JP7212639B2 - Underwater sediment removal device and removal method - Google Patents

Description

TECHNICAL FIELD The present invention relates to an underwater sediment removing apparatus and method, and more particularly, an underwater sediment removing apparatus and method suitable for removing underwater sediment on the basement floor of a building that is difficult for humans to enter. Regarding the method.

Under harsh environments where human access is difficult (dangerous tanks of chemical plants, waste disposal facilities, rivers, bottoms of lakes, underground malls filled with toxic gas, underground floors with high radiation levels, etc.), water accumulates in the basement There is a building that is in the water, and sediments are left in the water.

Since it is difficult for humans to enter, it is necessary to remotely access, remove, and transport the sediments left in the water to be removed. Furthermore, since the access length is long and the amount of deposits to be removed is large, the removal work may take a long time.

Although not directly related, Patent Literature 1 describes a fluid substance recovery apparatus capable of efficiently and safely recovering and transferring fluid sediments deposited on the bottom surface of a container such as a tank.

In Patent Document 1, fluid deposits accumulated in a sludge tank are sucked from a suction mechanism of a sludge recovery traveling vehicle that can freely move at the bottom of the sludge tank, and the sucked fluid deposits are recovered by a recovery pump. It is described that the sediment is temporarily stored in a batch tank by means of a transfer pump, and the temporarily stored fluidized sediment is transferred to a waste liquid tank by a transfer pump.

JP-A-2001-51096

It is left in the water from the basement floor in a harsh environment where it is difficult for humans to enter (dangerous tanks of chemical plants, waste treatment facilities, rivers, the bottom of lakes, underground shopping malls filled with toxic gas, basement floors with high radiation levels, etc.) The problem of removing accumulated deposits is new, and no directly related prior art documents can be found, and it is desired to remove them in a short period of time.

However, in the fluid substance recovery device described in Patent Document 1 described above, it is difficult to enter the above-described harsh environment (dangerous chemical tanks of chemical plants, waste treatment facilities, rivers, lake bottoms, poisonous gas filled There is no recognition of the problem of removing the sediment left in the water from the basement floor of the underground mall where the radiation level is high, and there is no description that tries to solve it.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and its object is to provide an underwater sediment removing apparatus and method capable of removing and recovering underwater sediments in a short period of time. It is in.

In order to achieve the above object, an apparatus for removing underwater sediments of the present invention comprises a work device for gripping and/or sucking sediments in water and a lifting machine on which the work device is installed. a collection device for removing the sediments gripped and/or sucked by translating and ascending; and a conveying device for
the sediment is in the water of the basement floor of the building;
The transfer device comprises an underground transfer device and a ground transfer device, transfers and transfers the deposit from a storage container of the recovery device to a recovery container of the underground transfer device, and transfers the deposit. The sediment was transferred from the collected collection container to a draining container, and the draining container in which the sediment was transferred was lifted from the basement floor to the ground floor by a hoist installed in the building, and was pulled up to the ground floor. It is characterized in that the sediment is transferred from the draining container to a transport container, and the transport container in which the sediment has been transferred is transported to the unloading location by the ground floor transport device .

In order to achieve the above object, the method for removing underwater sediments of the present invention is provided with a work device for grasping and/or sucking up the sediment in water. , picking up the sediment that has been gripped and/or sucked up and down, recovering the sediment taken out by the recovering device in a container, and transporting the container to a carry-out location by the conveying device to recover the sediment. and
the sediment is in the water of the basement floor of the building;
The transfer device comprises an underground transfer device and a ground transfer device, transfers and transfers the deposit from a storage container of the recovery device to a recovery container of the underground transfer device, and transfers the deposit. The sediment is transferred from the collected collection container to a draining container, and the draining container in which the sediment has been transferred is lifted from the basement floor to the ground floor by a hoist installed in the building, and is lifted to the ground floor. The sediment is transferred from the draining container to a transport container, and the transport container in which the sediment has been transferred is transported to the unloading location by the ground floor transport device .

