JPH0478356B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for extending a rope into a cylindrical liquid channel through which liquid is flowing.

BACKGROUND OF THE INVENTION Over a long period of time, marine life becomes attached to the inner surface of a waterway, which is a culvert through which water such as seawater flows, in a power plant or the like, and the channel becomes clogged. Therefore, it is necessary to introduce a robot into the channel to clean the inner surface of the channel to remove marine organisms and the like that are attached to the inner surface of the channel. In order to be able to retrieve the robot in the unlikely event that such a robot breaks down in the flow path, a rope is stretched in advance over the area of the flow path that is to be cleaned by the robot. The robot is connected to this rope, and when the robot malfunctions and stops moving, the rope must be pulled to retrieve the robot. Conventionally, there is no means to solve such problems.

OBJECTS OF THE INVENTION It is an object of the present invention to provide a new method for extending a rope within a cylindrical liquid channel.

Means for Solving the Problems The present invention provides a method for connecting a rope from an upstream end of a range in which a rope is to be extended in a cylindrical liquid channel through which a fluid flows to a float having a specific gravity that is approximately the same as the specific gravity of the liquid. is connected and put into a cylindrical liquid flow path, and the rope is taken out from the downstream end of the rope extension range, and the float has a float body and a ferromagnetic material fixed to the float body. , the upstream end is provided with an electromagnet that magnetically attracts the ferromagnetic material, and a means for raising and lowering the electromagnet, and the ferromagnetic material is magnetically attracted by the electromagnet at the upstream end. This is a method for extending a rope into a cylindrical liquid flow path, which is characterized by submerging a float in the liquid in the liquid flow path and demagnetizing the electromagnet there.

The present invention also provides a method for connecting a rope from an upstream end of a range in which a rope is to be extended in a cylindrical liquid channel through which fluid is flowing to a float having a specific gravity that is approximately the same as the specific gravity of the liquid. the float is placed in a liquid flow path, and the rope is taken out from the downstream end of the rope extension range, a signal generating means is provided at the downstream end of the rope extension range, and the float receives the signal from the signal generating means. a pressure vessel filled with compressed gas; a bag body; and in response to the output from the signal reception means, the compressed gas in the pressure vessel is supplied to the bag body to inflate the bag body. . A method for extending a rope into a cylindrical liquid flow path, the method comprising: control means for causing a float to float.

The present invention also provides a method for connecting a rope from an upstream end of a range in which a rope is to be extended in a cylindrical liquid channel through which fluid is flowing to a float having a specific gravity that is approximately the same as the specific gravity of the liquid. the rope is placed in the liquid flow path, and the rope is taken out from the downstream end of the rope extension range, a signal generating means is provided at the downstream end of the rope extension range, and the float is provided with a removably weight. The float includes: a signal receiving means for receiving a signal from the signal generating means; and an operating means for removing a weight from the float in response to the output from the signal receiving means, thereby causing the float to float. This is a method for extending a rope into a cylindrical liquid flow path.

The present invention also provides a method for connecting a rope from an upstream end of a range in which a rope is to be extended in a cylindrical liquid channel through which fluid is flowing to a float having a specific gravity that is approximately the same as the specific gravity of the liquid. the rope is inserted into the liquid flow path and taken out from the downstream end of the rope extension range, and a first signal transmitting/receiving means is provided downstream of the rope extension range for receiving an identification signal and generating a control signal. , the float includes a second signal transmitting/receiving means for generating an identification signal and receiving a control signal, and when the first signal transmitting/receiving means receives the identification signal from the second signal transmitting/receiving means, the first signal transmitting/receiving means: A control signal is generated to the second signal transmitting/receiving means, and the float is configured to float when the second signal transmitting/receiving means receives the control signal. This is a rope stretching method.

Further, the present invention is characterized in that the first and second signal transmitting and receiving means transmit and receive ultrasonic waves.

Further, the present invention is characterized in that the control signal is a coded ultrasonic wave.

