JPH08216984A - Underwater work and photographing device for underwater work - Google Patents

Abstract

PURPOSE: To dispense with movement and mounting of a photographing device by a diver and to perform safe and efficient underwater work by a method wherein a photographing robot is moved according to the change of a working side through remote control on a working ship and seated on the bottom to be monitored most suitable to photograph the vicinity of the working site. CONSTITUTION: By operating a propulsion thruster 24A and right and left thrusters 24B through the working of the robot operation device of an assist part 3 on a working ship 2, a photograph robot 1 is moved. A ballast tank control device is driven and ultrasonic pulses from ultrasonic oscillators 14A and 4B are received by ultrasonic receivers 21A and 21B for detecting the position of a position detecting means to detect a position and a robot body 20 is moved to a given bottom to be monitored as depth is confirmed by a depth meter, and seated on a bottom through seating legs 39. An illumination light 35 is lighted ON, and a dredging work is carried out through operation of a graph operating device 5 as a picture signal for a sea bottom photographed by a television camera 33 is watched.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater work method and an underwater work image pickup apparatus for remotely performing underwater work using a work machine from a work boat or a work purge.

[0002]

2. Description of the Related Art Conventional underwater work can be divided into direct work by a diver and work by a work machine that is remotely operated from a work boat. Of these, work by a work machine requires accurate work. Dives into the water with the TV camera and shoots as it is, or installs the TV camera at a predetermined position and sends an image of the working state from the TV camera to the work boat for display and displays the work machine based on this image. I was operating.

[0003]

However, divers are always at risk of external enemies and diving sickness, and diving for a long time, especially in the deep sea, is a difficult task, and a TV camera is required every time the working position is changed. Reinstalling was extremely troublesome.

SUMMARY OF THE INVENTION The present invention solves the above problems and provides a submersible work method and a submersible work image pickup device which can perform safe and accurate underwater work and easily change the image pickup position according to the change of the work position. The purpose is to provide.

[0005]

In order to solve the above-mentioned problems, the underwater working method of the present invention is such that when an underwater work is performed by remotely controlling a work machine from a work boat, an imaging robot is put into the water to perform work. While operating the underwater navigation means of the imaging robot from the ship, the position detection means moves the imaging robot to the monitoring water bottom facing the underwater work, and the bottoming means provided on the imaging robot lands it on the monitoring water bottom. The image taken by operation is displayed on the display device of the work boat, the work device of the work boat is operated based on the image of this display device, and when the work position is changed,
By operating the operation device, the underwater navigation means and the bottoming means of the imaging robot are driven to move the imaging robot to the next monitoring water bottom.

The underwater working image pickup device is composed of an image pickup robot that is put into water and a support unit that is installed on the side of the work boat. The image pickup robot includes an underwater navigation means having a ballast tank and a propulsion device, and a water depth. And a position detecting means for detecting the position, a bottoming means capable of stably landing on the water bottom, an image pickup means having an illumination device and an image pickup camera, and a display device for displaying an image of the image pickup camera on the support unit,
An operating device for operating the underwater navigation means, the bottoming means, and the imaging means via a control device.

[0007]

According to the above construction, the imaging robot can be moved from the work boat by remote control as the work site moves, and the bottom of the monitoring water most suitable for imaging near the work site can be bottomed and photographed. Therefore, the diver does not need to move or install the imaging device, an accurate image can be taken, and safe and efficient underwater work can be performed.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an image pickup device for underwater work according to the present invention will be described below with reference to the drawings.

The underwater work image pickup device for supporting the underwater work is composed of an image pickup robot 1 which is placed in water and is movable underwater, and a support unit 3 which is installed on a work boat 2.

The work boat 2 is, for example, a grab dredger equipped with a dredging device 4 for dredging sediment and rocks on the seabed by a grab bucket 4c suspended from a jib 4a via a rope 4b. The operation device 5 is configured to operate the dredging device 4 via the work control device 6.

The support unit 3 provided on the work boat 2 is a support unit control device 1 operated by a robot operating device 11.
2, an image display device (CRT) 13 for displaying an image sent from the imaging robot 1, and a position detection supercomputer provided at two bottoms of the work boat 2 for detecting the position of the imaging robot 1. The sound wave oscillators 14A and 14B are included.