ADVANTAGE OF THE INVENTION According to this invention, the sediment in water can be removed and collect|recovered in a short time.

1 is a cross-sectional view of a building with sediments left in water according to Example 1 of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing a specific configuration of Embodiment 1 of the apparatus for removing underwater sediments of the present invention; Fig. 3 is a front perspective view of a collecting device constituting Embodiment 1 of the underwater sediment removing device of the present invention shown in Fig. 2; FIG. 4 is a partial perspective view showing details of part (A) of FIG. 3 ; Fig. 3 is a rear perspective view of a collecting device constituting the first embodiment of the underwater sediment removing device of the present invention shown in Fig. 2; Fig. 3 is a front perspective view of an underground floor conveying device constituting Embodiment 1 of the underwater sediment removing device of the present invention shown in Fig. 2; Fig. 3 is a rear perspective view of an underground floor conveying device constituting Embodiment 1 of the underwater sediment removing device of the present invention shown in Fig. 2; FIG. 2 is a diagram showing a state in which a suspended articulated arm (working device) provided in a recovery device that constitutes Embodiment 1 of the underwater sediment removing device of the present invention is underwater. FIG. 2 is a diagram showing the working situation of the first basement floor of a building in the underwater sediment removal method of the present invention. FIG. 2 is a diagram showing the work situation on the ground floor of a building in the underwater sediment removal method of the present invention. FIG. 5 is a diagram showing how a grapple is used to grab a deposit when the bag containing the deposit, which is an object to be removed according to the present invention, is in good condition. FIG. 5 is a diagram showing how a suction pump is used to suck deposits when a bag containing deposits, which is an object to be removed according to the present invention, is damaged. FIG. 10 is a diagram showing how a shovel is used to scoop up deposits when a bag containing deposits, which is an object to be removed according to the present invention, is damaged. FIG. 11(a) is a diagram showing how the grapple shown in FIG. Fig. 11(b) shows how the grapple shown in Fig. 11(a) is used to grab a tied up portion of a healthy bag containing sediment. It is a figure which shows a state before scooping up from the bottom of the sound bag containing the sediments using the scoop shown in FIG.11(c). It is a figure which shows a mode after scooping up from the bottom of the sound bag containing the sediment using the scoop shown in FIG.11(c). It is a figure which shows a mode that the sound bag in which the sediment was accommodated is sucked using the suction pump shown in FIG.11(b). 11(b) is used to suck up a healthy bag containing sediments, and then the scoop shown in FIG. 11(c) is used to scoop up the bag from below. FIG. 4 is a diagram showing;

The apparatus for removing underwater sediments and the method for removing the same according to the present invention will now be described based on the illustrated embodiments. In addition, in each figure, the same code|symbol is used for the same component.

Also, in the embodiments described below, as an example of a building that is difficult for humans to enter, a case where deposits are left in the water of an underground mall will be described, but the present invention is not limited to this. , If it is in a harsh environment that is difficult for humans to enter (dangerous chemical tanks of chemical plants, waste treatment facilities, rivers, bottoms of lakes, basement floors filled with toxic gas, basement floors with high radiation dose, etc.) It is applicable in the same way as the example.

First, with reference to FIG. 1, the schematic structure of a building in which sediment is left in the water using the underwater sediment removing apparatus and the method for removing the same according to the present embodiment will be described.

As shown in FIG. 1, a collecting device 2 and a basement conveying device 3 equipped with a working device (details will be described later) 9 for grasping and/or sucking sediments 1 in the water on the second basement floor of a building 100. The ground floor transfer device 7 is connected to each operation panel (not shown) and the like through movable signal cables 9a, 9b, and 9c. A hydraulic cable may be connected depending on the device structure.

A hoist 8 is installed on the ceiling of the top floor of the building 100, and the hoist 8 is connected with a movable hoist cable 8b to a hoist hook 8a for lifting the draining container 4, the collection container 5 and the like.

On the other hand, openings 10a and 10b are formed in the floors of each floor of the building 100 (first basement floor, first floor above ground). It is constructed so that the hoist hook 8a to be lifted, the hoist cable 8b and the signal cables 9a, 9b (and hydraulic cables if hydraulic cables are connected to the apparatus) can pass through.

