JPH10221481A - Natatorial inspection device and its system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make each section of a nuclear reactor easily accessible and the visual inspection on each section easier by controlling the control signals of first and second propelling devices and a driving device and the image signal of an image pickup device by means of a controller and transmitting the control signals and image signals by radio by means of a light transmitting lamp. SOLUTION: A controller 12 processes the driving signals of driving devices 6, 7, and 8. The controller 12 also processes digital video data taken with a stereoscopic vision camera 11 and performs signal processing so that the signals may be oscillated by means of an ultrasonic or blue laser. A light transmitting lamp 21 has an oscillating section composed of a blue semiconductor laser and a blue laser light detecting section. An electricity storing device 10 is charged and lowered to the surface of the water. Impellers 4 and 5 for rotating are kept in vertically directed state or are vertically directed by operating the driving device 7 and 8 through radio. Thereafter, the operator of a natatorial inspection device remotely operates the device while projecting the full video of the object or electrically zoomed-up video of the object taken with the camera 11 on a screen after bringing the device nearer to the object to be inspected by driving an impeller 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swimming type inspection device and a system thereof for performing inspection while swimming inside a water filled reactor pressure vessel during a periodic inspection.

[0002]

2. Description of the Related Art In general, when performing underwater visual inspection by remote control, such as in a nuclear facility, it is common to use a fixed camera or a camera provided on a moving body along a track.

[0003] In such a camera, there is a drawback that only a certain portion can be viewed and the inspection range is restricted. Therefore, in recent years, an inspection apparatus which is equipped with a camera and can be freely moved in water has been developed. For example, an underwater vehicle is provided by providing a propulsion mechanism and an attitude control means in a pressure-resistant casing equipped with a camera and a lighting device for visual observation,
The underwater vehicle is visually inspected while swimming underwater by remote control.

[0004]

In the above-mentioned conventional swimming-type inspection device, there are many narrow parts inside the reactor or the like, but in the configuration of the conventional inspection device, the corresponding miniaturization is not always sufficient. I can not plan. In addition, there has been a problem that the structure becomes complicated to improve the degree of freedom of swimming and to enlarge the viewing range, and the manufacturability and use operability are reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object a simple structure, downsizing, easy access to various parts such as a nuclear reactor, and the freedom of swimming. Another object of the present invention is to provide a swimming-type inspection device capable of effectively expanding a visual range and facilitating visual inspection.

[0006]

In order to achieve the above object, in the swimming type inspection device according to the present invention, in the invention according to the first aspect, a propulsion force is obtained by rotating two impellers and an impeller. 1 thruster, two second thrusters each having an impeller provided perpendicular to the rotation axis of the impeller of the first thruster, and the two second thrusters. A driving device for driving rotatably in a plane perpendicular to the rotation axis of the impeller of the first propulsion device, a non-contact power supply terminal installed so as to be capable of supplying power from the outside, the first and second propulsion devices and the driving device It has a control device for controlling a control signal of the device and an image signal of the imaging device, and a transmitting light for wirelessly transmitting the control signal and the image signal.

According to a second aspect of the present invention, there is provided the swimming type inspection device according to the first aspect, wherein the imaging device is configured by arranging unit cells including photodiodes on a semiconductor substrate in a two-dimensional matrix. Area, vertical selection means for selecting a readout row of the imaging area, a plurality of vertical signal lines arranged in a column direction for reading out a detection signal of a photodiode corresponding to the selected row, and A horizontal transistor that sequentially reads out a detection signal on a horizontal signal line arranged in a row direction, and converts a voltage appearing on the vertical signal line into an electric charge between the vertical signal line and the horizontal select transistor; This is an imaging apparatus provided with a noise removal circuit that suppresses noise by subtracting in a region.

According to a third aspect of the present invention, there is provided the swimming type inspection device according to the first aspect, wherein the transmitting light includes control signals of the first and second propulsion units and the driving device, and an image of the imaging device. The signal is transmitted by ultrasonic waves.

According to a fourth aspect of the present invention, in the swimming type inspection apparatus according to the first aspect, the lenses of the two imaging devices are wide-angle lenses. In the swimming type inspection device according to the fifth aspect, in place of the two imaging devices for the swimming type inspection according to the first aspect, one imaging device is provided at the center,
The image pickup device has a hemispherical field of view by arranging four image pickup devices on the hemisphere around the periphery thereof.

