JPH01186491A - Robot for inspecting under-water structure - Google Patents
Robot for inspecting under-water structureInfo
- Publication number
- JPH01186491A JPH01186491A JP63011063A JP1106388A JPH01186491A JP H01186491 A JPH01186491 A JP H01186491A JP 63011063 A JP63011063 A JP 63011063A JP 1106388 A JP1106388 A JP 1106388A JP H01186491 A JPH01186491 A JP H01186491A
- Authority
- JP
- Japan
- Prior art keywords
- robot body
- bar pitch
- robot
- film thickness
- inspection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 5
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims abstract description 3
- 239000000428 dust Substances 0.000 claims description 9
- 239000012528 membrane Substances 0.000 claims description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 6
- 229910052742 iron Inorganic materials 0.000 abstract description 3
- 230000004907 flux Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 8
- 239000011248 coating agent Substances 0.000 description 7
- 238000000576 coating method Methods 0.000 description 7
- 230000008439 repair process Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000907506 Israel turkey meningoencephalomyelitis virus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
産業上夏机里公ト
本発明は、水中構造物点検用ロボットに関し、例えばダ
ムや放水路のゲート及び除塵用スクリーンの点検等に利
用されるものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot for inspecting underwater structures, and is used, for example, to inspect gates and dust removal screens of dams and waterways.
従来■肢血
ダムや放水路のゲート及び除塵用スクリーンは、定期的
に点検を行い、損傷個所の早期発見とその補修を行う必
要があり、これらは、ダムの規模にもよるが水中深く
（深度６０ｍ以上の場合もある）に位置し、従来では、
上記点検作業等を専門のダイパーが潜水して行っている
のが実情である。Conventionally ■Limb blood dams, spillway gates, and dust removal screens need to be inspected regularly to detect and repair damaged areas at an early stage.
(sometimes at a depth of 60m or more), and conventionally,
The reality is that the above-mentioned inspection work, etc., is carried out by specialized divers underwater.
ベ しよ゛と る 占
従来、水中作業用の各種ロボットが提供されているが、
これらは、流れのある海中等で使用されるもので、流れ
に打ち勝つ速力を要し、それだけ重装備となり、大型大
重量となるため、山間部のダムには適用し難く、やむを
得ず、専門のダイパーによる作業に依存していたもので
、これでは、長時間連続して潜水作業をすることはでき
ず、危険性が伴うと共に、作業能率が低く、必要なデー
タを定量的に入手することも困難である等の問題点があ
った。Previously, various robots for underwater work have been provided, but
These are used in the ocean where there is a current, and require speed to overcome the current, which means they are heavy equipment and large and heavy, making them difficult to apply to dams in mountainous areas. This method does not allow continuous diving for long periods of time, is dangerous, has low work efficiency, and makes it difficult to quantitatively obtain the necessary data. There were problems such as:
占 ゛ ・ の
本発明は従来技術の上記問題点に鑑み開発されたもので
、浮力体及び前後進用、上昇下降用、横進用の水中推進
機を備えた棒状フレーム構造のロボット本体と、ロボッ
ト本体の前面に搭載された点検個所清掃用回転ブラシ付
き膜圧計と、ロボット本体の前面に搭載された点検個所
観察記録用撮影手段と、ロボット本体の前面に搭載され
た除塵用スクリーンのバーピッチ計測手段と、地上から
水中でのロボット本体の位置を検知する位置認識装置と
、地上からロボット本体の航行制御、回転ブラシ付き膜
圧計の動作制御、撮影手段の動作制御及びバーピッチ計
測手段の動作制御を行う地上制御装置とを具備している
ことを特徴とする水中構造物点検用ロボットを提供する
ものである。The present invention has been developed in view of the above-mentioned problems of the prior art, and includes a robot body with a rod-shaped frame structure equipped with a buoyant body and an underwater propulsion device for forward and backward movement, ascent and descent, and lateral movement; A membrane pressure gauge with a rotating brush for cleaning the inspection area mounted on the front of the robot body, a photographing means for observing and recording the inspection area mounted on the front of the robot body, and a bar pitch measurement of the dust removal screen mounted on the front of the robot body means, a position recognition device that detects the position of the robot body underwater from the ground, navigation control of the robot body from the ground, operation control of a membrane pressure gauge with a rotating brush, operation control of the photographing means, and operation control of the bar pitch measuring means. The present invention provides a robot for inspecting underwater structures, characterized in that it is equipped with a ground control device for inspecting underwater structures.