In addition, cameras are installed on each floor of the work device 9, the collection device 2, the underground floor transfer device 3, the ground floor transfer device 7, and the building 100. While monitoring the work status, the internal state of the building, etc. with these cameras, The work device 9, recovery device 2, basement transfer device 3, ground transfer device 7, hoist 8, etc. are operated.

Hanging cameras 12a, 12b, and 12c with illumination are installed on the ceilings of the second basement floor, the first basement floor, and the first floor of the building 100, respectively.

FIG. 2 shows a specific configuration of the underwater sediment removing device 20 of the present invention. FIG. 2 shows the second basement floor of a building 100, where a plurality of deposits 1 are left in bags.

As shown in FIG. 2, the underwater sediment removal apparatus 20 of the present embodiment includes a work device 9 for gripping and/or sucking the sediment 1 in the water, and the work device 9 is installed, and the hoist described above is installed. A collection device 2 for taking out the sediment 1 grasped and/or sucked by the working device 9 by translating and ascending/descending by 8 and temporarily storing it in a temporary storage container 21, and a collection container to which the sediment 1 is transferred from the temporary storage container 21. 5, and the sediment 1 transferred from the draining container 4 that stores the sediment 1 transferred from the collection container 5 lifted from the second basement floor to the first basement floor by the hoist 8. The recovery device 2 and the underground transfer device 3 are composed of buoyant bodies (recovery device floats 11a and 11b and underground transfer device floats 11c, 11d).

The recovery device 2 includes illuminated cameras 14a, 14b, 14c, 14d, 14e, 14f, and 14g (see FIGS. 3 and 5) for the recovery device, and an underwater thruster for moving the recovery device back and forth. Propellers 15a, 15b and propellers 16a, 16b for left and right movement of the recovery device are installed, and the underground transfer device 3 is equipped with illuminated cameras 17a, 17b, 17c, 17d and 17e (Fig. 6, See FIG. 7), for example, propellers 18a, 18b such as underwater thrusters for forward and backward movement of the underground transfer device and lateral movement propulsors 19a, 19b for the underground transfer device are installed.

Next, the details of the recovering device 2 in the underwater sediment removing device 20 of this embodiment will be described with reference to FIGS. 3, 4 and 5. FIG.

As shown in the figure, the recovering device 2 in the underwater sediment removing device 20 of this embodiment is composed of two recovering device floats 11a each arranged vertically and facing each other with a predetermined interval left and right. , 11b and the recovery device floats 11a and 11b are connected as legs. A connection member 23 for connecting the upper portions of the arms 22a and 22b, recovery device forward/rearward movement propulsors 15a and 15b installed on the recovery device floats 11a and 11b and movable back and forth, and recovery device floats 11a and 11b. 16a and 16b for left and right movement of the recovery device, which are installed in the body and can move left and right, and a lifting machine which is installed in the connection member 23 and can move left and right, forward and backward (indicated by the dotted arrow in FIG. 4) and up and down. (Chain block or the like for lifting and lowering the working device 9 that grabs the deposit 1) 28 and a temporary storage container that temporarily stores the deposit 1 gripped and/or sucked by the working device 9 installed at the tip of the lifting machine 28. 21 and illuminated cameras 14a, 14b, 14c, 14d, 14e, 14f and 14g for the recovery device installed on the arms 22a and 22b and the floats 11a and 11b for the recovery device.

Next, details of the underground floor conveying device 3 in the underwater sediment removing device 20 of the present embodiment will be described with reference to FIGS. 6 and 7. FIG.

