drive shaft, the third drive shaft and the vertical motion means, An imaging unit that absorbs the swing of the posture with respect to the port structure and the height of the target part, and a control unit that diagnoses deterioration of the target part by processing the linked image to create a developed image And an image pickup apparatus with a posture control function, characterized in that it is attached near the center of gravity of a small vessel.

Since the imaging device with a posture control function described in Patent Document 1 is used by being attached to a small ship, it has the following problems.
Since the direction change is not easy and the moving direction is limited, it may not be used in a narrow place where there is no room for the direction change.
As a general rule, it is necessary to avoid contact with the object to prevent damage, and inspection cannot be performed in close proximity.

  Therefore, it is suitable for inspection of revetments, etc., easy to change direction, has no restrictions on the direction of movement, can be used in narrow places, and will not be damaged even if it touches an object, allowing close inspection, etc. Means were desired.

  Means for solving the problems of the present invention are as follows.

First,
A target device installation body for installing the target device;
A buoyancy member mounting body for mounting a buoyancy member that imparts buoyancy to the target device installation body;
A shaft body located on the target device installation body and the buoyancy member attachment body;
With a propulsion body to obtain propulsion,
The above-mentioned target apparatus installation body and the above-mentioned buoyancy member attachment body move independently of each other, and the above-mentioned movable body on water.
Here, the target device corresponds to various work units such as a camera unit for photographing, an arm unit for inspection work, and a painting unit for painting work.
The target device installation body is preferably located on the water surface, but can also be installed in water.
In the case of the target device installation body located on the water surface, it is preferable to position the buoyancy member attachment body under the target device installation body.
The buoyancy member is preferably a donut shape, and for example, a floating ring made of a rubber tube or reinforced vinyl, a foamed polystyrene processed into a floating ring, or the like can be used.
Moreover, it is preferable that the said shaft body is coaxial with respect to an object apparatus installation body and a buoyancy member attachment body, and is located in the center.
The propulsion body is installed on a propeller mounting shaft that is coaxial with the shaft body, and is preferably controllable independently on the left and right sides. The screw installed in the water, the water flow caused by the ejection of air into the water It is possible to adopt a device that operates by means, a propeller installed on the water, a wind flow means by jetting air into the air, or the like.
Second,
The target device installation body includes a first substrate on which a traveling direction monitoring unit is installed, and a second substrate on which the target device unit is installed,
The water moving body according to the first aspect, wherein the first substrate and the second substrate move independently of each other.
The traveling direction monitoring unit installed on the first substrate may be configured by a traveling direction confirmation camera so that a remote operator who operates the surface moving body from a remote location can confirm the traveling direction image and obstacles. it can.
In this case, it is preferable that the remote control is provided with a control unit for the movement of the target device separately from the control unit for the movement of the propulsion unit, and each control unit is operated by a different person. The operator can control the movement of the propulsion body and the movement of the target device at the same time.
For example, in the case of a camera unit for photographing, the target device unit to be installed on the second substrate is configured by an object photographing camera capable of holding a position with a gimbal structure for photographing an observation target. be able to.
The target device unit installed on the second substrate preferably has a rotation control means so that it can freely rotate with respect to the first substrate.
The rotation control means performs rotation control of the target device unit by a servo motor via a belt combined with a pulley attached to a rotation shaft coaxial with the shaft body.
Third,
The water moving body according to the first or second aspect, wherein the propulsion body includes a screw that operates independently on the left and right.

  According to the present invention, the following effects can be obtained.

Apart from the movement of the propulsion body, the target equipment installation body and the buoyancy member mounting body move independently of each other, making it suitable for inspections such as revetment, easy change of direction, no restrictions on the direction of movement, even in narrow places Since it can be used and there is no risk of damage even if it comes into contact with an object, inspection in close proximity is possible.
Here, apart from the control unit for the propulsion unit, a control unit for the movement of the target device is provided, and when each control unit is operated by a different person, the propulsion unit operator must approach the work site. It is possible to dedicate operation and the operator of the target device can concentrate on the target work.

  Further, by configuring the first board on which the traveling direction monitoring unit is installed and the second board on which the target device unit is installed to move independently of each other, the target object can be captured without being influenced by the traveling direction. Since it becomes possible to continue, it becomes difficult to be influenced by a tidal current, and it becomes possible to perform an accurate inspection.

  Furthermore, by providing screws that operate independently on the left and right as the propulsion body, it is possible to move in all 360 ° directions in the front, rear, left, and right directions by combining forward and backward rotations of the left and right screws and reverse rotation. , Fine control of the direction of travel becomes possible.

  In addition, by using a donut-shaped object as a buoyancy member, even if the buoyancy member moves while in contact with the revetment, the contact force is released by rotation, so damage can be prevented more effectively. It becomes possible.