昨月−
水中での位置を位置認識装置で検知し乍ら、地上制御装
置でロボット本体の航行制御をなし、ダムゲートの塗膜
の状態及び除塵用スクリーンのバーピッチの変化の有無
を自動的に点検する。即ち、ゲートの塗膜は、流木その
他の固形流動物の衝突等で剥離や損傷を生じ、その結果
鉄板部分を腐食させる。このことは除塵用スクリーンに
ついても同様であり、特に、スクリーンの流木その他の
固形流動物の衝突はバーの変形や取付ボルトの折損を引
越し、これにによってバーピッチが変化し、粗大流動物
を通過させ、このことが重大事故の発生につながる恐れ
がある。本発明になる水中ロボットではこれらを防止す
るために、点検を行うが、塗膜厚さを測定、観察するゲ
ートには、水垢等のスライムと称される付着物が付着し
ており、これを除去しないと正確な観察や塗膜厚さの計
測はできない。Last month - While the underwater position was detected by the position recognition device, the navigation of the robot body was controlled by the ground control device, and the condition of the paint film on the dam gate and the presence of changes in the bar pitch of the dust removal screen were automatically inspected. do. That is, the coating film on the gate peels off or is damaged due to collision with driftwood or other solid fluid objects, and as a result, the iron plate portion corrodes. The same applies to dust removal screens; in particular, collisions with driftwood or other solid fluids on the screen can cause deformation of the bars or breakage of mounting bolts, which changes the bar pitch and prevents coarse fluids from passing through. , this may lead to serious accidents. In order to prevent these problems, the underwater robot according to the present invention performs inspections, but the gate for measuring and observing the coating film thickness has deposits called slime such as limescale attached to it. Without removal, accurate observation and measurement of coating thickness cannot be performed.
そこで、回転ブラシにより、点検個所のスライムを掃除
除去し、膜厚計を当接して塗膜厚を計測する。Therefore, a rotating brush is used to clean and remove the slime from the inspection area, and a film thickness gauge is applied to measure the coating film thickness.
塗膜厚の計測点は１つのゲートに対して、複数点を行う
もので、ロボット本体に搭載したＩＴＶ （工業用テレ
ビ）カメラ等の撮影手段でゲートを観察し乍ら行う。大
きい損傷個所は、■ＴＶカメラで発見でき、目視発見の
困難な場合でも膜厚計によって定量的に検出し記録する
。The coating film thickness is measured at multiple points for one gate, and is carried out while observing the gate using a photographing means such as an ITV (industrial television) camera mounted on the robot body. Large damaged areas can be detected with a TV camera, and even if it is difficult to detect visually, they can be quantitatively detected and recorded using a film thickness meter.
また、除塵用スクリーンのバーピッチの計測は２台のＩ
ＴＶカメラの映像の画像処理によって行い、原理的には
三角測量の原理でバーピッチを計測させるものである。In addition, the bar pitch of the dust removal screen was measured using two I
This is done by image processing of images from a TV camera, and in principle the bar pitch is measured using the principle of triangulation.
皇胤皿
第１図は本発明の適用例を示す概略斜視図であって、（
Ａ）はロボット本体、（Ｂ）は位置認識装置、（Ｃ）は
地上制御装置を示している。FIG. 1 is a schematic perspective view showing an example of application of the present invention.
A) shows the robot body, (B) shows the position recognition device, and (C) shows the ground control device.
ロボット本体（Ａ）は、第２図〜第４図に示す様に梧型
の枠状フレーム（１）に、回転ブラシ付き膜厚計（Ｄ）
と、点検個所観察記録用撮影手段（Ｅ）と、バーピッチ
計測手段（Ｆ）と、浮力体（Ｇ）と、前後進用推進機（
Ｈ）と、上昇下降用推進機（Ｉ）と、横道用推進機（Ｊ
）と、回路ケース（Ｋ）と、光カプラ箱（Ｌ）と、膜厚
計箱（Ｍ）と、トランスポンダ（Ｎ）とを搭載している
。As shown in Figures 2 to 4, the robot body (A) consists of an Ogo-shaped frame (1) and a coating thickness meter (D) with a rotating brush.