Effect According to the present invention, a float having almost the same specific gravity as the specific gravity of the liquid flowing in the cylindrical liquid flow path is prepared, a rope is connected to this float, and the rope extension range of the cylindrical liquid flow path is Insert from the upstream end of the Since the float has approximately the same specific gravity as the liquid as described above, it flows from the upstream end to the downstream end according to the flow of the liquid within the liquid flow path. A rope is connected to this float, so that this rope is brought from the upstream end to the downstream end. By taking the rope out from the downstream end, it is possible to extend the rope over the entire length of the rope extension range.

Embodiment FIG. 1 is a sectional view of a float 1 according to an embodiment of the present invention, and this float 1 is used to insert a flexible rope 3 into a cylindrical liquid channel 2 shown in FIG. Expand. In the flow path 2, water such as seawater flows in the direction of the arrow 4, for example in a power plant. A shaft 5 is formed at the upstream end of the range in which the rope 3 of the flow path 2 is to be stretched, and a shaft 6 is formed at the downstream end.

The float 1 has a buoyant material 8, such as styrofoam, attached to the upper part of a hollow spherical outer shell 7 made of a material such as synthetic resin, and constitutes a float body 9. The buoyancy material 8 is covered with a cap-shaped ferromagnetic material 10. A plurality of through holes 11 are formed in the outer shell 7. The outer shell 7, the buoyancy material 8, and the ferromagnetic material 10 can be separated to the left and right in FIG. Can be opened and closed. The hinge 13 is attached to the ferromagnetic material 10. The outer shell 7 and the ferromagnetic body 10 can be attached so that the outer periphery of the left and right halves can be separated using an opening/closing means such as a so-called snap lock. One end of the rope 3 is fixed to a connecting portion 14 provided on the outer shell 7. A pressure vessel 15 filled with compressed gas is housed within the outer shell 7, and a bag body 16 that is inflated by the compressed gas is housed. The outer shell 7 also includes an ultrasonic transducer 17.
is attached, and an electric circuit 18 is connected to this transducer 17. When the bag body 16 is not included, the float 1 has a specific gravity that is approximately the same as the specific gravity of the liquid flowing through the flow path 2, and the specific gravity is, for example, 1.0. When the bag body 16 is inflated by the compressed gas in the pressure vessel 15, the specific gravity of the float 1 becomes smaller than the specific gravity of the liquid, thereby allowing it to float.

A crane 20 is provided near the shaft 5 to raise and lower the electromagnet 19. This electromagnet 19 is magnetically attracted to the ferromagnetic material 10 of the float 1, and when the electromagnet 19 is lowered via the rope 21 by its own weight, the float 1 is submerged in the liquid in the shaft 5. The rope 3 is supplied near the shaft 5 from a rope drum 22 such as a winch. When the float 1 is submerged in the channel 2 and the electromagnet 19 is demagnetized as described later, the float 1 flows downstream in the channel 2 along with the flow of liquid.

In the shaft 6, the ultrasonic transducer 17 of the float 1
An ultrasonic transducer 23 is attached to receive ultrasonic waves from and send out ultrasonic waves. An electric circuit 28 is connected to this ultrasonic transducer 23. The float 1 that has floated up to the shaft 6 is magnetically attracted to an electromagnet 25 installed near the shaft 6, and the cable 26 to which the electromagnet 25 is connected is lifted, and the float 1 is lifted up by a crane 27. is collected. As mentioned above, the rope 3 is connected to the float 1, and the shafts 5 and 6 are connected in this way.
During this period, the rope 3 is stretched within the flow path 2.

The electrical configuration will be explained with reference to FIG. In the electric circuit 18 provided in the float 1, an oscillator 30 performs an oscillation operation in the ultrasonic range in response to a signal from an operation confirmation signal generation circuit 29, and its output is amplified by a driver 31, and a changeover switch 32 The identification signal is applied from the individual contacts 33 to the ultrasonic transducer 17 via the common contact 34, and an identification signal is emitted. The changeover switch 32 has another individual contact 35, and the ultrasonic control signal received by the ultrasonic transducer 17 is applied from the common contact 34 to the automatic gain control circuit 36 via the individual contact 35. The decoder 37 decodes the control signal, and the driver 38 drives the electromagnetic plunger 39.
is driven. This electromagnetic plunger 39 performs an operation of opening the pressure vessel 15, whereby compressed gas within the pressure vessel 15 is supplied to the bag body 16, and the bag body 16 is opened.