[0010] The swimming type inspection system according to claim 6 is characterized in that:
Imaging devices, a first propulsion device that obtains a propulsive force by rotation of the impeller, and two first devices having an impeller on a rotation axis provided perpendicular to the rotation axis of the impeller of the first propulsion device. A second propulsion device, a drive device for driving the two second propulsion devices rotatably in a plane perpendicular to a rotation axis of an impeller of the first propulsion device, and a power supply from outside. A non-contact power supply terminal, a control device for controlling the control signals of the first and second propulsion units and the driving device, and an image signal of the imaging device, and a transmission for wirelessly transmitting the control signal and the image signal A swimming type inspection device having a light, a submersible mother ship having a non-contact power supply terminal connected to the non-contact power supply terminal, a buoy connected to the diving mother ship with a cable and floating on the water surface, and the buoy and the swimming Type inspection device and system for controlling the drive of the submersible carrier Board and a cable for connecting the buoy with the control panel, and has a monitor television to project the video signal from the swimming type inspection device.

A swimming type inspection system according to a seventh aspect of the present invention is the swimming type inspection system according to the sixth aspect, wherein the buoy has a winding device for winding a cable connected to the submersible carrier and an imaging device for downward inspection. is there.

According to another aspect of the present invention, there is provided a swimming-type inspection device, wherein a substantially spherical pressure-resistant casing having a transparent portion, a first thruster for obtaining thrust by an impeller, and a thrust perpendicular to the thruster. An underwater vehicle having a second propulsion device, a CMOS imaging device provided in the transparent portion and capable of capturing an image of the outside, a control device for controlling the underwater vehicle, and a monitor television for projecting an image from the CMOS imaging device It has.

According to a ninth aspect of the present invention, there is provided the swimming type inspection device according to the eighth aspect, wherein a CMOS image pickup device is installed and the disk is rotated in a pressure-resistant casing, and the disk is connected to the disk via a gear. It has a motor to be driven.

According to a tenth aspect of the present invention, there is provided the swimming type inspection device according to the eighth aspect, wherein the underwater vehicle has a laser surface reforming device at a tip thereof. Claim 1
According to a first aspect of the present invention, there is provided the swimming type inspection device according to the tenth aspect, further comprising an image unit having a radiation shielding structure in place of the laser surface modification device.

According to a twelfth aspect of the present invention, there is provided a swimming type inspection device according to the tenth aspect, further comprising a decontamination device having a suction hose in place of the laser surface reforming device.

A swimming type inspection system according to a thirteenth aspect is characterized in that:
A swimming type inspection device, a relay device connected through the swimming type inspection device cable, a buoy floating on the water surface while being connected to the relay device with a cable, the buoy, the swimming type inspection device and the relay device , A cable for connecting the control panel to the buoy, and a monitor television for projecting a video signal from the swimming type inspection device.

The swimming type inspection system according to claim 14 is
The relay device of the swimming-type inspection system according to claim 13, wherein the relay device has a cylindrical structure and a partial spherical shell structure, and a propulsion device built in the partial spherical shell structure and a rotating shaft connected to the partial spherical shell structure. And a driving device for driving the rotating shaft. A swimming type inspection system according to a fifteenth aspect is the swimming type inspection system according to the thirteenth aspect, wherein the swimming type inspection device has a laser surface reforming device.

[0018]

FIG. 1 shows a first embodiment (corresponding to claims 1 to 4) of a swimming type inspection device according to the present invention.
A description will be given with reference to FIG. FIG. 1 is a longitudinal sectional view of a first embodiment of a swimming type inspection device according to the present invention. The swimming type inspection device 1 includes a spherical shell structure 2, a main impeller 3, a driving device 6, turning impellers 4 and 5, driving devices 15a and 15b for turning impellers 4 and 5, and driving devices 15a and 15b.
Drive devices 7 and 8, non-contact power supply terminal 9, power storage device 10, stereoscopic camera 11, control device 12, light emitting light 2
1 and so on. The swimming type inspection device 1 includes driving devices 6, 7, 8 and a power storage device 10 inside the spherical shell structure 2, and obtains propulsion by the main impeller 3.

The side on which the light transmitting lamp 21 is mounted is the upper surface, the surface on which the non-contact power supply terminal 9 is installed is the front surface, and the main impeller 3 is installed on the rear surface. Stereoscopic camera 11
Is installed at the top of the front. The buoyancy center is located above the position of the center of gravity of the swimming-type inspection device 1, and the components are arranged so that the front-rear, left-right, and left-right balance can be obtained.