, a photographing means for observing and recording inspection points (E), a bar pitch measuring means (F), a buoyant body (G), and a forward and backward propulsion device (
H), ascending and descending propulsion device (I), and sideways propulsion device (J).
), a circuit case (K), an optical coupler box (L), a film thickness meter box (M), and a transponder (N).
回転ブラシ付き膜厚計（Ｄ）は、ロボット本体（Ａ）の
前面−側に配置され、第５図及び第６図に示す様に、１
対の回転ブラシ（２）（３）と膜厚計測センサ（４）と
を有し、回転ブラシ（２）（３）の回転軸（２ａ）
（３ａ）は、密閉ケース（５）内の駆動モータ（図示省
略）により回転駆動され、常に定位置制御される。The film thickness meter (D) with a rotating brush is placed on the front side of the robot body (A), and as shown in FIGS.
It has a pair of rotating brushes (2) (3) and a film thickness measurement sensor (4), and the rotating shaft (2a) of the rotating brushes (2) (3)
(3a) is rotationally driven by a drive motor (not shown) in the closed case (5) and is always controlled in a fixed position.
膜厚計測センサ（４）は、密閉ケース（５）内の駆動モ
ータ（図示省略）により、回転ブラシ（２）（３）の間
から前後方向に突出退入するもので、電磁膜厚計が使用
され、ロボット本体（Ａ）の上部に設置した膜厚計箱（
Ｍ）内のアンプを通して回路ケース（Ｋ）内の制御部に
接続されている。The film thickness measurement sensor (4) protrudes and retracts from between the rotating brushes (2) and (3) in the front and back direction by a drive motor (not shown) in the sealed case (5), and the electromagnetic film thickness meter The film thickness gauge box (
It is connected to the control unit in the circuit case (K) through the amplifier in M).
点検個所記録用撮影手段（Ｅ）は、ロボット本体（Ａ）
の前面他側に配置されたオートフォ−カス型のスチール
カメラ（６）と、前面中央に配置されたＩＴＶカメラ（
７）とを備え、スチールカメラ（６）は、第７図〜第９
図に示す様に、密閉ケース（６ａ）内に収容され、一部
に一体にストロボ（６ｂ）を有し、該密閉ケース（６ａ
）は内蔵したチルト機構（図示省略）によりチルト軸（
６ｃ）を中心に上下方向にチルトでき、このチルト軸（
６ｃ）を支持する取付台（６ｄ）は、旋回軸（６ｅ）を
中心に旋回可能とされ、パン回転用モータ（６ｆ）によ
り、伝動ベルト（６ｇ）を介して旋回駆動され、これに
よって任意の位置の写真撮影を可能としている。The photographing means (E) for recording inspection points is the robot body (A).
There is an auto-focus still camera (6) placed on the other side of the front of the camera, and an ITV camera (6) placed in the center of the front.
7), and the still camera (6) is shown in FIGS. 7 to 9.
As shown in the figure, the airtight case (6a) is housed in a sealed case (6a), and has a strobe (6b) integrated in a part thereof.
) has a built-in tilt mechanism (not shown) that allows the tilt axis (
6c) can be tilted up and down, and this tilt axis (
The mount (6d) supporting the pan (6c) is rotatable around a pivot shaft (6e), and is driven to rotate by a pan rotation motor (6f) via a transmission belt (6g), thereby allowing any It is possible to take photos of the location.
ＩＴＶカメラ（７）は、第１０図に示す様に、前面を球
形の透明ガラス（７ａ）とした密閉ケース（７ｂ）内に
内蔵したチルト機構（図示省略）によりチルト軸（７ｃ
）を中心にチルトでき、かつ、旋回機構（７ｄ）により
中心点（７ｅ）を中心に旋回可能とされており、これに
よって任意の位置の撮影を可能としている。As shown in Fig. 10, the ITV camera (7) is rotated by a tilt axis (7c) by a tilt mechanism (not shown) built into a sealed case (7b) whose front surface is a spherical transparent glass (7a).
), and can be rotated around a center point (7e) by a rotating mechanism (7d), thereby making it possible to take pictures at any position.