As shown in the figure, the underground floor conveying apparatus 3 in the underwater sediment removing apparatus 20 of the present embodiment is composed of three vertically arranged conveying apparatus 3 arranged opposite to each other with a predetermined interval on the left and right sides. The device floats 11c and 11d and the collection container 5 installed between the floats 11c and 11d for the underground floor conveying device arranged opposite to each other with a predetermined interval on the left and right, and installed in the floats 11c and 11d for the underground floor conveying device, Fore-and-aft movement propellers 18a and 18b for the basement conveying device that can move back and forth, and laterally-moving propellers 19a for the basement conveying device that are installed on the floats 11c and 11d for the basement conveying device and that can move left and right, and 19b, and cameras 17a, 17b, 17c, 17d, and 17e with illumination for the underground conveyor installed on the floats 11c and 11d for the underground conveyor.

Although not shown, the ground-floor transport device 7 can be freely moved by a crawler and only needs to have a function of transporting the transport container 30. For example, a remote-controlled robot can be applied.

Next, the working device 9 in the underwater sediment removing device 20 of this embodiment will be described with reference to FIG.

As shown in FIG. 8, the working device 9 of this embodiment has a working tool (for example, a grapple 31 shown in FIG. 11(a), a suction pump 32 shown in FIG. 11(b), a suction pump 32 shown in FIG. 11(c), and a It consists of two suspended articulated arms 24a, 24b to which the scoop 33 shown (or the combination of the suction pump 32 and scoop 33 shown in FIG. 15) is connected.

Using a working tool connected to the ends of the hanging articulated arms 24a and 24b, the deposit 1 is grasped and/or sucked and lifted to be collected and removed.

Next, a method for removing underwater sediments according to this embodiment will be described with reference to FIG.

As shown in FIG. 1, the sediment 1 is deposited in the water on the second basement floor of the building 100, and is picked up by a working tool (for example, a grapple 31) connected to the tip of the working device 9 and collected. The collected deposit 1 is temporarily stored in a temporary storage container 21 of the collection device 2, and is transferred from this temporary storage container 21 to the collection container 5 of the basement conveying device 3, where the deposit 1 is transferred. The sediment 1 is transferred from the changed collection container 5 to the draining container 4 by the first handling device 6a, and the draining container 4 to which the sediment 1 has been transferred is installed on the ceiling of the fourth floor above the ground of the building 100. The hoist 8 lifts the deposit 1 from the first basement floor to the first floor above the ground, and the deposit 1 is transferred from the draining container 4 pulled up to the first floor to the transfer container 30 by the second handling device 6b, and the deposit 1 is transferred. The conveying container 30 is conveyed to the unloading location by the conveying device 7 on the ground floor.

In the underwater sediment removal method of the present embodiment, the sediment 1 is transferred from the temporary storage container 21 of the recovery device 2 to the recovery container 5 of the underground transfer device 3, and then deposited by a weight measuring device (not shown). The weight of the object 1 may be measured, and based on the measurement result, it may be determined whether the deposit 1 can be carried out, and then the deposit 1 may be transferred and removed.

FIG. 9 shows the work situation on the first basement floor of the building 100, and FIG. 10 shows the work situation on the first floor above ground in the underwater sediment removal method of the present embodiment.

As shown in FIG. 9, on the first basement floor of the building 100, the draining container 4 in which the sediment 1 is transferred from the opening 10a formed in the floor of the first basement floor is lifted from the second basement floor by the hoist hook 8a. The draining container 4 containing the sediment 1 is placed on a mesh-shaped draining table 4a to drain the sediment 1, and the process proceeds to the next step.

Further, as shown in FIG. 10, on the first floor above the ground of the building 100, when the draining container 4 that has finished draining the sediment 1 on the first basement floor is lifted to the first floor above the ground by the hoist hook 8a, the first The deposit 1 is transferred from the draining container 4 to the transfer container 30 by the handling device 6a, placed on the ground floor transfer device 7, and carried out to the carrying-out location.

Next, it is stored in a bag by means of two hanging articulated arms 24a, 24b whose tips are connected to work tools (for example, grapple 31, suction pump 32, scoop 33) shown in FIG. 11(a), FIG. 11(b), FIG. 11(c), FIG. (a), FIG.13(b), FIG.14 and FIG.15 is used and demonstrated.