FIG. 4 shows a signal waveform generated from the ultrasonic transducer 17. The period W1 is, for example, 0.3 seconds, and during this period W1, the individual contacts 33 of the changeover switch 32 are electrically connected to the common contact 34, and ultrasonic waves are generated. In the next period W2, the common contact 34 of the changeover switch 32 is electrically connected to the individual contact 35, and becomes ready for reception. This period W2 is, for example, 1.7 seconds. The electric circuit 18 includes a battery 40 and is energized by the battery 40.

In the shaft 6, in the electric circuit 28 associated with the ultrasonic transducer 23, the identification signal received by the ultrasonic transducer 23 is led out from the common contact 43 of the changeover switch 42 to the individual contact 44. When the common contact 43 of the changeover switch 42 is electrically connected to another individual contact 45, the ultrasonic control signal applied to the individual contact 45 is applied to the ultrasonic transducer 23 and emitted. The identification signal from the individual contact 44 is amplified by the amplifier 46 and given to the processing circuit 24 provided on the ground, and it is determined that the float 1 has reached the vicinity of the shaft 6. Processing circuit 24
provides a signal to encoder 47 in response to the identification signal, which causes encoder 47 to generate and provide a coded control signal to driver 48. The output from the driver 48 is the changeover switch 42
The control signal is applied to the ultrasonic transducer 23 from the individual contacts 45 through the common contact 43, and a control signal is emitted.
The control signal is thus encoded, so that the compressed gas in the pressure vessel 15 causes the bag to
6 is reliably inflated without any malfunction caused by the nozzle or the like. The encoder 47 may constantly generate a control signal, or the common contact 34 may be connected to the individual contact 3 in the changeover switch 42 of the electric circuit 18 in the float 1.
The output may be output only during the period W2 (see FIG. 4) in which the terminal 5 is electrically conductive.

FIG. 5 shows the waveform of the encoded control signal derived from encoder 47. This control signal consists of a combination of logic "1" and logic "0", and the waveform of the ultrasound period T generated to represent this logic "1" and logic "0" is enlarged in FIG. and its frequency is for example 50k
It is Hz. FIG. 71 shows the logic ``0'' that constitutes the control signal shown in FIG. 5, and FIG. 7 2 shows the logic ``1''.

FIG. 8 is a graph of the inventor's experimental results showing the relationship between the distance between the ultrasonic transducer 17 of the float 1 and the ultrasonic transducer 23 installed in the shaft 6 and the received voltage. . In FIG. 8, there is a received voltage width in a shaded area surrounded by lines 50 and 51, and line 52 indicates a voltage that can be controlled for transmission and reception by the two ultrasonic transducers 17 and 23. According to this experiment, it can be seen that the ultrasonic transducers 17 and 23 can transmit and receive over a long distance of, for example, 40 m or more.

The operation will be explained with reference to FIG. First, the 9th
As shown in FIG. 1, the end of the rope 3 is connected to the float body 9, and the float 1 is suspended by an electromagnet 19 and placed into the liquid in the shaft 5. The float 1 sinks into the liquid due to the weight of the electromagnet 19, and is moved within the channel 2 by the liquid flowing in the direction of the arrow 4. When the float 1 enters the flow path 2, the electromagnet 19 is demagnetized to create the state shown in FIG. 92. As a result, the float 1 flows along with the liquid in the channel 2, and as the float 1 moves, the rope 3 is inserted into the channel 2. The float 1 moves within the channel 2 as shown in FIG. 9, while pulling the rope 3. This float 1 has a connecting piece 1 of the rope 3.
An ultrasonic transducer 17 is attached to the side opposite to 4 (the left side in FIG. 1 and the left side in FIG. 9 3). Therefore, from this ultrasonic transducer 17 to the fourth
During the period indicated by reference numeral W1 in the figure, an ultrasonic identification signal is emitted forward. This state is shown in FIG. 94.