バーピッチ計測手段（Ｆ）は、第２図〜第４図に示す様
に、ロボット本体（Ａ）の前面−側上部に設置された２
台のＩＴＶカメラ（８ａ）（８ｂ）からなり、両カメラ
（８ａ） （８ｂ）で捕らえたスクリーンの画像から
三角測量の原理でバーピッチ及びロボット本体（Ａ）と
スクリーンまでの距離を計測するもので、この計測は、
地上制御装置（Ｃ）に付属するスクリーンバーピッチ計
測装置（８ｃ）の画像処理により実施され、画面表示及
び記録するものである。As shown in Figs. 2 to 4, the bar pitch measuring means (F) is a bar pitch measuring means (F) installed at the top of the front side of the robot body (A).
It consists of two ITV cameras (8a) and (8b), and uses the principle of triangulation to measure the bar pitch and the distance between the robot body (A) and the screen from the images of the screen captured by both cameras (8a) and (8b). , this measurement is
This is performed by image processing of the screen bar pitch measuring device (8c) attached to the ground control device (C), and is displayed and recorded on the screen.
浮力体（Ｇ）は、ロボット本体（Ａ）を水中で水平に浮
遊させるためのもので、全重量と略等しい浮力をもつよ
うに考慮している。The buoyancy body (G) is for horizontally floating the robot body (A) in water, and is designed to have a buoyancy force approximately equal to the total weight.
前後進用推進機（Ｈ）は、ロボット本体（Ａ）の重心位
置（０）より若干後方位置の左右両側に対称的に配置し
てあり、密閉型モータとプロペラとよりなっている。The forward and backward propulsion devices (H) are arranged symmetrically on both left and right sides at a position slightly rearward of the center of gravity (0) of the robot body (A), and are composed of a sealed motor and a propeller.
上昇下降用推進機（Ｉ）は、ロボット本体（Ａ）の重心
位置（０）を通る垂直軸線上に貫通状態で配置してあり
密閉型のモータとプロペラとよりなっている。The ascending/descending propulsion device (I) is disposed penetratingly on a vertical axis passing through the center of gravity (0) of the robot body (A), and is composed of a sealed motor and a propeller.
横進用推進機（Ｊ）は、ロボット本体（Ａ）の重心位置
（０）の若干前方位置の左右方向に貫通状態で配置して
あり、密閉型モータとプロペラとよりなっている。The lateral propulsion device (J) is disposed in a penetrating state in the left-right direction at a position slightly in front of the center of gravity (0) of the robot body (A), and is composed of a sealed motor and a propeller.
回路ケース（Ｋ）は、第２図〜第４図に示す様に、ロボ
ット本体（Ａ）の後部中央に配置してあり、内部に、回
転ブラシの駆動制御機器、膜厚計の駆動制御機器、スチ
ールカメラ及びＩＴＶカメラの駆動制御機器、各方向推
進機の駆動制御機器を内蔵しており、光カプラ箱（Ｌ）
を介して地上制御装置（Ｃ）に光フアイバー動力複合ケ
ーブル（Ｐ）で接続しである。As shown in Figures 2 to 4, the circuit case (K) is located at the center of the rear of the robot body (A), and contains the drive control equipment for the rotating brush and the drive control equipment for the film thickness meter. , drive control equipment for still cameras and ITV cameras, drive control equipment for each directional propulsion machine, and an optical coupler box (L).
It is connected to the ground control equipment (C) via a fiber optic power composite cable (P).
光カプラ箱（Ｌ）では、ロボット本体（Ａ）の他端、即
ちバーピッチ計測手段（Ｆ）の配置位置と反対側の前面
上部に配置しである。 ・膜厚計箱（Ｍ）は、膜厚計
のアンプを収納しており、このアンプは、計測時、調整
が必要なため、ロボット本体（Ａ）の後部上面に設置し
である。In the optical coupler box (L), it is arranged at the other end of the robot body (A), that is, at the upper front surface on the opposite side to the arrangement position of the bar pitch measuring means (F). - The film thickness gauge box (M) houses the amplifier for the film thickness gauge, and since this amplifier requires adjustment during measurement, it is installed on the rear upper surface of the robot body (A).
トランスポンダ（Ｎ）は、ロボット本体（Ａ）の最後尾
上面に設置してあり、位置認識装置（Ｂ）との間で音響
による通信を行うものである。The transponder (N) is installed on the rearmost upper surface of the robot body (A), and performs acoustic communication with the position recognition device (B).
