JPH0776447B2 - Inspection method in underdrain by underwater robot - Google Patents
Inspection method in underdrain by underwater robotInfo
- Publication number
- JPH0776447B2 JPH0776447B2 JP2330646A JP33064690A JPH0776447B2 JP H0776447 B2 JPH0776447 B2 JP H0776447B2 JP 2330646 A JP2330646 A JP 2330646A JP 33064690 A JP33064690 A JP 33064690A JP H0776447 B2 JPH0776447 B2 JP H0776447B2
- Authority
- JP
- Japan
- Prior art keywords
- underdrain
- underwater robot
- opening
- cable
- towed body
- 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.)
- Expired - Fee Related
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Sewage (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は水中ロボットによる暗渠内点検方法、より詳し
くは、発電所の取・放水路等であって、かつ上流側に小
さい開口を有し、下流側に大きな開口を有し、かつ高速
水流を有する暗渠内を水中ロボットにより点検する場合
に好適な水中ロボットによる暗渠内点検方法に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a method for inspecting an underdrain by an underwater robot, and more particularly to an intake / drainage channel of a power plant, which has a small opening on the upstream side. The present invention relates to a method for inspecting an underdrain by an underwater robot, which is suitable for inspecting an underdrain with a large opening on the downstream side and having a high-speed water flow by the underwater robot.
近来、発電所の取・放水路等の暗渠内を点検する場合、
水中ロボットを用いることが実施されている。この水中
ロボットは通常自航式であり、テレビカメラを搭載し、
このテレビカメラからの映像をケーブルを経由して地上
のディスプレイ上に描写するようになっている。ところ
で、この水中ロボットは小型のものでケーブルを経由し
て電力が供給される関係で航行速度は低く、数ノット程
度であり、暗渠内を流れる流速がそれ以上ある場合は押
し流されて利用できなくなる。Recently, when inspecting the inside of the underdrain such as the intake / discharge channel of the power plant,
The use of underwater robots is practiced. This underwater robot is usually self-propelled, equipped with a TV camera,
The image from this TV camera is drawn on the display on the ground via the cable. By the way, this underwater robot is small and has a low navigation speed because it is supplied with electric power via a cable and is a few knots. If the flow velocity in the underdrain is higher than that, it will be swept away and unusable. .
このような事情で、水中ロボットの自航速度以上の流速
がある暗渠内を点検する場合、第４図に示す曳航方式が
採用されている。即ち、暗渠１に設けられたマンホール
の如き開口２に支柱３を設け、この支柱３に沿って水中
ロボット４を収容するゲージ５を昇降させるとともに水
中ロボット４にはケーブル６の先端を接続し、かつ、こ
のケーブル６をケーブルウインチ７により巻込み、又は
繰出すことにより暗渠１内を矢印Ａ−Ａ′方向へ移動さ
せるようにしたものである。Under these circumstances, when inspecting the underdrain where the flow velocity is higher than the self-propelled speed of the underwater robot, the towing system shown in FIG. 4 is adopted. That is, a pillar 3 is provided in an opening 2 such as a manhole provided in the underdrain 1, a gauge 5 for housing an underwater robot 4 is moved up and down along the pillar 3, and a tip of a cable 6 is connected to the underwater robot 4. In addition, the cable 6 is rolled up or unwound by a cable winch 7 to move in the underdrain 1 in the direction of arrow AA '.
ところで前記したような曳航方式には問題がある。即
ち、マンホールの如き開口２はその開口が通常1m程度で
あるのに対して水中ロボット４は長さ1.8m程度あるた
め、水中ロボット４を水平状態に保持したまま暗渠１内
に挿入することができない。かかることから水中ロボッ
ト４を垂直状態に暗渠１内に挿入し、暗渠１内で水平方
向に姿勢を変更することも考えられるが、水中ロボット
４の重量は100kg程度とかなりな重量を有するため、そ
の挿入及び反転装置に多大の費用を要することとなる。However, the towing system as described above has a problem. That is, since the opening 2 such as a manhole is usually about 1 m, the underwater robot 4 has a length of about 1.8 m. Therefore, it is possible to insert the underwater robot 4 into the underdrain 1 while keeping it horizontal. Can not. For this reason, it is possible to insert the underwater robot 4 vertically into the underdrain 1 and change its posture in the horizontal direction within the underdrain 1, but since the weight of the underwater robot 4 is about 100 kg, it is considerably heavy. The insertion and inversion device will be very expensive.
また、一般には暗渠１に水中ロボット４を搬入すること
ができるマンホールの如き開口２を有しない場合があ
り、このような場合には点検が実質的にできなくなる場
合があった。In general, there is a case where the underdrain 1 does not have an opening 2 such as a manhole through which the underwater robot 4 can be carried, and in such a case, inspection may not be practically possible.