When the float 1 is moved by the liquid and reaches the vicinity of the shaft 6, the transducer 23 receives an identification signal from the transducer 17 of the float 1, and a control signal is transmitted from the ultrasonic transducer 23 to the float. The ultrasonic waves are emitted toward the ultrasonic transducer 17 of No. 1. As a result, the electric circuit 18 provided in the float 1 is
By operating the electromagnetic plunger 39, the pressure vessel 12
The compressed gas inside is supplied to the bag body 16 to inflate the bag body 16. Therefore, the float 1 floats in the shaft 6 as shown in FIG. 9. Therefore, the electromagnet 25 of the crane 27 is used to move the float 1 into the shaft 6.
9 and collected as shown in FIG. 6. In this way, the rope 3 can be stretched in the channel 2 between the shafts 5 and 6. The end of the rope 3 is connected to a winch 53 near the shaft 6, as shown in FIG.

Next, as shown in FIG. 9, a robot 54 for cleaning the inner surface of the channel 2 by removing marine organisms, etc. is housed in an openable and closable cage 55, and is lowered into the shaft 6 using a crane 20. A rope 3 is connected to the robot 54 in advance, and a control circuit 56 provided on the ground is connected to a flexible cable 57.
It is electrically connected to the robot 54 via. The robot 54 inside the cage 55 is immersed in the liquid through the vertical shaft 5, the cage 55 is opened, and the robot 54 is allowed to move by itself within the channel 2. Winch 53 installed in shaft 6
pulls the rope 3 at the same speed as the self-propelled speed of the robot 54, thereby causing the rope 3 to move toward the robot 5.
This will prevent you from getting tangled up with 4. In this way, the robot 54 cleans the flow path 2. Further, when the robot 54 reaches the vicinity of the shaft 6 as shown in FIG. 9, the robot 54 moves back to the shaft 5 side by itself. At this time, the rope 3 is loosened by the winch 53.

When the robot 54 malfunctions in the flow path 2 and becomes unable to travel, the winch 53
Pull the rope 3 by. This allows the robot 54 to be pulled up from the shaft 6 and recovered.

FIG. 10 shows a float 1 of another embodiment of the present invention.
FIG. This embodiment is similar to the previous embodiment and corresponding parts are provided with the same reference numerals.
It should be noted that in this embodiment, a weight 58 is connected to the float 1a via a hanging wire 59,
A cutting means 60 for cutting this wire 59 is attached. This cutting means 60 is connected to the electric circuit 1
It is operated by an electromagnetic plunger 39 (see FIG. 3) at 8. The float main body 9 of the float 1a has an outer shell 7 and a buoyancy member 8a provided within the outer shell 7, and a weight 58 is placed in a downwardly open space 62 within the buoyancy member 8a as described above. It is suspended via a wire 59. The cutting means 60 is, for example, gunpowder. When the weight 58 is separated from the float 1a, the float 1 has a specific gravity smaller than that of the liquid, and when the weight 58 and the float 1a are connected, the float 1a and the weight 58 are liquid. They have almost the same specific gravity.

The float 1a is inserted from inside the shaft 5 with a weight 58 connected to it, and the float 1a and the weight 58
8 flows and moves within the channel 2. float 1a
When the control signal from the ultrasonic transducer 23 is received when the weight 58 and the weight 58 come near the shaft 6, the electric circuit 18 provided in the float 1a causes the cutting means 60, which is explosives, to be cut off. explode and cut the wire 59. This causes the weight 58 to fall. Therefore, the float 1a floats into the shaft 6. This makes it possible to take out the float 1a from the shaft 6 and recover it, and to stretch the rope 3 between the shafts 5 and 6.

The present invention can be broadly implemented in connection with liquid channels through which not only water such as seawater but also other liquids flow.

In another embodiment of the invention, instead of ultrasound,
Light waves and long waves can also be used. Although the aforementioned control signal does not need to be encoded, by encoding it, malfunctions can be prevented as described above.