位置認識装置（Ｂ）は、第１図に示す様に、水面に浮か
べた三角状の筏（９）の各頂点に音響送受波器（１０ａ
） （１０ｂ ） （１０ｃ ）を設け、これと
ロボット本体（Ａ）のトランスポンダ（Ｎ）間で音響に
よる通信を行い、三角測量の原理で任意の演算を行うも
ので、演算された位置は、地上制御装置（Ｃ）に付属の
ＣＲＴ画面をもつ水中位置表示装置（１１）に表示され
る。As shown in Fig. 1, the position recognition device (B) includes acoustic transducers (10a
) (10b) (10c) is installed, acoustic communication is performed between this and the transponder (N) of the robot body (A), and arbitrary calculations are performed using the principle of triangulation, and the calculated position is It is displayed on the underwater position display device (11) having a CRT screen attached to the control device (C).
地上制御装置（Ｃ）は、第１図に示す様に、ロボット本
体（Ａ）の航行制御を行うジョイスティックコントロー
ラ（１２） 、水中位置表示装置（１１） 、スクリー
ンバーピッチ計測装置（８ｃ）、各ＶＴＲ装置、送受信
インターフェース（１３）、電源制御箱（１４） 、発
電ｍ （１５）等で構成されている。As shown in Fig. 1, the ground control device (C) includes a joystick controller (12) that controls the navigation of the robot body (A), an underwater position display device (11), a screen bar pitch measuring device (8c), and the like. It consists of a VTR device, a transmitting/receiving interface (13), a power control box (14), a power generator (15), etc.
ジョイスティックコントローラ（１２）は、ロボット本
体（Ａ）の操縦の外、自動方位保持操作、テレビカメラ
、スチールカメラの操作を行うようにしている。The joystick controller (12) not only controls the robot body (A), but also performs automatic orientation maintenance operations, and operations of the television camera and still camera.
本発明の実施例は以上の構成からなり、次に動作を説明
する。The embodiment of the present invention has the above configuration, and its operation will be explained next.
ロボット本体（Ａ）及び三角状の筏（９）をクレーン（
１６）等でダムの水上に下し、地上制御装置（Ｃ）及び
位置認識装置（Ｂ）でロボット本体（Ａ）の航行を制御
し乍ら、ダムゲートに向かわせ、ダムゲートの塗膜の状
態および除塵用スクリーンのバーピッチの変化の有無を
点検する。Move the robot body (A) and triangular raft (9) with a crane (
16) etc., and while controlling the navigation of the robot body (A) with the ground control device (C) and position recognition device (B), direct it toward the dam gate and check the condition of the coating film on the dam gate. Check for changes in the bar pitch of the dust removal screen.
先ず、ダムゲートの点検は、回転ブラシ（２）（３）で
点検個所に付着しているスライム等を除去した上で膜厚
計測センサ（４）を圧接し、該センサ（４）から発射さ
れる電磁波が塗膜を透過し、鉄板面に達する時の磁束の
変化から間接的に塗膜厚さを計測するものである。First, the dam gate is inspected by removing slime, etc. adhering to the inspection area using rotating brushes (2) and (3), and then applying pressure to the film thickness measurement sensor (4), and ejecting the slime from the sensor (4). The thickness of the paint film is measured indirectly from the change in magnetic flux when electromagnetic waves pass through the paint film and reach the iron plate surface.
除塵用スクリーンのバーピッチの計測は、２台のＩＴＶ
カメラ（８ａ） （８ｂ）の映像から地上制御袋ｆ＆
（Ｃ）に付属のスクリーンバーピッチ計測装置（８ｃ
）により三角測量の原理でバーピッチを計測する。The bar pitch of the dust removal screen was measured using two ITVs.
From the images of cameras (8a) and (8b), ground control bag f&
(C) Screen bar pitch measuring device (8c
) to measure the bar pitch using the principle of triangulation.
これらの点検作業で損傷個所や要補修個所が発見された
場合には、補修を行うものである。If damaged areas or areas requiring repair are discovered during these inspections, repairs will be carried out.