The driving device 6 is fixed to the spherical shell structure 2 and rotates the main impeller 3. The driving device 8 for the turning impeller 5 is fixed to the driving device 6, and the rotating shaft 16 passes through the inside of the driving device 6 and the shaft of the main impeller 3, and is connected to the driving device 15b. Therefore, the drive device 8 can turn the drive device 15b regardless of whether or not the drive device 6 of the main impeller 3 is driven, and can adjust the direction of the turning impeller 5.
On the other hand, the driving device 7 for changing the direction of the turning impeller 4 is fixed in the spherical shell structure 2 and the rotating shaft 17 is connected to the turning impeller 4.
Is combined with Non-contact power supply terminal 9 for turning impeller 4
Has been fixed. The non-contact power supply terminal 9 is provided on the rotating shaft 17.
Cable and drive unit 15 for turning impeller 4
The power cable for a is built in via slipping.

The power cable from the contactless power supply terminal 9 is
It is connected to power storage device 10 via rotation shaft 17. The power storage device 10 and the driving devices 6, 7, 8, 15a, 15b are connected by a power cable. The microphone 14 and the main impeller 3 incorporated in the power storage device 10 and the control device 12 for controlling rotation of the turning impellers 4 and 5 are connected by a signal cable (not shown).

The stereoscopic camera 11 is fixed to the spherical shell structure 2, is composed of two stereoscopic cameras 11, and has a lens 18 and an image sensor 19. In the control device 12,
The digital video data captured by the stereoscopic camera 11 is processed into stereoscopic data, and signal processing is performed so that the digital video data can be oscillated by an ultrasonic wave or a blue laser. The control device 12
Also processes the drive signals of the drive units 6, 7, 8. The control device 12 and the light emitting light 21 are connected by a cable that transmits a video data signal and control signals of the driving devices 6, 7, and 8. The light emitting light 21 has an oscillating unit including a blue semiconductor laser and a blue laser light detecting unit.

FIG. 2 is an external view of the swimming type inspection device 1 viewed from the direction of the non-contact power supply terminal 9. In the swimming type inspection device configured as described above, while the power storage device 10 is sufficiently charged, the object to be inspected is dropped on the water surface. Since the center of buoyancy is above the center of gravity,
Floating in the water with 1 up. At this time, the turning impellers 4 and 5 are oriented in the up-down direction (meaning directions different from each other in addition to the direction of the up-down axis), or the driving devices 7 and 8 are operated after landing. Operate wirelessly to face up and down. After turning in the vertical direction, the turning impellers 4 and 5 are driven to obtain a turning force, so that the non-contact power supply terminal 9 faces the direction of the inspection object. Thereafter, the main impeller 3 is driven to move toward the inspection object. When approaching, the operator remotely operates the swimming-type inspection device 1 while projecting the whole inspection object or the electronically zoomed-up image on the monitor television or the screen with the stereoscopic camera 11.

The turning of the swimming type inspection device 1 in the horizontal plane and the vertical plane is performed by using the turning impellers 4 and 5, and the approach to the target is performed by using the main impeller 3. Further, for example, when inspecting a horizontal welding line or a vertical welding line, it is also possible to move the turning impellers 4 and 5 in the horizontal direction or the vertical direction in the same direction. .

Next, a description will be given of an embodiment in which the image pickup device section 19 is a stereoscopic camera using a CMOS sensor in the present embodiment (corresponding to claim 2). In this embodiment, the image pickup device unit 19 of the stereoscopic camera 11 is provided with
The imaging device described in No. -206143 will be mounted.

The image pickup device section 19 includes a CMOS sensor comprising a light receiving element section, a vertical operation circuit section, a horizontal readout circuit, and a noise suppression section, a timing generator, a signal converter from analog to digital, and a signal processing LSI. Etc. are formed on one chip. CMOS camera 2
0, the control device 12 and the power storage device 10 are connected by a signal control cable and a power cable. The image sensor unit 19 will be described with reference to FIGS.

FIG. 3 shows the image sensor 19 of the stereoscopic camera 11.
FIG. 3 is a circuit configuration diagram of 3, the photodiodes 31 (31-1-1, 31-1-2,..., 31)
-3-3) Amplifying transistor 32 for amplifying the detection signal
(32-1-1, 32-1-2, ~, 32-3-3),
A vertical selection transistor 33 (33-1-1, 33-1-2, ..., 33-3-) for selecting a line from which a signal is read out.
3) a reset transistor 3 for resetting signal charges
4 (34-1-1, 34-1-2, ~, 34-3-3)
Are arranged two-dimensionally in a matrix. Although 3 × 3 cells are arranged in the figure, actually more unit cells are arranged.