FIG. 11(a) shows the grapple 31 used when the bag containing the deposit 1 is sound, and FIG. 11(b) shows the grapple 31 used when the bag containing the deposit 1 is damaged. Fig. 11(c) shows a scoop 33 used when the bag containing the sediment 1 is damaged.

When the bag containing the sediment 1 is sound, as shown in FIG. 12(a), the bag can be grasped from both sides by the grapples 31, or as shown in FIG. Grab the tied-up area, or suck the bag with a suction pump 32, as shown in Figure 14, or pull the bag from underneath with a scoop 33, as shown in Figures 13(a) and 13(b). Alternatively, as shown in FIG. 15, after the bag is sucked by the suction pump 32, the sediment zeolite 1 stored in the bag is recovered and removed by scooping it up from the bottom of the bag with the scoop 33.

Also, the bag containing the deposit 1 is damaged, the bag containing the deposit 1 is about to be damaged, or the bag containing the deposit 1 is damaged and remains in the bag. If there is a mixture of scattered materials outside, either the suction pump 32 is used to suck the bag containing the deposit 1, or the scoop 33 is used to scoop up the bag containing the deposit 1 from below. Alternatively, after the bag containing the deposit 1 is sucked by the suction pump 32, the bag containing the deposit 1 is scooped up from the bottom with the scoop 33 to collect and remove the bag containing the deposit 1. do.

According to the apparatus for removing underwater sediment and the method for removing the same of this embodiment, the sediment 1 in water can be removed and recovered in a short period of time.

In the first embodiment described above, the basement conveying apparatus 3 and the ground floor conveying apparatus 7 are used as examples of the conveying apparatuses. ) may be a belt conveyor installed in the

In this case, although not shown in particular, on the first basement floor of the building, the draining container in which the sediment was transferred from the opening formed in the floor of the first basement floor was lifted from the second basement floor by a hoist hook. The draining container containing the sediment is placed on a mesh-shaped draining table to drain the sediment, and the next step is performed.

In addition, on the first floor of the building, when the draining container that has drained the sediment on the first basement floor is lifted to the first floor by the hoist hook, the first handling device removes the sediment from the draining container to the transport container. , placed on a belt conveyor, and carried out to the carrying-out location.

Even in this way, the same effect as in the first embodiment can be obtained.

It should be noted that the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. In addition, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Moreover, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

DESCRIPTION OF SYMBOLS 1... Deposit, 2... Recovery apparatus, 3... Basement-floor conveying apparatus, 4... Draining container, 4a... Draining stand, 5... Collection container, 6a... First handling device, 6b... Second handling device, 7... Ground floor transfer device 8 Hoist 8a Hoist hook 8b Hoist cable 9 Work device 9a, 9b, 9c Signal cable 10a, 10b Opening 11a, 11b Recovery device float 11c, 11d... floats for underground floor conveying devices, 12a, 12b, 12c... illuminated suspended cameras, 14a, 14b, 14c, 14d, 14e, 14f, 14g... illuminated cameras for recovery devices, 15a, 15b... recovery devices 16a, 16b... Forward/backward movement propelling device for recovery device 17a, 17b, 17c, 17d, 17e... Illuminated camera for underground transfer device 18a, 18b... Backward/backward movement for underground transfer device 19a, 19b... Horizontal movement propulsion device for underground floor conveying device, 20... Underwater sediment removal device, 21... Temporary storage container, 22a, 22b... Arm, 23... Connection member, 24a, 24b... Suspension Lowering type articulated arm 28 Lifting machine 30 Conveying container 31 Grapple 32 Suction pump 33 Scoop 100 Building.