本発明は、前記したような従来の問題点を解決するため
になされたものであって、 （１）ケーブルの先端に曳航体を着脱可能に取付け、該
曳航体を上流側の開口から暗渠内に搬入する第一の工程
と、 （２）前記曳航体を水流により流下させて下流側の開口
から引上げて該ケーブルより取外した後、水中ロボット
を該ケーブルの先端に接続する第二の工程と、 （３）水中ロボットを下流側の開口より搬入する第三の
工程と、 （４）前記ケーブルを巻込んで該水中ロボットにより暗
渠内を点検しながら前記上流側の開口部近傍まで曳航す
る第四の工程とからなる水中ロボットによる暗渠内の点
検方法。The present invention has been made in order to solve the above-mentioned conventional problems. (1) A towed body is detachably attached to a tip of a cable, and the towed body is provided in an underdrain from an opening on an upstream side. And (2) a second step in which the underwater robot is connected to the tip of the cable after the towed body is made to flow down by a water flow, pulled up from an opening on the downstream side and removed from the cable. (3) A third step of loading the underwater robot from the downstream side opening, and (4) Towing the cable and inspecting the underdrain by the underwater robot while towing to the vicinity of the upstream side opening. Inspection method in the underdrain by an underwater robot consisting of four steps.
一般には、上流側の開口（第１の開口）は水中ロボット
を搬入するには不十分な大きさであり、下流側の開口
（第２の開口）は水中ロボットを搬入することができる
面積を有している。そして暗渠内を流れる水流は自航式
水中ロボットの推進能力を越えた早さを有しており、水
流に逆らって移動することは不可能である。Generally, the opening on the upstream side (first opening) is not large enough to carry in the underwater robot, and the opening on the downstream side (second opening) has an area capable of carrying in the underwater robot. Have The water flow in the underdrain has a speed exceeding the propulsion capability of the self-propelled underwater robot, and it is impossible to move against the water flow.
上流側の開口（水中ロボットの搬入が困難な開口面積を
有する第１の開口）より下流側の大きな開口（水中ロボ
ットを搬入することができる程度の開口面積を有する第
２の開口）に向けて曳航体を連結したケーブルを流下さ
せ、大きな開口より曳航体を引上げ、ケーブルの先端に
水中ロボットを接続し、この水中ロボットを暗渠中の水
中に搬入する。そしてケーブルを操作して水中ロボット
を水流に逆らって移動させながら暗渠内壁面等を点検す
ることができる。Toward a large opening on the downstream side (a second opening having an opening area to which an underwater robot can be carried in) from an opening on the upstream side (the first opening having an opening area where the underwater robot is difficult to carry in) A cable connecting the towed bodies is made to flow down, the towed body is pulled up from a large opening, an underwater robot is connected to the tip of the cable, and this underwater robot is carried into the water in the underdrain. Then, while operating the cable to move the underwater robot against the flow of water, the inner wall surface of the underdrain can be inspected.
上流側に小さな開口しかない暗渠、あるいは上流側に開
口がない場合であっても、曳航体を送り込むことができ
る程度の開口を形成することができれば、暗渠内を水中
ロボットのテレビカメラ等を利用して点検することがで
きる。If there is an underdrain with only a small opening on the upstream side, or even if there is no opening on the upstream side, it is possible to use a TV camera of an underwater robot etc. in the underdrain if it can form an opening that can send the towed body. Can be inspected.
以下第１図乃至第３図に基づき本発明による水中ロボッ
トによる暗渠内点検方法の一実施例を説明する。An embodiment of a method for inspecting an underdrain by an underwater robot according to the present invention will be described below with reference to FIGS. 1 to 3.
この図において11は暗渠であって、この暗渠11の上流側
には小さな、即ち、少なくとも水中ロボット13の長さよ
り小さな径を有する第１の開口12が設けられるとともに
下流側には大きな、即ち、少なくとも水中ロボット13の
長さより大きな径を有する第２の開口14を有するもので
あって、この暗渠11内を流れる水流Ｖは少なくとも水中
ロボット13の自航速度より大なるものである。In this figure, 11 is a underdrain, and a small opening is provided on the upstream side of this underdrain 11, that is, a first opening 12 having a diameter at least smaller than the length of the underwater robot 13 is provided, and a large opening is provided on the downstream side, that is, The underwater robot 13 has a second opening 14 having a diameter larger than at least the length of the underwater robot 13, and the water flow V flowing through the underdrain 11 is at least higher than the self-propelled speed of the underwater robot 13.
そして、第１の開口12の近傍にはケーブル15を巻廻させ
るケーブルウインチ16とケーブルガイド17が設けられ、
かつ、この第１の開口12内には下端にシーブ18を有する
支柱19が取付けられる。A cable winch 16 and a cable guide 17 for winding the cable 15 are provided near the first opening 12.