The horizontal address lines 36 (36-1, 36-) wired in the horizontal direction from the vertical shift register 35 are provided.
2, 36-3) are connected to the gate of the vertical selection transistor 33 and determine a line from which a signal is read. Similarly, a reset line 37 (37-1, 37-2, 37-3) wired in the horizontal direction from the vertical shift register 35.
Are connected to the gate of the reset transistor 34. The source of the amplifying transistor 32 is connected to a vertical signal line 38 (38-1, 38-2, 38-3) arranged in the column direction.
1, 39-2, 39-3).

The vertical signal lines 38 (38-1, 38-
2, 38-3) is a slice transistor 48 (48-
1, 48-2, 48-3). A slice capacitor 49 (49-1, 49-2, 49-3) is connected to the source of the slice transistor 48, and the other end thereof is connected to a slice pulse supply terminal 50.
It is connected to the. To reset the source voltage of the slice transistor 48, the slice transistor 48
Between the slice power supply terminal 51 and the slice reset transistor 52 (52-1, 52-2, 52-).
3) is provided, and a slice reset terminal 53 is connected to the gate of the transistor 52.

The drain of the slice transistor 48 has a slice charge transfer capacitor 54 (54-1, 54-2,
54-3) are connected. Further, in order to reset the drain charge of the slice transistor 48, a drain set transistor 56 (56-
1, 56-2, 56-3), and a drain set terminal 57 is connected to the gate of the transistor 56. Further, the drain of the slice transistor 48 is connected to a horizontal selection transistor 60 (60-) driven by a selection pulse supplied from the horizontal shift register 44.
1, 60-2, and 60-3) to the horizontal signal line 45.

In the imaging apparatus having the above-described configuration, the voltage appearing on the vertical signal line 38 is converted into electric charges, and the noise is suppressed by subtracting the electric charges in the electric charge region. Next, a driving method of the imaging apparatus will be described. FIG. 4 is a timing chart showing the operation of the present device, and FIG. 5 is a potential diagram of the slice transistor 48.

First, when an address pulse 61 for setting the horizontal address line 36-1 to a high level is applied, only the vertical selection transistor 33 of this line is turned ON, and a source follower circuit is constituted by the amplification transistor 32 and the load transistor 39 of this line. You. And the amplification transistor 3
2, that is, a voltage substantially equivalent to the voltage of the photodiode 31 appears at the vertical signal line 38 and the gate of the slice transistor 48.

Next, a slice reset pulse 66 is applied to the slice reset terminal 53 to turn on the slice reset transistor 50 and initialize the charge of the slice capacitor 19. Further, the slice reset transistor 52
Is turned off, and the first slice pulse 67 is applied to the slice pulse supply terminal 50. As a result, the first slice charge is transferred to the drain over the channel potential Vsch under the gate of the slice transistor 48 to which the signal voltage is applied. At this time, the drain reset terminal 5
7, the drain reset pulse 68 is applied, and the drain reset transistor 56 is ON, so that the drain potential is fixed to the voltage Vsdd of the storage drain power supply terminal 55. Accordingly, the first slice charge is discharged through the drain reset transistor 56.

Next, the drain reset transistor 5
After turning off the line 6, the reset pulse 63 for setting the reset line 37-1 to the high level is applied, and the reset transistor 34 on this line is turned on to reset the signal charge.
Then, the vertical signal line 38 and the slice transistor 48
Voltage when there is no signal charge at the gate of the gate. Next, a second slice pulse 69 is applied to the slice pulse supply terminal 50. As a result, the second slice charge is transferred to the drain beyond the channel potential V0ch below the gate of the slice transistor 48 to which the voltage when there is no signal charge is applied. At this time, since the drain reset transistor 56 is OFF, the second slice charge is transferred to the slice charge transfer capacitor 54 connected to the drain.

Next, horizontal selection pulses 65 (65-1, 65-2, 65-3) are sequentially applied to the horizontal selection transistors from the horizontal shift register 44, and signals for one line are sequentially extracted from the horizontal signal line 45. By continuing this operation sequentially on the next line and the next line, all the two-dimensional signals can be read.

In this device, assuming that the value of the slice capacitance 49 is Csl, the electric charge (second slice electric charge) finally read out to the horizontal signal line 45 is Csl × (Vsch-V0ch). Since the charge proportional to the difference when the signal is reset and there is no signal appears, the amplification transistor 3
There is a feature that noise due to the threshold variation of 2 is suppressed.

According to the swimming-type inspection device 1 of this embodiment, the propulsion device for approaching the inspection object and the propulsion device for inspection are separated, so that the swimming-type inspection device 1 can be transferred to the inspection object in a short time. Can be approached. In addition, since the turning impellers 4 and 5 are provided so that their rotating shafts can be freely rotated in order to inspect an inspection object extending in one direction, such as a horizontal welding line or a vertical welding line, only the turning operation is performed. Rather, it can also move straight in a certain direction, improving workability. In addition, if the turning impellers 4 and 5 are used together, an inspection object existing in a narrow place can be inspected.