Claims (26)

A working device that grips and/or sucks up sediments in water, and a recovery device that retrieves the sediments gripped and/or sucked by the working device that is translated and raised by a lifting machine equipped with the working device. and a conveying device that collects the deposits taken out by the collecting device in a container, transports the container to an unloading location, and collects the deposits ,
the sediment is in the water of the basement floor of the building;
The transfer device comprises an underground transfer device and a ground transfer device, transfers and transfers the deposit from a storage container of the recovery device to a recovery container of the underground transfer device, and transfers the deposit. The sediment was transferred from the collected collection container to a draining container, and the draining container in which the sediment was transferred was lifted from the basement floor to the ground floor by a hoist installed in the building, and was pulled up to the ground floor. An apparatus for removing underwater sediments , wherein the sediment is transferred from the draining container to a transport container, and the transport container in which the sediment has been transferred is transported to an unloading location by the ground floor transport device. A working device that grips and/or sucks up sediments in water, and a recovery device that retrieves the sediments gripped and/or sucked by the working device that is translated and raised by a lifting machine equipped with the working device. and a conveying device that collects the deposits taken out by the collecting device in a container, transports the container to an unloading location, and collects the deposits,
the sediment is in the water of the basement floor of the building;
The conveying device comprises a basement conveying device and a belt conveyor which is a ground floor conveying device installed on the ground floor of the building, and the sediments are transported from the storage container of the collecting device to the collecting container of the basement conveying device. is transferred and transferred, the deposit is transferred from the collection container to which the deposit is transferred to a draining container, and the draining container to which the deposit is transferred is underground by a hoist installed in the building Lifting from the floor to the ground floor, transferring the deposit from the draining container pulled up to the ground floor to a transport container, and transporting the transport container in which the deposit has been transferred to a carry-out location by the belt conveyor. An underwater sediment removal device characterized by: The apparatus for removing underwater sediments according to claim 1 or 2 ,
The underwater apparatus further comprises a weight measuring instrument for measuring the weight of the sediment transferred to the transport container on the ground floor and determining whether the sediment can be carried out based on the measurement result. Sediment removal equipment. The apparatus for removing underwater sediments according to any one of claims 1 to 3 ,
An apparatus for removing underwater sediments, wherein the collecting apparatus and the underground floor conveying apparatus are provided with buoyant bodies (floats). The apparatus for removing underwater sediments according to any one of claims 1 to 4 ,
A camera is installed on each floor of the work device, the collection device, the basement transfer device, the ground floor transfer device, and the building. An apparatus for removing underwater sediments, characterized in that the operation of the above ground floor conveying apparatus is performed. The apparatus for removing underwater sediment according to claim 5 ,
An apparatus for removing underwater sediments, wherein the recovering apparatus, the underground transfer apparatus, and the above-ground transfer apparatus are each connected to respective control panels via movable cables. The apparatus for removing underwater sediments according to claim 6 ,
The apparatus for removing underwater sediments, wherein the hoist is installed on the top floor of the building, and the hoist and a hoist hook for lifting the drain container are connected by a movable hoist cable. The apparatus for removing underwater sediments according to any one of claims 1 to 7 ,
1. An apparatus for removing underwater sediments, wherein the working device comprises two suspended articulated arms having working tools connected to their ends. An apparatus for removing underwater sediments according to claim 7 ,
An opening is formed in the floor of each floor of the building, and the drainage container, the cable, and the hoist cable are configured to pass through the opening. Device. The apparatus for removing underwater sediments according to claim 8 or 9 ,
The deposit is stored in a bag, and the deposit stored in the bag is collected and removed by a work tool connected to the tip of the hanging articulated arm. Underwater sediment removal equipment. The apparatus for removing underwater sediments according to claim 10 ,
wherein the work tool of the suspended articulated arm comprises a grapple, a suction pump, a scoop or a combination of a suction pump and a scoop;
When the bag is sound, grasp the bag from both sides with the grapple, grab the tied portion of the bag, suck the bag with the suction pump, or squeeze the bag with the scoop. An apparatus for removing sediment in water, wherein the sediment is recovered and removed by scooping up from below or by sucking up the bag with the suction pump and then scooping up the bag from below with the scoop. The apparatus for removing underwater sediments according to claim 10 ,