It is a perspective view of the water moving body of the present invention. It is a front view of the water moving body of the present invention. It is a front view of the object apparatus unit of the water moving body of the present invention. It is the schematic of the buoyancy member attachment body and propulsion body of the water moving body of this invention.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be specifically described with reference to the drawings.
Here, in the accompanying drawings, the same reference numerals are given to the same members, and redundant descriptions are omitted.
In addition, since description here is one form by which this invention is implemented, this invention is not limited to a corresponding form.

As shown in FIG. 1, the water moving body according to the present invention includes a target device installation body 1 for installing a photographing device unit located on the surface of water and a lower portion of the target device installation body 1 in use. A buoyancy member mounting body 2 for mounting a buoyancy member that is positioned and imparts buoyancy to the target device installation body 1, and is coaxial and central to the target device installation body 1 and the buoyancy member mounting body 2. A shaft body 3 and a propulsion body 4 for obtaining a propulsion force attached to a propulsion body mounting shaft 41 (see FIG. 2) coaxial with the shaft body 3 are provided.
The target device installation body 1 and the buoyancy member attachment body 2 have a common shaft body 3, but are configured to move independently of each other.
That is, the movements of the target device installation body 1 and the propulsion body 4 are interlocked, but the buoyancy member attachment body 2 is configured to move freely without being influenced by the movement of the propulsion body 4.

The target device installation body 1 includes a first substrate 11 on which a traveling direction monitoring unit 111 is installed, and a second substrate 12 on which a target device unit 121 that is a photographing device unit is installed.
The first substrate 11 is interlocked with the propulsion body 4 so that the front and rear and the direction can be controlled by the operation of the propulsion body 4.

The traveling direction monitoring unit 111 can be configured by a traveling direction confirmation camera so that a remote operator who operates the surface moving body from a remote location can confirm the traveling direction image and obstacles wirelessly or by cable. .
The traveling direction confirmation camera of the traveling direction monitoring unit 111 is attached to the lower surface of the front end of the mounting plate 112 protruding from the edge of the first substrate 11 so as to always maintain a vertical position with a gimbal structure.
In the figure, reference numeral 113 denotes a GPS unit attached to the upper surface of the rear end of the attachment plate 112.

The target device unit 121 installed on the second substrate 12 can be configured by an object photographing camera capable of holding a position by a gimbal structure.
The target device unit 121 installed on the second substrate 12 has a rotation control means (not shown) so that it can freely rotate with respect to the first substrate 11.
The rotation control means performs rotation control of the target device unit 121 by a servo motor via a belt combined with a pulley attached to a rotation shaft coaxial with the shaft body, although illustration is omitted.
That is, the first substrate 11 and the second substrate 12 are configured to move independently of each other.

  As shown in FIG. 3, the target device unit 121 is a set of ultrasonic sensors 1211 as a distance measuring sensor and a set that can be turned on / off with a switch and that can normally set a measurement standard by always irradiating. A guide laser irradiation module 1212, a timing laser irradiation module 1213 for informing the shooting timing, a lens 1214 for a single-lens reflex camera for still image shooting, a flash 1215 that shines during shooting, and a small video for moving image shooting A moving image lens 1216 of the camera and a high-intensity LED light 1217 that can be turned on and off with a switch and normally lit in order to illuminate the shooting direction are mounted at predetermined positions on the mounting board 1218.

The ultrasonic sensor 1211 includes a transmitter and a receiver, transmits ultrasonic waves from the transmitter toward the object, and receives the reflected waves by the receiver. It measures the distance to.
In the present invention, a set of ultrasonic sensors 1211 is used and arranged on the left and right sides of the photographic lens 1214 disposed in the vicinity of the center, so that the photographic objects in the left and right portions of the photographic lens 1214 are arranged. Can be measured for each distance.
The calculation of the distance is performed by a microcomputer unit (not shown).

The set of guide laser irradiation modules 1212 are respectively arranged below the set of ultrasonic sensors 1211, and a set of measurement standards can be set by always showing a set of orange laser pointers on the object to be imaged. It is what.
That is, since the distance between the pair of orange laser pointers is equal to the mounting interval of the pair of guide laser irradiation modules 1212, it is easy to estimate the length of a crack or the like appearing on the object to be photographed.

  The timing laser irradiation module 1213 is disposed adjacent to the moving image lens 1216 located below the photographic lens 1214, and the distance between the left and right parts measured by the pair of ultrasonic sensors 11 is equal. When this happens, a green laser pointer indicating the shooting timing 1212 is emitted.

  The photographic lens 1214 is attached to a single-lens reflex camera (not shown) and has a zoom function.

The flash 1215 is installed adjacent to the photographic lens 1214, and is linked to a single-lens reflex camera and emits light when the shutter is pressed.
The moving image lens 1216 is a lens portion of a small video camera for moving image shooting which is not shown.

  The high-intensity LED lights 1217 can be turned on and off with a switch, and a total of four high-intensity LED lights 1217 are arranged so as to sandwich the timing laser irradiation module 1213 and the moving image lens 1216 therebetween.