Effects of the Invention According to the present invention, it becomes possible to reliably extend a rope within a cylindrical liquid channel through which liquid flows.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of a float 1 according to an embodiment of the present invention, FIG. 2 is a cross-sectional view showing a state in which the float 1 is moved into a liquid flow path 2, and FIG. 3 is a block diagram showing an electrical configuration. 4 is a waveform diagram of the signal output from the ultrasonic transducer 17 of the float 1, FIG. 5 is a waveform diagram of the encoded control signal derived from the encoder 47, and FIG. FIG. 7 is a diagram showing the logical values of the control signals shown in FIG. 9 is a graph of the experimental results of the present inventor showing the relationship between the distance between the ultrasonic transducer 23 attached to the ultrasonic transducer 23 and the received voltage, FIG. 9 is a sectional view showing the operation of an embodiment of the present invention, and FIG. Figure 10 shows float 1 of another embodiment of the present invention.
FIG. 1, 1a...Float, 2...Liquid channel, 3...
... Rope, 5, 6 ... Shaft, 7 ... Shell, 8, 8
a...Buoyancy material, 9...Float body, 10...Ferromagnetic material, 15...Pressure vessel, 16...Bag body, 1
7, 23... Ultrasonic transducer, 19, 25... Electromagnet, 58... Weight, 60... Connection means.

Claims (1)

[Claims] 1. A method in which a rope is connected to a float having a specific gravity that is approximately the same as the specific gravity of the liquid from the upstream end of the range in which the rope is to be extended in a cylindrical liquid channel through which fluid is flowing. , the rope is placed in a cylindrical liquid flow path and the rope is taken out from the downstream end of the rope extension range, the float has a float body and a ferromagnetic material fixed to the float body, and the upstream side An electromagnet that magnetically attracts the ferromagnetic material and a means for raising and lowering the electromagnet are provided at the end of the float, and at the upstream end, the float is placed in a liquid state while the ferromagnetic material is magnetically attracted by the electromagnet. A method for extending a rope into a cylindrical liquid channel, the method comprising submerging a rope into a liquid in the channel and demagnetizing an electromagnet there. 2. Connect the rope from the upstream end of the range in which the rope should be extended in the cylindrical liquid flow path where the fluid is flowing to a float having a specific gravity that is approximately the same as the specific gravity of the liquid, and expand the cylindrical liquid flow path. a signal generating means is provided at the downstream end of the rope extending range, and the float receives a signal from the signal generating means. a receiving means, a pressure vessel filled with compressed gas, a bag body, and in response to an output from the signal receiving means, compressed gas in the pressure vessel is supplied to the bag body to inflate the bag body, thereby inflating the bag body. 1. A method for extending a rope into a cylindrical liquid flow path, comprising: control means for causing a float to float. 3 Connect the rope from the upstream end of the range in which the rope is to be extended in the cylindrical liquid flow path through which the fluid is flowing to a float having a specific gravity that is approximately the same as the specific gravity of the liquid, and expand the cylindrical liquid flow path. a signal generating means is provided at the downstream end of the rope extension range; a removable weight is provided on the float; is characterized by comprising a signal receiving means for receiving a signal from the signal generating means, and an actuating means for removing a weight from the float in response to the output from the signal receiving means, thereby causing the float to float. A method for extending a rope into a cylindrical liquid flow path. 4 Connect the rope from the upstream end of the range in which the rope is to be extended in the cylindrical liquid flow path through which the fluid is flowing to a float having a specific gravity that is approximately the same as the specific gravity of the liquid, and expand the cylindrical liquid flow path. the float is inserted into the rope, and the rope is taken out from the downstream end of the rope extension range, and a first signal transmitting/receiving means for receiving an identification signal and generating a control signal is provided on the downstream side of the rope extension range; a second signal transmitting/receiving means for generating an identification signal and receiving a control signal; when the first signal transmitting/receiving means receives the identification signal from the second signal transmitting/receiving means, the first signal transmitting/receiving means transmits a second signal transmitting/receiving means; A method for extending a rope into a cylindrical liquid flow path, characterized in that a control signal is generated to the means, and the float is configured to float when the second signal transmitting/receiving means receives the control signal. 5. Claim 4, wherein the first and second signal transmitting and receiving means transmit and receive ultrasonic waves.
A method for extending a rope into a cylindrical liquid flow path as described in . 6. The method for extending a rope into a cylindrical liquid flow path according to claim 4, wherein the control signal is a coded ultrasonic wave.