wherein the work tool of the suspended articulated arm is a suction pump, a scoop or a combination of a suction pump and a scoop;
When the bag is damaged, when the bag is about to be damaged, or when the bag is damaged and the materials remaining in the bag and the materials scattered outside are mixed, the suction pump sucks the bag. Alternatively, the scoop is scooped up from below the bag, or the bag is sucked by the suction pump and then scooped up from below the bag with the scoop to recover and remove the sediment. Object removal device. The apparatus for removing underwater sediments according to any one of claims 1 to 12 ,
The collecting device comprises at least one float arranged opposite to the left and right with a predetermined interval, and at least two gate-shaped arms connected to each other with the float serving as legs and arranged opposite to each other with a certain interval. , a connecting member that connects the upper parts of at least two gate-shaped arms; a thruster that is installed on the float and can move left and right and fore and aft; a hoisting machine, a storage container for temporarily storing the underwater sediments gripped and/or sucked by the working device installed at the tip of the hoisting machine, and a camera installed on the arm and the float. An underwater sediment removal device characterized by: An apparatus for removing underwater sediments according to claim 13 ,
The basement conveying device includes at least one float arranged opposite to the left and right with a predetermined interval, the collection container installed between the floats arranged to face the float with a predetermined interval to the left and right, and installed on the float, An apparatus for removing underwater sediments, comprising a propulsion device that can move left and right and back and forth, and a camera installed on the float. An apparatus for removing underwater sediments according to claim 14 ,
A removal apparatus for underwater sediments, wherein the ground floor transfer apparatus is a freely movable remote-controlled robot or a belt conveyor. A working device that grips and/or sucks up sediments in water, and a recovery device that retrieves the sediments gripped and/or sucked by the working device that is translated and raised by a lifting machine equipped with the working device. and a conveying device for carrying out the deposit taken out by the recovering device and recovering the deposit,
the sediment is in the water of the basement floor of the building;
The transfer device comprises an underground transfer device and a ground transfer device, transfers the deposit from the recovery device to a recovery container of the underground transfer device, and transfers the deposit to the underground transfer device in the basement. from the ground floor to a ground floor conveying device installed on the ground floor, and the sediment that has been lifted to the ground floor is transported to the unloading location in a transport container,
The working device is composed of two suspended articulated arms to which working tools are connected to the ends thereof, and the working tools of the suspended articulated arms are a suction pump, a scoop, or a combination of a suction pump and a scoop. consists of a combination of
The sediment is stored in a bag, and the bag is damaged, the bag is about to be damaged, or the bag is damaged and remains in the bag and scattered outside. In this case, the bag is sucked by the suction pump, or the scoop is scooped up from the bottom of the bag, or after the bag is sucked by the suction pump, the scoop is scooped up from the bottom and the An underwater sediment removing device for recovering and removing sediments. A lifting machine of a recovery device equipped with a working device for gripping and/or sucking a sediment in water moves the working device vertically and vertically to take out the sediment gripped and/or sucked by the recovery device. Collecting the sediment taken out in a container, carrying out the container to a carry-out location with a conveying device, and recovering the sediment ,
the sediment is in the water of the basement floor of the building;
The transfer device comprises an underground transfer device and a ground transfer device, transfers and transfers the deposit from a storage container of the recovery device to a recovery container of the underground transfer device, and transfers the deposit. The sediment is transferred from the collected collection container to a draining container, and the draining container in which the sediment has been transferred is lifted from the basement floor to the ground floor by a hoist installed in the building, and is lifted to the ground floor. and transferring the sediment from the draining container to a transport container, and carrying out the transport container in which the sediment has been transferred to a carry-out location by the ground-floor transport device . A lifting machine of a recovery device equipped with a working device for gripping and/or sucking a sediment in water moves the working device vertically and vertically to take out the sediment gripped and/or sucked by the recovery device. Collecting the sediment taken out in a container, carrying out the container to a carry-out location with a conveying device, and recovering the sediment,
the sediment is in the water of the basement floor of the building;