Further, by using the stereoscopic camera 11, it is possible to easily grasp the perspective of the object to be inspected and to zoom in electronically. This allows the operator to easily find the abnormality of the inspection target. Also, CMO
A similar effect can be obtained not only with an S camera but also with a CCD camera. However, a CCD camera normally requires four power supplies, but a CMOS camera can operate with a single power supply, and can be used for long-time shooting. Since power consumption is smaller than that of a CCD camera, it is convenient when remote control is performed.

By adopting the non-contact power supply system, a cable for supplying power can be eliminated, and the size and weight of the swimming type inspection device can be reduced. Next, a second embodiment of the swimming type inspection device according to the present invention (Claim 1)
4 to 4) will be described with reference to FIGS. In the first embodiment, the turning impellers 4 and 5 are provided on the front and back sides, however, in the second embodiment,
The swimming type inspection device 25 has the turning impeller 23 installed on a side surface. 6 and 7, the same parts as those in FIG. 1 are denoted by the same reference numerals, and the description of the configuration will be omitted.

FIG. 7 is a view taken along the line AA in FIG. Turning impeller 2 installed on the side of spherical shell structure 2
The drive units 3 and 23 are connected via a rotation shaft 26 to a driving device 24 for changing the direction of the turning impellers 23 and 23. The turning impeller 23 is driven by a driving device 27. The power cable from the non-contact power supply terminal 9 shown in FIG. 6 is connected to the power storage device 10. Power storage device 1
0 and the driving devices 6 and 24 are connected by a power cable. The main impeller 3 incorporated in the power storage device 10 and a control device for controlling the rotation of the turning impeller 23 are connected by a signal cable. The stereoscopic camera 11 is fixed to the spherical shell structure 2.

In the second embodiment configured as described above, after the power storage device 10 is sufficiently charged, the swimming type inspection device 25 is dropped on the surface of the object to be inspected, and the turning impeller 23 is turned on. Is driven by a driving device 27, and the driving device 24 turns the turning impellers 23, 23 in the same direction or different directions via the rotating shaft 26, and drives the main impeller 3 while changing direction to swim. The type inspection device 25 is propelled toward the inspection object.

As in the first embodiment, a CMOS sensor can be used for the stereoscopic camera 11 as an image pickup device. Further, the whole inspection object or an electronically zoomed image can be displayed on a monitor television or screen. The moving operation of the swimming type inspection device 25 can be performed by remote control while projecting the information. In the second embodiment, the same effects as in the first embodiment can be obtained.

Further, the lens of the CMOS camera or the CCD camera may be a wide-angle lens or a fish-eye lens.
In this case, since the visual field can be widened, the inspection target can be easily found.

Next, a third embodiment of the swimming type inspection device according to the present invention will be described.
An embodiment (corresponding to claim 5) will be described with reference to FIG. In the third embodiment, the stereoscopic camera in the first and second embodiments is a CMOS compound camera.

In FIG. 8, the CMOS compound camera 28
In this example, one CMOS camera 29 is arranged in the center, and four CMOS cameras 29 are arranged on the hemisphere around the periphery so that the hemisphere can be photographed. The CMOS camera 29 includes the lens 18 and the imaging device unit 19. The imaging device unit 19 includes a CMOS sensor, a timing generator, a signal converter for converting an analog signal to a digital signal, a signal processing LSI, and the like including a light receiving element unit, a vertical operation circuit unit, a horizontal readout circuit unit, and a noise suppression unit. It is configured on one chip. The control is performed by a control device (the control device 12 shown in FIG. 1) that connects between the images captured by the five CMOS cameras 29 and deletes the overlapped portion.

According to the CMOS compound camera 28 configured as described above, it is possible to widen the field of view, and to find the inspection object early, or to widen the field of view at the time of inspection work. Can also be improved.

Next, a first embodiment (corresponding to claims 6 and 7) of a swimming type inspection system according to the present invention will be described with reference to FIGS. In the present embodiment, the swimming type inspection device 1 is inspected from the inside of the reactor pressure vessel 128 for inspection of welding lines, surface inspection of the internal structure of the reactor, disassembly of the internal structure of the reactor by remote control, and supervision and support of the installation work. The present invention relates to a swimming-type inspection system used for underwater monitoring and support of installation and removal of equipment for repairing furnace internals by remote control.