The imaging robot 1 has an ultrasonic oscillator 14
A position detecting ultrasonic receiver 21 for detecting the horizontal coordinate and the water depth coordinate position by the pulse timing difference by receiving the ultrasonic pulses from A and 14B respectively at two positions.
A, 21B and water depth gauge 22 for detecting water depth by water pressure
And a thruster controller 25 for controlling the thruster 24A capable of moving the robot body 20 forward and backward and the left and right thrusters 24B capable of changing the direction to the left and right, and air and ballast water. Underwater navigation means 27 having a ballast tank control device 26 capable of floating and sinking the robot body 20 by discharging is provided. Further, in order to keep the robot body 20 in a stable posture in which the robot main body 20 is held horizontally, after the bottom landing, the plurality of bottom landing legs 39 are respectively expanded and contracted by the posture control device 29 based on the detection value of the level meter 28. Means 30 are provided. Furthermore, as means for displaying an image of the work site, an ultrasonic distance measuring device 31 for measuring the distance to the work position, a television camera 33 whose on / off operation, imaging direction, focus, etc. are operated by the imaging control device 32, The image pickup means 36 is provided with an illumination light 35 whose illumination direction and the like are operated by the illumination control device 34 in correspondence with the shooting direction. The television camera 33 is provided, for example, in a transparent sphere 37, which is provided on the upper front side of the robot body 20 and can withstand water pressure, via a direction control device capable of turning vertically and horizontally. Although the illumination light 35 is built in the front part of the robot body 20, it is not limited to this as long as it is a position where it does not interfere with underwater navigation or bottom landing. Each of these devices is operated by a signal from the imaging robot control device 38. Reference numeral 40 is a cable for transmitting and receiving a driving power source, an operation signal, and a detection signal between the support unit controller 12 and the imaging robot controller 38.

An operation procedure of the underwater working image pickup apparatus having the above-described structure will be described. The imaging robot 1 is put into the sea from the work boat 2, and the propulsion thruster 24A and the left and right thrusters 24B are operated by the robot operation device 11 of the support unit 3 and the ballast tank control device 26 is driven to operate the position detection means 23. The position detecting ultrasonic receivers 21A and 21B receive the ultrasonic pulses from the ultrasonic oscillators 14A and 14B to detect the position, and the depth is confirmed by the water depth meter 22 so that the robot body 20 can be operated most underwater. The robot body 20 is moved to the monitoring water bottom that can be accurately monitored, and the robot body 20 is bottomed via the bottoming legs 39. After further landing,
Based on the detection value of the level meter 28, the posture control device 29 expands and contracts each of the plurality of bottom legs 30 to hold the robot body 20 horizontally. Then, the illumination light 35 is turned on and the television camera 33 is operated to send the image signal of the work seabed to the support unit 3, and on the work boat 2, the grab operating device 5 is operated based on the image of the image display device 13. Perform dredging work.

When the work at that position is completed, the robot body 2
Move 0 to the next work position and repeat the same operation.

[0015]

As described above, according to the present invention, as the work site is changed, the imaging robot is moved by the underwater navigation means by remote control from the work boat to obtain the most image near the work site. Optimal monitoring Since it is possible to shoot while landing on the bottom of the water, it is possible to safely change the imaging position without the need to move or install the imaging device with a diver, and to accurately grasp the work state and to operate underwater efficiently. You can do the work.

[Brief description of drawings]

FIG. 1 is a perspective view of an underwater image pickup apparatus according to an embodiment of the present invention in a use state.

FIG. 2 is a configuration diagram of the underwater imaging device.

[Explanation of symbols]

 1 Imaging Robot 2 Work Vessel 3 Support Department 4 Dredging Device 12 Support Department Control Device 13 Image Display Device 20 Robot Main Body 23 Position Detection Means 24A Propulsion Thruster 24B Left and Right Thrusters 26 Ballast Tank Control Device 27 Underwater Navigation Means 29 Attitude Control Device 30 Landing Means 31 Ultrasonic distance measuring device 32 Camera control device 33 Television camera 34 Lighting control device 35 Illumination light 36 Imaging means 39 Bottoming leg

Claims (2)

[Claims] 1. When remotely operating a work machine from a work boat to perform underwater work, the imaging robot is put into water, the underwater navigation means of the imaging robot is operated from the work boat, and the position detection means moves the imaging robot underwater. It is moved to the monitoring water bottom facing the work, and it is landed on the monitoring water bottom by the bottoming means provided in the imaging robot, and the imaging means of the imaging robot is operated to display the captured image on the display device of the work boat. Operate the work device of the work boat based on the image,
Further, when the work position is changed, the underwater working method is characterized in that the underwater navigation means and the bottoming means of the imaging robot are driven by operating the operating device to move the imaging robot to the next monitoring water bottom. . 2. An underwater navigation means having an imaging robot to be put into water and a support unit installed on the side of a work vessel, wherein the imaging robot has a ballast tank and a propulsion device, and a position for detecting water depth and position. A display device that includes a detection unit, a landing unit that can land on the water bottom stably, and an imaging unit that has an illuminating device and an imaging camera, a display unit that displays an image of the imaging camera on the support unit, the underwater navigation unit, and the landing unit. An imaging device for underwater work, comprising: an operating device for operating the bottom means and the imaging means via a control device.