In addition, a column 19 having a sheave 18 at the lower end is attached in the first opening 12.
20は曳航体（水中ロボット連結部材で好ましくはテレビ
カメラが装備されている。）で、この曳航体20はテレビ
カメラを装備するとともに保護枠が設けられ、かつ浮力
体により水中での浮力が零になるよう調整されている。
一方、水中ロボット13はあらかじめ第２の開口14近傍に
配備されている。Reference numeral 20 is a towed body (an underwater robot connecting member, preferably equipped with a TV camera). This towed body 20 is equipped with a TV camera and is provided with a protective frame, and the buoyant body has no buoyancy in water. Has been adjusted to
On the other hand, the underwater robot 13 is arranged near the second opening 14 in advance.
かかる構成において、先ず、ケーブル15の先端に曳航体
20を着脱可能に取付けるとともに第１の開口12から曳航
体20を暗渠11内に挿入する。このときケーブル15を支柱
19の下端に設けられたシーブ18に巻廻させる。そしてケ
ーブルウインチ16を操作してケーブル15を繰出すと曳航
体20は水流Ｖにより流下して第２の開口14に達する。こ
の過程において曳航体20に設けられたテレビカメラによ
り暗渠11内の概略が図示しないディスプレイに描写され
る。In such a configuration, first, the towed body is attached to the tip of the cable 15.
20 is removably attached and the towed body 20 is inserted into the underdrain 11 through the first opening 12. At this time, attach the cable 15 to the
It is wound around a sheave 18 provided at the lower end of 19. When the cable winch 16 is operated and the cable 15 is paid out, the towed body 20 flows down by the water flow V and reaches the second opening 14. In this process, an outline of the underdrain 11 is drawn on a display (not shown) by the television camera provided on the towed body 20.
このようにして曳航体20が水流Ｖに乗って流下して第２
の開口14に達すると、引上げられてケーブル15から取外
され、代ってこのケーブル15の先端には第２図に示すよ
うに水中ロボット13が取外し可能な如く取付けられる。In this manner, the towed body 20 rides on the water flow V and flows down to the second position.
When it reaches the opening 14, the underwater robot 13 is detached from the cable 15 by pulling it up. Instead, the underwater robot 13 is detachably attached to the tip of the cable 15 as shown in FIG.
そして、この水中ロボット13は第２の開口14から暗渠11
内に搬入される。Then, the underwater robot 13 uses the underdrain 11 through the second opening 14.
It is brought in.
第３図に示す如く、水中ロボット13が暗渠11内に搬入さ
れた後、ケーブルウインチ16を操作してケーブル16を巻
込むことにより、水中ロボット13は暗渠11中を上流側
へ、即ち、第１の開口12方向へ移動させるが、このとき
暗渠11内を詳細にテレビカメラで撮影し、その映像はケ
ーブル15を通じて図示しないディスプレイ上に映され
る。As shown in FIG. 3, after the underwater robot 13 is carried into the underdrain 11, by operating the cable winch 16 to wind up the cable 16, the underwater robot 13 moves upstream in the underdrain 11, that is, 1 is moved toward the opening 12 at this time, but at this time, the inside of the underdrain 11 is photographed in detail by a TV camera, and the image is reflected on a display (not shown) through the cable 15.
そして、第１の開口12と第２の開口14の間の暗渠11の内
壁面の状態等の点検を行う。その後、ケーブル15を再び
繰出し水中ロボット13を第２の開口14に位置させ、これ
より引上げ、再び曳航体20をケーブル15の先端に取付け
る。Then, the state of the inner wall surface of the underdrain 11 between the first opening 12 and the second opening 14 is checked. After that, the cable 15 is again fed out, the underwater robot 13 is positioned at the second opening 14, and is pulled up from this, and the towed body 20 is attached to the tip of the cable 15 again.
然る後、ケーブルウインチ16によりケーブル15を巻取
り、曳航体20を第１の開口13に位置させてこれより回収
するのである。After that, the cable 15 is wound up by the cable winch 16, the towed body 20 is positioned in the first opening 13, and the towed body 20 is recovered from this.
前記工程において、第２の開口14は暗渠11に設けられた
ものでもよく、又海域等への導通口であってもよい。In the above step, the second opening 14 may be provided in the underdrain 11 or may be a conducting port to the sea area or the like.