In FIG. 9, the reactor pressure vessel 128
During the periodic inspection, the upper lid (not shown) of the reactor pressure vessel 128 has been removed, and the fuel assembly (not shown) installed between the core support plate 71 and the upper lattice plate 72 This shows a state in which it has been carried out. In addition, water is filled in the reactor pressure vessel 128,
A core support plate 71 and an upper lattice plate 70 are provided inside the shroud 76. Further, a control rod drive mechanism housing 89 is provided below the core support plate 71 with a lower mirror 215.
And a stub tube 213.

In the annulus section 80 provided between the reactor pressure vessel 128 and the shroud 76, a plurality of jet pumps 88 are arranged in accordance with the output of the reactor.
The jet pump 88 discharges the cooling water in the annulus portion 80 from an opening portion 214 formed in the shroud support 74 below the shroud 76 and supplies the cooling water to a fuel assembly (not shown).

The swimming inspection system for inspecting the welding line, disassembling and installing the internal structure of the reactor, etc. from the inside of the reactor pressure vessel 128 includes the swimming inspection device 1,
Diving mother ship 86 of this swimming type inspection device 1, buoy 85 floating on the water surface while connecting this diving mother ship 86 with cable 87, and control panel 82 installed on reactor well 75
And a cable 84 connecting the buoy 85 and the control panel 82
And a monitor television 83 that projects a video signal from the swimming type inspection device 1. FIG. 10 is a longitudinal sectional view of the dive mother ship 86 of the swimming type inspection device 1 of the swimming type inspection system.

In FIG. 10, the submersible carrier 86 has a connector 9 provided on a spherical shell structure 96 via a cable 87.
9 are connected and can exchange signals and power. The non-contact power supply terminal 90 has a structure that fits with the non-contact power supply terminal 9 of the swimming type inspection device 1, and supplies power to the swimming type inspection device 1. When this non-contact power supply terminal 90 is connected to the non-contact power supply terminal 9 of the swimming type inspection device 1, work is performed while monitoring with the light emitting device 92 and the CMOS camera 93. The optical signal transmitting / receiving device 91 is a CM
OS camera 98 and laser light emitting structure 1 shown in FIG.
00. The cable 87 has a spherical shell structure 96.
Is connected to a control device 94 via a connector 99 installed in the control device. The control device 94 controls the CMOS camera 9
The video signals from the third and the second are controlled.

Further, a propulsion device 97 having a driving device 95 is also mounted on the submersible carrier 86, so that not only the swimming type inspection device 1 but also the submersible carrier 86 itself can move.
FIG. 11 is a view taken along line BB in FIG. FIG.
Since 0 is a longitudinal sectional view, the laser light emitting structure 100 is not shown, but the laser light emitting structure 100 is juxtaposed with the CMOS camera 98 as shown in FIG.

FIG. 12 is a longitudinal sectional view of the buoy 85. In FIG. 12, a buoy 85 is a winding device 1 for a cable 87.
02, and the winding device 102 includes the driving device 1
04 and 105 are driven. The driving devices 104 and 10
5 is controlled by the control devices 106 and 106.
The buoy 85 is also provided with a propulsion device 97, and a CMOS device is provided below the buoy 85 for easy operation.
A camera 103 is provided. Drive devices 104 and 10
5. The power supply to the control devices 106 and 106 and the propulsion device 97 and the transmission of the signal of the CMOS camera 103 to the control panel 82 are performed by a cable 84.

Returning to FIG. 9, the operation of the swimming-type inspection system thus configured will be described. As in the case of the swimming type inspection device 1 according to the first and second embodiments, an operator lowers the swimming type inspection device 1 from the floor of the reactor well 75 on the water surface of the reactor pressure vessel 128 and operates the control panel 82. The swimming type inspection device 1 is moved from the pressure vessel upper chamber 78 to the opening 7 of the upper lattice plate 70.
2a to the shroud inner chamber 79, and subsequently to the pressure vessel lower chamber 73 through the opening 72b of the core support plate 71;
It is moved from the pressure vessel lower chamber 73 to the jet pump inlet chamber 81 through the opening 214, from the pressure vessel upper chamber 78 to the annulus section 80, the welding line on the inner surface of the shroud 76, the welding line on the shroud support 74, the control rod drive housing 89. Visual inspection is performed on the welding line between the stub tube 213 and the lower mirror 215, the welding line on the outer surface of the shroud 76, and the welding line on the inner surface of the reactor pressure vessel 128.