血凰豊立果
本発明によれば、水中構造物の点検作業を、安全に能率
よく遂行でき、必要なデータを正確かつ定量的に入手す
ることができる。According to the present invention, inspection work on underwater structures can be carried out safely and efficiently, and necessary data can be obtained accurately and quantitatively.
第１図は本発明の適用例を示す概略斜視図、第２図はロ
ボット本体の側面図、第３図はその平面図、第４図はそ
の正面図、第５図は回転ブラシ付き膜厚計の拡大側面図
、第６図はその正面図、第７図はスチールカメラ部分の
側面図、第８図はその平面図、第９図はその正面図、第
１０図はＩＴＶカメラ部分の横断平面図である。
（Ａ）−ロボット本体、（Ｂ）−位置認識装置、（Ｃ）
−・・地上制御装置、
（Ｄ）一回転ブラシ付き膜厚計、
（Ｅ）・−・点検個所観察記録用撮影手段、（Ｆ）−−
一一一バーピッチ計測手段、ＣＧ）−浮力体、
（Ｈ）・−・前後進用推進機、（Ｉ ） −上昇下降用
推進機、
（Ｊ ’） −横進用推進機、（Ｋ）−・−回路ケース
、（Ｎ）−斗ランスボンダ、
（１）・−・枠状ケース、
（２）（３）一回転ブラシ、
（４）−膜厚計測センサ、
（６） −スチールカメラ、
（７） −Ｉ Ｔ Ｖカメラ、
（８ａ） （８ｂ） −−−−Ｉ Ｔ Ｖカメラ、（
９）・−三角状の筏、
（１０ａ）（１０ｂ）（１０ｃ）・−音響送受波器、（
１１）−・水中位置表示装置、
（１２）−一一一・ジョイスティックコントローラ、（
８ｃ）・−スクリーンバーピッチ計測装置。
特許出 願人 関西電力株式会社
代 理 人 江 原 省 吾図面
の浄書（内容にビ
き更なし）
手続補正書Ｇ式）
昭和６３年 ５月２６日
１、事件の表示
昭和６３年特許願第１１０６３号
２、発明の名称
水中構造物点検用ロボット
３、補正をする者
事件との関係 特許出願人
名称関西電力株式会社
４、代理人 ５５５０
住 所 大阪府大阪市西区江戸堀１丁目１５番２６号
昭和６３年 ３月３１日
図面中、第１図、第４図、第７図、第１０図を別紙の通
り補正する。
（浄書につき内容に変更ありません。）心、査１ツ′！
頬り日繕
上申書 １通Fig. 1 is a schematic perspective view showing an example of application of the present invention, Fig. 2 is a side view of the robot body, Fig. 3 is a plan view thereof, Fig. 4 is a front view thereof, and Fig. 5 is a film thickness with a rotating brush. Figure 6 is a front view of the camera, Figure 7 is a side view of the still camera section, Figure 8 is a plan view of the camera, Figure 9 is a front view of the camera, and Figure 10 is a cross section of the ITV camera section. FIG. (A) - Robot body, (B) - Position recognition device, (C)
---Ground control device, (D) Film thickness gauge with single rotation brush, (E) --- Photographing means for observing and recording inspection points, (F) --
111 bar pitch measuring means, CG) - buoyant body,
(H) - Propulsion unit for forward and backward movement, (I) - Propulsion unit for ascending and descending, (J') - Propulsion unit for lateral movement, (K) - Circuit case, (N) - Dou Lance bonder, ( 1) -- Frame-shaped case, (2) (3) Single rotation brush, (4) - Film thickness measurement sensor, (6) - Still camera, (7) - ITV camera, (8a) (8b) -----I TV camera, (
9) - Triangular raft, (10a) (10b) (10c) - Acoustic transducer, (
11)-・Underwater position display device, (12)-111・Joystick controller, (
8c) - Screen bar pitch measuring device. Patent applicant: Kansai Electric Power Co., Inc. Agent: Jiangwon Province Engraving of the drawing (no changes to the content) Procedural amendment form G) May 26, 1988 1, Indication of the case 1988 Patent Application No. 11063 No. 2, Name of the invention: Robot for inspecting underwater structures 3, Relationship with the person making the amendment Patent applicant name: Kansai Electric Power Co., Inc. 4, Agent: 5550 Address: 1-15-26 Edobori, Nishi-ku, Osaka City, Osaka Prefecture March 31, 1988 Figures 1, 4, 7, and 10 will be amended as shown in the attached sheet. (There are no changes to the content due to the engraving.) Heart, review!