以上の説明から明らかなように、本発明による水中ロボ
ットによる暗渠内点検方法によれば、水流に沿って設け
られた複数の開口の内、上流側の開口よりケーブルを接
続した曳航体を流下させ、下流側の開口よりこの曳航体
を引上げ、ケーブルに水中ロボットを接続してこのケー
ブルを引きながら水中ロボットを水流に抗して移動させ
ながら暗渠内を点検するので、上流側に水中ロボットを
搬入できない開口がある場合であっても暗渠内に水中ロ
ボットを搬入することができる。As is clear from the above description, according to the method for inspecting the underdrain by the underwater robot according to the present invention, the towed body to which the cable is connected is made to flow down from the opening on the upstream side of the plurality of openings provided along the water flow. Pull up this towed body from the opening on the downstream side, connect the underwater robot to the cable, move the underwater robot against the water flow while pulling this cable, and inspect the inside of the underdrain, so bring the underwater robot to the upstream side. Even if there is an opening that cannot be carried out, the underwater robot can be carried into the underdrain.
また、暗渠内に高速の流れがあってもこれに逆らって水
中ロボットを移動させることができるので、自航式、非
自航式のロボットに関係なく暗渠内を点検することがで
きる。Further, even if there is a high-speed flow in the underdrain, the underwater robot can be moved against this, so that the inside of the underdrain can be inspected regardless of the self-propelled or non-self-propelled robot.
第１図乃至第３図は本発明による水中ロボットによる暗
渠内点検方法の実施例を各工程を示す説明図であり、第
４図は従来の点検方法の説明図である。 1,11…暗渠、12…第１の開口 ２…開口、14…第２の開口 3,19…支柱、17…ガイド 4,13…水中ロボット、18…シーブ ５…ケージ、20…曳航体。 6,15…ケーブル 7,16…ケーブルウインチ1 to 3 are explanatory views showing respective steps of an embodiment of an underdrain inspection method by an underwater robot according to the present invention, and FIG. 4 is an explanatory view of a conventional inspection method. 1, 11 ... Underdrain, 12 ... First opening 2 ... Opening, 14 ... Second opening 3,19 ... Pillar, 17 ... Guide 4,13 ... Underwater robot, 18 ... Sheave 5 ... Cage, 20 ... Towed body. 6,15… Cable 7,16… Cable winch
フロントページの続き (72)発明者 吉川 太 大阪府大阪市北区中之島３丁目３番22号 関西電力株式会社内 (72)発明者 副田 悦生 大阪府大阪市北区中之島３丁目３番22号 関西電力株式会社内 (72)発明者 阿部 守 大阪府大阪市北区中之島３丁目３番22号 関西電力株式会社内Front Page Continuation (72) Inventor Futoshi Yoshikawa 3-3-22 Nakanoshima, Kita-ku, Osaka City, Osaka Prefecture Kansai Electric Power Co., Inc. Electric Power Company (72) Inventor Mamoru Abe 3-3-22 Nakanoshima, Kita-ku, Osaka City, Osaka Prefecture Kansai Electric Power Co., Inc.
Claims (1)
け、該曳航体を上流側の開口から暗渠内に搬入する第一
の工程と、前記曳航体を水流により流下させて下流側の
開口から引上げて該ケーブルより取外した後、水中ロボ
ットを該ケーブルの先端に接続する第二の工程と、水中
ロボットを下流側の開口より搬入する第三の工程と、前
記ケーブルを巻込んで該水中ロボットにより暗渠内を点
検しながら前記上流側の開口部近傍まで曳航する第四の
工程とからなる水中ロボットによる暗渠内の点検方法。1. A first step in which a towed body is detachably attached to a tip of a cable, and the towed body is carried into an underdrain from an opening on the upstream side, and the towed body is made to flow down by a water flow to open a downstream side. The second step of connecting the underwater robot to the tip of the cable, and the third step of loading the underwater robot from the opening on the downstream side; A method for inspecting the underdrain by an underwater robot, comprising a fourth step of towing to the vicinity of the opening on the upstream side while inspecting the inside of the underdrain by a robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2330646A JPH0776447B2 (en) | 1990-11-30 | 1990-11-30 | Inspection method in underdrain by underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2330646A JPH0776447B2 (en) | 1990-11-30 | 1990-11-30 | Inspection method in underdrain by underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04203010A JPH04203010A (en) | 1992-07-23 |
| JPH0776447B2 true JPH0776447B2 (en) | 1995-08-16 |
Family
ID=18235001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2330646A Expired - Fee Related JPH0776447B2 (en) | 1990-11-30 | 1990-11-30 | Inspection method in underdrain by underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0776447B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3373124B2 (en) * | 1997-02-05 | 2003-02-04 | 株式会社クボタ | In-pipe inspection equipment |
| CN111103236A (en) * | 2020-01-09 | 2020-05-05 | 中国电建集团华东勘测设计研究院有限公司 | Method for inspecting non-full-pipe-flow municipal drainage pipeline and hidden culvert by using transparent camera ball |
-
1990
- 1990-11-30 JP JP2330646A patent/JPH0776447B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04203010A (en) | 1992-07-23 |
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