The conveying device comprises an underground floor conveying device and a belt conveyor installed on the ground floor of the building, and transfers and transfers the deposit from the storage container of the collecting device to the collecting container of the underground floor conveying device. transferring the sediment from the collection container to which the sediment was transferred to a draining container, and moving the draining container to which the sediment was transferred from the basement floor to the ground floor by a hoist installed in the building; An underwater deposition characterized in that the sediment is transferred from the draining container that has been lifted up to the ground floor to a transport container, and the transport container in which the sediment has been transferred is transported to an unloading location by the belt conveyor. How to remove things. A method for removing underwater sediments according to claim 17 or 18 ,
Measure the weight of the deposit transferred to the transport container on the ground floor with a weight measuring instrument, and remove the deposit after determining whether the deposit can be carried out based on the measurement result. A method for removing underwater sediment, characterized by: The method for removing underwater sediments according to any one of claims 17 to 19 ,
A method for removing underwater sediments, wherein the recovery device and the underground transfer device are provided with a buoyant body (float), and the recovery device and the underground transfer device are moved by the buoyant body. The method for removing underwater sediments according to any one of claims 17 to 20 ,
The work device, the collection device, the basement transfer device, the ground floor transfer device, and the work device, the recovery device, the basement transfer device, and the ground floor transfer while being monitored by cameras installed on each floor of the building. A method for removing underwater sediments, characterized in that the device is operated. A method for removing underwater sediments according to claim 17 or 18 ,
The hoist installed on the top floor of the building and a hoist hook for lifting the draining container are connected by a movable hoist cable, and by operating the hoist, the hoist hook is operated via the hoist cable. A method for removing underwater deposits, characterized by lifting a draining container and moving it to a predetermined position. The method for removing underwater sediments according to any one of claims 17 to 22 ,
The working device consists of two suspended articulated arms with working tools connected to their tips,
An underwater sediment, wherein the sediment is stored in a bag, and the sediment stored in the bag is collected and removed by the work tool of the hanging articulated arm. removal method. A method of removing underwater sediments according to claim 23 , comprising:
wherein the work tool of the suspended articulated arm comprises a grapple, a suction pump, a scoop or a combination of a suction pump and a scoop;
When the bag is sound, grasp the bag from both sides with the grapple, or grasp the tied portion of the bag, or suck the bag with the suction pump, or under the bag with the scoop. A method for removing sediments in water, characterized by scooping up the sediment from the water, or scooping up the sediment from below the bag with the scoop after sucking the bag with the suction pump. A method of removing underwater sediments according to claim 23 , comprising:
wherein the work tool of the suspended articulated arm is a suction pump, a scoop or a combination of a suction pump and a scoop;
When the bag is damaged, when the bag is about to be damaged, or when the bag is damaged and the items remaining in the bag and the items scattered outside coexist, the suction pump sucks the bag. Alternatively, the sediment in water is scooped up from below the bag with the scoop, or the sediment is recovered and removed by scooping up the bag with the scoop after sucking the bag with the suction pump. removal method. A lifting machine of a recovery device equipped with a working device for gripping and/or sucking a sediment in water moves the working device up and down to take out the sediment gripped and/or sucked by the recovery device. The sediment is recovered by carrying out the sediment taken out in , and the sediment is recovered by carrying out the recovered sediment to a carry-out location by a conveying device,
the sediment is in the water of the basement floor of the building;
The transfer device comprises an underground transfer device and a ground transfer device, transfers the deposit from the recovery device to a recovery container of the underground transfer device, and transfers the deposit to the underground transfer device in the basement. from the ground floor to a ground floor conveying device installed on the ground floor, and the sediment that has been lifted to the ground floor is transported to the unloading location in a transport container,
The working device is composed of two suspended articulated arms to which working tools are connected to the ends thereof, and the working tools of the suspended articulated arms are a suction pump, a scoop, or a combination of a suction pump and a scoop. consists of a combination of
The sediment is stored in a bag, and the bag is damaged, the bag is about to be damaged, or the bag is damaged and remains in the bag and scattered outside. In this case, the bag is sucked by the suction pump, or the scoop is scooped up from the bottom of the bag, or after the bag is sucked by the suction pump, the scoop is scooped up from the bottom and the A method for removing underwater sediment , comprising recovering and removing the sediment.

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