In order to remotely control the swimming type inspection device 1 as described above, the buoy 85 and the dive carrier 86 are lowered from the floor of the reactor well 75 to the surface of the reactor pressure vessel 128 and the winding device 102 of the buoy 85 is mounted. By driving, the cable 87 is deployed, and the dive mother ship 86 is lowered through the opening 72 a of the upper lattice plate 70 to the pressure vessel lower chamber 73, and from the pressure vessel upper chamber 78 to the annulus section 80. By rotating the two propulsion units 97 of the buoy 85 in different directions, the buoy 85 is turned around the vertical axis of the buoy 85,
The propulsion device 97 is turned in a predetermined direction. Subsequently, the two propulsion units 97 are rotated in the same rotation direction, and
The buoy 85 is moved on the surface of the water until it reaches a position where it is desired to descend. At this time, the vehicle is moved while confirming the position of the dive mother ship 86 by the CMOS camera 103. The optical signal transmission / reception device 91 of the diving mother ship 86 is directed toward the swimming type inspection device 1, and the optical signal for controlling the swimming type inspection device 1 is directed to the light emitting light 21 of the swimming type inspection device 1 by a laser light emitting structure. 1
It transmits from 00 and controls the swimming type inspection device 1. Also,
The CMOS camera 98 receives an optical signal transmitted from the optical transmitter light 21 of the swimming type inspection device 1, and transmits a video signal to the control panel 82 via the control device 94, the cable 87, the control device 105, and the cable 84. The video signal is processed by the control panel 82 and projected on the monitor television 83. While watching this image, the operator remotely controls the swimming type inspection device 1 to inspect the welding line and the like.

When the charged amount of the power storage device 10 of the swimming type inspection device 1 becomes equal to or less than a predetermined value, the swimming type inspection device 1 is moved away from the inspection work site and moved to a place where the dive mother ship 86 is located. At the same time that the swimming type inspection device 1 is moved, the dive mother ship 86 may also be moved toward the swimming type inspection device 1 so that it can be docked in the shortest time. The propulsion unit 97 of the dive motherboard 86 is driven to turn the non-contact power supply terminal 90 of the dive motherboard 86 so as to face the direction of the swimming type inspection device 1.
The docking operation of the non-contact power supply terminal 9 and the non-contact power supply terminal 90 is performed by remotely operating the swimming-type inspection device 1 while watching an image captured by the CMOS stereoscopic camera 11. Power storage device 1
When the predetermined amount of power storage is completed at 0, the main impeller 3 of the swimming type inspection device 1 and the propulsion device 97 of the dive mother ship 86 are operated to separate them, and the swimming type inspection device 1 is moved to the inspection work site again.

In such a swimming type inspection system, it is possible to arrange the dive mother ship 86 near the inspection work site of the swimming type inspection device 1 and charge the power storage device 10 of the swimming type inspection device 1. Swimming inspection device 1
Inspection efficiency can be improved.

Also, the optical signal transmitting / receiving device 9
1, the control signal transmission and the image of the inspection result are effectively performed when the swimming type inspection device 1 performs the inspection work of the structure in the space where the thin structures are arranged three-dimensionally. A signal can be transmitted, and the efficiency of inspection work by the swimming type inspection device 1 can be improved.

Next, the third embodiment of the swimming type inspection device according to the present invention will be described.
An embodiment (corresponding to claims 8 and 9) will be described with reference to FIG. The swimming type inspection device according to the third embodiment includes an underwater vehicle 111 and a controller 112 for remotely controlling the underwater vehicle 111, and these are connected by a cable 113.

The underwater vehicle 111 is provided in a substantially spherical and partially transparent pressure-resistant casing 114 in a longitudinal propulsion mechanism 11.
5, vertical propulsion mechanism 116, balance weight 117 as attitude control means, movable CMOS for visual observation
It has a camera 118 and a lighting device 119.

With the posture shown in FIG. 13 as a basic posture,
The part where the CMOS camera 118 is arranged is the front part,
The portion where the vertical propulsion mechanism 116 is disposed is referred to as a rear portion. The pressure-resistant casing 114 includes a plurality of vertically split elements, for example, the center frame 11 disposed at the center.
0 and a pair of left and right side frames 109 sandwiching the center frame 11.
A CMOS camera 118 is mounted on the side frame 109, and a front-rear propulsion mechanism 115, a vertical propulsion mechanism 116, a balance weight 117, and the lighting device 1 are mounted on each side frame 109.
19 etc. are installed. The front part of the pressure-resistant casing 114 that covers the CMOS camera 118 and the lighting device 119 is made of transparent pressure-resistant glass or transparent acrylic resin.

