JP3693507B2 - Underwater inspection and observation equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an underwater inspection and observation apparatus for inspecting and observing a portion of a marine structure or the like submerged in water.
[0002]
[Prior art]
Conventionally, there is an underwater inspection and observation device for inspecting a submerged part such as an offshore structure. This underwater inspection and observation apparatus includes the one shown in FIG. 6, which allows the frame body 51 to be rotated by a lifting device 53 via a rotation shaft 52 at the front end portion of the diving body 50. A trumpet-shaped bellows body 54 is attached to the opening of the frame body 51 and connected to the air supply pipe 62 and opened on one side. A discharge hole for discharging filtered water (fresh water) to the bellows body 54 A duct 59 having 59 a is spirally wound around the bellows body 54, and a filtration device 55, a pump 56, a flow rate control valve 57 and a hose 58 for supplying filtered water to the duct 59 are connected to the duct 59 in this order. Yes. A television camera 60 and a projector 61 are attached in the bellows body 54.
[0003]
As shown in FIG. 7, the underwater inspection and observation apparatus dives the diving body 50 up to the inspection object H, and then supplies air to the bellows body 54 from the air supply pipe 62 to expand it. 53 is driven to adjust the angle of the bellows body 54 so that the open side of the bellows body 54 is brought into close contact with the inspection object H, and the filtration device 55 and the pump 56 are driven so that the bellows body 54 The filtered water 63 is ejected from the discharge hole 59 a through the hose 58 and the duct 59. And the transparency in the bellows body 54 is ensured by the filtered water 63, and the inspection object H can be inspected and observed by the television camera 60 in the light of the projector 61.
[0004]
[Problems to be solved by the invention]
In the conventional underwater inspection and observation apparatus, the bellows body 54 with one side open is used in close contact with the inspection object H so as to supply filtered water into the bellows body 54. For example, the inspection object H is a bar screen. In the case where there are many gaps as described above, the bellows body 54 cannot be in close contact with the inspection object H, and the surrounding turbid water may enter the bellows body 54, and the required transparency may not be ensured.
[0005]
Then, this invention aims at provision of the underwater inspection observation apparatus which can solve the said subject.
[0006]
[Means for Solving the Problems]
The solution in the present invention includes a horizontal moving part (4) for moving the submersible body (3) to be submerged to the inspection place of the inspection object (2), and a horizontal moving part (4) for moving the inspection object (2) in the vertical direction. A vertical moving unit (5) and a camera (6) for imaging the inspection location of the inspection object (2), and driving the horizontal moving unit (4) and the vertical moving unit (5) (3) is an underwater inspection observation apparatus that moves the inspection object (2) to the inspection location, drives the camera (6), and images the inspection location, the front of the camera (6) And a sealed container (8) having a transparent part (7) for seeing through the inspection place of the inspection object is provided, and when the diving body (3) dives, the surrounding water is absorbed and filtered. water and filtered water supply device for supplying the filtered water to the container (8) (10), the diving body (3) is for discharging the inside of filtered water container (8) when flying Drainage section (16), the air was discharged from the container (8) with the filtered water supply device (10) for filtered water is supplied when the submersible body (3) is submerged, and the An air vent (14) for supplying air to the container (8) when the diving body (3) ascends is provided.
[0007]
According to the above configuration, the whole is floated on water, the filtered water supply device is driven to absorb and filter the surrounding water, and the filtered water is supplied into the container while being vented from the venting section as filtered water. Then, the horizontal moving unit and the vertical moving unit are driven to dive the whole to the inspection location of the inspection object, and the camera is driven to image the inspection location from the transparent portion.
[0008]
Moreover, the horizontal moving part and the vertical moving part are driven to raise the whole, the filtered water inside the container is discharged from the drainage part, the container is floated, and the whole is collected.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to FIGS. The underwater inspection and observation apparatus 1 according to the embodiment of the present invention is used by being attached to, for example, an underwater inspection robot. A horizontal moving unit 4 (also referred to as a horizontal thruster) is provided, and a vertical moving unit 5 (also referred to as a vertical thruster) for moving the diving body 3 in the vertical direction is provided above the diving body 3. A camera 6 for imaging the inspection location of the inspection object 2 is provided at the front of the body 3.
[0010]
In addition, a sealed container 8 of a predetermined length having a front transparent part 7 for covering the front part of the camera 6 and seeing the inspection place of the inspection object 2 at the front part of the diving body 3 (also called clear site) It is attached in a detachable manner. The front transparent portion 7 is formed in a flexible film shape. For example, when the container 8 is formed of an acrylic resin, there is almost no difference in the refractive index of water, and the difficulty of seeing due to the difference in refractive index in water is alleviated.
[0011]
A seating member 9 that sits on the bottom of the water is provided at the bottom of the diving body 3. The seating member 9 absorbs surrounding water to form filtered water (fresh water), and a filtration for supplying the filtered water to the container 8. A water supply device 10 is provided. The filtered water supply device 10 includes a submersible pump 11 and a filter 12 communicating with the submersible pump 11. The container 8 and the filter 12 are connected via a supply pipe 13. Connected. In addition, a U-shaped air vent 14 is provided at the top of the container 8 to discharge air from the container 8 as the filtered water is supplied from the filter 12. The venting part 14 is provided with a float type check valve 15, which prevents the filtered water in the container 8 from leaking from the venting part 14 after the diving body 3 is submerged in water. are doing. A drain valve (drainage part) 16 is attached to the lower part of the container 8. The horizontal moving unit 4, the vertical moving unit 5, the filtered water supply device 10, and the drain valve 16 are configured to be remotely operable from a hull (not shown) via a cable 17.