As shown in FIGS. 1, 2 and 4 (a), the buoyancy member mounting body 2 includes a small disk 21 positioned under water and a large disk 22 positioned on the water surface. And the shaft body 3 is located at the center.
The small circular plate 21 and the large circular plate 23 located above the small circular plate 21 are connected by three support rods 23 arranged around the shaft body 3.

On the lower surface side of the small circular plate 21, three elongated plate-like protruding support pieces 24 are attached from the center toward the periphery at intervals of 120 degrees.
A U-shaped support member 26 is attached to the distal end side of each protruding support piece 24 in order to support a donut-shaped floating ring 25 (see FIG. 2) made of a rubber tube as a buoyancy member.

  In FIG. 2, reference numeral 27 denotes a transparent cover that covers the target device installation body 1 installed on the large disk 22, and prevents water droplets from being applied to the target device installation body 1 during use.

The propulsion body 4 is located in water during use and is installed on the propulsion body mounting shaft 4 coaxial with the shaft body 3 and includes a screw 42 that operates independently on the left and right.
In addition, although illustration is abbreviate | omitted, obstacles, such as a rope which exists under the water surface, can be avoided by providing the propulsion body 4 located underwater with the LED light as an underwater camera and a lighting device.
As shown in FIG. 4, an elongated rectangular water flow control plate 43 is attached between the left and right screws 42.
When the direction is controlled by the difference in rotation between the left and right screws 42 by the water flow control plate 43, it is possible to prevent movement due to inertia after stopping the rotation due to the resistance of water, so that the direction can be easily controlled. become.
Further, even when the left and right screws 42 are moved straight by adjusting to the same rotational speed, the water flow control plate 43 can improve the straight running stability.

  Next, the effect of the water moving body concerning this embodiment is demonstrated.

  The water moving body is not shown in the figure, and moves and controls the target device unit by a remote control device to inspect and photograph the target object.

When floating on the water surface with the floating ring 25 installed, the portion of the target device installation body 1 is positioned on the water, and the propulsion body 4 including the left and right screws 42 is positioned in the water.
In order to move to the vicinity of the inspection object, the water moving body itself moves forward by moving the left and right screws 42 simultaneously with the same rotational force while confirming the traveling direction with the camera of the traveling direction monitoring unit 111.

Here, when approaching the inspection object, even if the float 25 comes into contact with the revetment or the like, the buoyancy member mounting body 2 freely rotates, so that the contact force can be released as a rotational force and the traveling direction can be changed. It is possible to prevent damage due to contact while maintaining.
Further, even in a narrow place where the hull of the hull cannot turn around, by controlling the rotational force of the left and right screws 42, it is possible to change the direction on the spot and to delicately control the direction.

  Furthermore, since the second substrate 12 to which the target device unit 121 is attached can be controlled separately from the first substrate 11 to which the advancing direction monitoring unit 111 is attached, for example, a camera for photographing is provided separately from the advancing direction. As a result, it is possible to sufficiently inspect, observe, and photograph an object to be photographed.

In addition to being free to move in the water moving body according to the present invention, even if it contacts the buoyancy member attached to the buoyancy member mounting body, the contact force is not damaged as it is released as a rotational force. In addition to being used for inspection of bridge piers and the like constructed on the sea, it can also be used for security of watersides such as the sea and rivers.
Moreover, it becomes possible to deliver a rope etc. to the rescuer left behind by the river etc. at the time of a disaster.
Furthermore, it is possible to enter and work in a closed water channel such as a sewer pipe.

DESCRIPTION OF SYMBOLS 1 Target apparatus installation body 11 1st board | substrate 111 Advancing direction monitoring unit 112 Mounting plate 113 GPS unit 12 2nd board | substrate 121 Target apparatus unit 1211 Ultrasonic sensor 1212 Guide laser irradiation module 1213 Timing laser irradiation module 1214 Photographic lens 1215 Flash 1216 Movie lens 1217 High-intensity LED light 1218 Mounting substrate 2 Buoyant member mounting body 21 Small disk 22 Large disk 23 Support rod 24 Projection support piece 25 Floating ring 26 Support member 27 Transparent cover 3 Axis body 4 Propulsion body 41 Propulsion body mounting shaft 42 Screw 43 Water flow control board

JP 2012-37361 A

Claims (3)

A target device installation body for installing the target device;
A buoyancy member mounting body for mounting a buoyancy member that imparts buoyancy to the target device installation body;
With a propulsion body to obtain propulsion,
The above-mentioned target apparatus installation body and the above-mentioned buoyancy member attachment body move independently of each other, and the above-mentioned movable body on water. The target device installation body includes a first substrate on which a traveling direction monitoring unit is installed, and a second substrate on which the target device unit is installed,
The water moving body according to claim 1, wherein the first substrate and the second substrate move independently of each other.   The water moving body according to claim 1, wherein the propulsion body includes a screw that operates independently on the left and right.

Images