1 copy of the cheek repair report
Claims (1)
推進機を備えた枠状フレーム構造のロボット本体と、 ロボット本体の前面に搭載された点検個所清掃用回転ブ
ラシ付き膜圧計と、 ロボット本体の前面に搭載された点検個所観察記録用撮
影手段と、 ロボット本体の前面に搭載された除塵用スクリーンのバ
ーピッチ計測手段と、 地上から水中でのロボット本体の位置を検知する位置認
識装置と、 地上からロボット本体の航行制御、回転ブラシ付き膜圧
計の動作制御、撮影手段の動作制御及びバーピッチ計測
手段の動作制御を行う地上制御装置とを具備しているこ
とを特徴とする水中構造物点検用ロボット。(1) A robot body with a frame-like frame structure equipped with a buoyant body and an underwater propulsion device for forward and backward movement, ascent and descent, and lateral movement, and a membrane pressure gauge with a rotating brush for cleaning inspection areas mounted on the front of the robot body. , a photographing means for observing and recording inspection points mounted on the front of the robot body, a bar pitch measuring means for the dust removal screen mounted on the front of the robot body, and a position recognition system for detecting the position of the robot body from the ground to the water. An underwater structure characterized by comprising: a device; and a ground control device that controls the navigation of the robot body, the operation of the membrane pressure gauge with a rotating brush, the operation of the photographing means, and the operation of the bar pitch measuring means from the ground. A robot for inspecting things.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63011063A JPH0774030B2 (en) | 1988-01-20 | 1988-01-20 | Underwater structure inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63011063A JPH0774030B2 (en) | 1988-01-20 | 1988-01-20 | Underwater structure inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01186491A true JPH01186491A (en) | 1989-07-25 |
| JPH0774030B2 JPH0774030B2 (en) | 1995-08-09 |
Family
ID=11767542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63011063A Expired - Fee Related JPH0774030B2 (en) | 1988-01-20 | 1988-01-20 | Underwater structure inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0774030B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104826760A (en) * | 2015-05-08 | 2015-08-12 | 浙江海洋学院 | Large ship surface painting wall-climbing machine |
| CN104843154A (en) * | 2015-05-08 | 2015-08-19 | 浙江海洋学院 | Large ship high pressure water rust removal device |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN117111449A (en) * | 2023-10-19 | 2023-11-24 | 哈尔滨工程大学 | Dam defect detection ROV approaching sailing thrust distribution system and method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100811540B1 (en) * | 2006-11-30 | 2008-03-07 | 대우조선해양 주식회사 | Rov for cleaning and inspection of ship hull |
| WO2016075864A1 (en) * | 2014-11-10 | 2016-05-19 | パナソニックＩｐマネジメント株式会社 | Underwater robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61200089A (en) * | 1985-02-28 | 1986-09-04 | Mitsui Kaiyo Kaihatsu Kk | Underwater inspection robot |
| JPS62299492A (en) * | 1986-06-20 | 1987-12-26 | Mitsubishi Heavy Ind Ltd | Underwater work device |
-
1988
- 1988-01-20 JP JP63011063A patent/JPH0774030B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61200089A (en) * | 1985-02-28 | 1986-09-04 | Mitsui Kaiyo Kaihatsu Kk | Underwater inspection robot |
| JPS62299492A (en) * | 1986-06-20 | 1987-12-26 | Mitsubishi Heavy Ind Ltd | Underwater work device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104826760A (en) * | 2015-05-08 | 2015-08-12 | 浙江海洋学院 | Large ship surface painting wall-climbing machine |
| CN104843154A (en) * | 2015-05-08 | 2015-08-19 | 浙江海洋学院 | Large ship high pressure water rust removal device |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN117111449A (en) * | 2023-10-19 | 2023-11-24 | 哈尔滨工程大学 | Dam defect detection ROV approaching sailing thrust distribution system and method |
| CN117111449B (en) * | 2023-10-19 | 2024-01-09 | 哈尔滨工程大学 | Dam defect detection ROV approaching sailing thrust distribution system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0774030B2 (en) | 1995-08-09 |
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