[0012]
In the above configuration, when the underwater inspection observation device 1 is submerged, the underwater inspection observation device 1 is floated on water as shown in FIG. At this time, the container 8 contains air, the diving body 3 is submerged in water, and the container 8 is in a floating state. From this state, the submersible pump 11 is driven by remote operation to supply the surrounding water to the filter 12 for filtration, and the filtered water is supplied to the container 8. As a result, air is extracted from the extraction section 14 by the amount of filtered water supplied to the container 8, and the container 8 is gradually submerged in water as shown in FIGS. 4 and 5, and the whole is located substantially below the water surface. To do. In this state, the horizontal moving unit 4 and the vertical moving unit 5 are driven by remote operation, the whole is submerged to the inspection place of the inspection object 2, and the container 8 is brought close to the inspection place of the inspection object 2. At this time, the front transparent portion 7 is formed in a flexible film shape, so that even if the inspection place of the inspection object 2 is uneven, the front transparent portion 7 is in close contact, and filtered water is supplied into the container 8. Therefore, the inspection place of the inspection object 2 can be driven by the remote operation of the inspection object 2 in a state in which the transparency is ensured, and can be clearly imaged and inspected.
[0013]
By the way, when imaging is completed, the horizontal moving unit 4 and the vertical moving unit 5 are driven to float up the whole and return to the state shown in FIG. And the drain valve 16 is opened by remote control, and the filtered water in the container 8 is discharged. At this time, since the check valve 15 is a float type, it is necessary to float on the water, so that the check valve 15 is opened and air is supplied into the container 8, as shown in FIG. Moreover, since the container 8 is in a floating state, the underwater inspection and observation apparatus 1 can be collected in a lightweight state.
[0014]
As described above, according to the embodiment of the present invention, the sealed container 8 that covers the front part of the camera 6 and has the front transparent part 7 for seeing through the inspection place of the inspection object 2 is detachably attached. Since the container 8 is provided with the filtered water supply device 10 for filtering and supplying the surrounding water, the container 8 can be easily handled in a lightweight state without filling the container 8 with the filtered water in advance. Since the filtered water is sealed in the container 8, cloudy surrounding water does not enter the container 8, and the front transparent portion 7 is brought into contact with the inspection place of the inspection object 2. The inspection location of the inspection object 2 can be imaged by the camera 6 in a state in which a certain transparency is always secured.
[0015]
【The invention's effect】
As is clear from the above description, the present invention is provided with a sealed container of a predetermined length having a transparent part for covering the front part of the camera and for seeing through the inspection place of the inspected object. A filtered water supply device for absorbing and supplying filtered water to the container, and a venting unit for discharging the supply air from the container as the filtered water is supplied from the filtered water supply device The horizontal moving unit and vertical moving unit are driven to dive the diving body to the inspection location of the inspection object and the inspection location of the inspection object is imaged with the camera. The inspection location of the inspection object can be imaged while maintaining a certain degree of transparency.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of an underwater inspection and observation apparatus showing an embodiment of the present invention.
FIG. 2 is a front view showing a schematic configuration.
FIG. 3 is a side view showing a state where the container is also levitated.
FIG. 4 is a side view of the container being submerged in water.
FIG. 5 is a side view showing a state where the container and the diving body are substantially submerged in water.
FIG. 6 is an overall configuration diagram of a conventional underwater inspection and observation apparatus.
FIG. 7 is also a use state diagram.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Underwater inspection observation apparatus 2 Inspected object 3 Submersible body 4 Horizontal moving part 5 Vertical moving part 6 Camera 7 Front transparent part 8 Container 10 Filtrated water supply apparatus 11 Submersible pump 12 Filter 14 Exhaust part 15 Check valve 16 Drain valve

Claims (2)

A horizontal moving part for moving the diving body to the inspection place of the inspection object in the horizontal direction, a vertical movement part for moving the inspection object in the vertical direction, and for imaging the inspection place of the inspection object An underwater inspection and observation apparatus configured to drive a horizontal moving unit and a vertical moving unit to move a diving body to an inspection location of an inspection object and drive the camera to image the inspection location. hand,
A sealed container having a transparent part for covering the front part of the camera and seeing through the inspection place of the inspection object is provided,
A filtered water supply device for supplying to absorb ambient water and filtered water the filtrate with respect to the container when the submersible body is submerged, the filtered water inside the container when the submersible body is floated A drainage unit for discharging, and when the submerged body dives, the filtered water is supplied from the filtered water supply device to discharge air from the container, and when the submerged body floats, An underwater inspection and observation device characterized in that a venting section for supplying water is provided. The underwater inspection and observation apparatus according to claim 1 , wherein the horizontal movement unit, the vertical movement unit, the filtered water supply device, and the drainage unit are configured to be remotely operable via a cable .

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