The balance weight 117 is a flat plate having a substantially triangular shape with its lower part swelling.
4 are arranged on the left and right outer surfaces. Controller 11
Reference numeral 2 includes a control device 124, a monitor television 125, a joystick 126, and the like.

FIG. 14 is a longitudinal sectional view of a third embodiment of the swimming inspection apparatus. The front-rear direction propulsion mechanism 115 has a configuration in which a pair of right and left propellers 130 are disposed at the same height at the rear of the pressure-resistant casing 114 and a drive mechanism 131 that rotates the propellers 130 forward and reverse. Drive mechanism 13
The motors as 1 are left and right side frames 10 respectively.
9, the connection between the output shaft 132 and the propeller 130 has a watertight magnet type connection structure. That is, the output shaft 132 and the propeller 130 are connected to the cylindrical partition 13.
3, the output shaft 132 and the propeller 130 are magnetically coupled via magnets 134 and 135 disposed inside and outside the partition 133, and the propeller 130 is driven to rotate.

These are a pair of forward and backward propulsion mechanisms 115
Are configured to be able to be driven independently of each other, and to control the jet by making the rotation speed and the rotation direction different, so that the left and right turning can be performed when moving forward or backward or in a stopped state.

The vertical propulsion mechanism 116 is provided on each side frame 109 so that the front-rear propulsion mechanism 115 and the propulsion axis are orthogonal to each other. That is, the vertical propulsion mechanism 116 is provided at a substantially central portion in the front-rear direction of each side frame 109 and penetrates in the vertical direction, and has a cylindrical shape formed spirally in the water hole 136. And a drive mechanism 138 for rotating the screw 137 forward and reverse. The motor as the drive mechanism 138 is provided with left and right side frames 109, respectively.
The hollow shaft 143 is connected to the output shaft 139 via a belt 140 and pulleys 141 and 142. The connection between the hollow shaft 143 and the screw 137 is a watertight magnet type connection structure. That is, the hollow shaft 143 and the screw 137 are separated by the partition 144, and the hollow shaft 143 and the screw 137 are magnetically connected via the magnets 145 and 146 disposed inside and outside the partition 144, and the screw 137 is separated. It is designed to be driven to rotate. The pair of vertical propulsion mechanisms 116 can also be driven independently of each other,
The jet flow is controlled by making the rotation speed or the rotation direction different, so that the casing 104 can be inclined left and right at an arbitrary inclination angle.

FIG. 15 is a side sectional view showing an imaging unit of the swimming type inspection device of the present embodiment. The CMOS camera 118 for visual observation is attached to a disk 152 that rotates in the center frame 110, and can change its direction in the vertical direction at the front part of the pressure-resistant casing 114. The disk 132 is supported by a shaft 153 extending in the left-right direction at the center of the center frame 110.
52 is connected to a motor 156 via a gear 154 provided on the peripheral edge and a gear 155 meshing with the gear 154. When the disk 152 rotates forward and backward by driving the motor 156, the CMOS camera 118 can be turned up and down. This CMOS camera 118
Is rotatably connected to a motor 157 mounted on the disk 152 via a belt 158 and pulleys 159 and 160, thereby enabling focus adjustment. The rotational position of the CMOS camera 118 is detected by a potentiometer (not shown). The cable 113 has a terminal portion 123 in a pressure-resistant casing 114, and the terminal portion 123 includes motors,
A CMOS camera 118, a lamp, and the like are connected.

The underwater vehicle 111 thus configured
Is used for inspection of a reactor pressure vessel 128 provided in a reactor building 168, as shown in FIG. The underwater vehicle 111 is connected to a controller 112 via a cable 113, and a worker operates the operation floor 1
From 69, the inspection of the pressure vessel upper chamber 78 from the reactor well 75 is performed. In addition, the inner space 79 of the shroud passes through the opening 72 a of the upper lattice plate 70, and the lower chamber 73 of the pressure vessel passes through the core support plate 71 and is inspected. Of course, the inspection of the annulus portion 80, the partition wall 77 or the jet pump inlet portion chamber 81 is also possible.

When used for inspection inside the reactor, the operator
By remotely operating the controller 112, the front-rear direction propulsion mechanism 115 and the vertical direction propulsion mechanism 116 are operated, so that the underwater vehicle 111 can levitate, dive, advance, retreat,
Move to the target position by turning or the like. After that, CM
The target object is illuminated and viewed by the OS camera 118 and the lighting device 119.

In this embodiment, the forward and backward propulsion mechanism 115 and the up and down direction propulsion mechanism 116 capable of forward and reverse propulsion are provided on the pressure-resistant casing 114 so that the propulsion axes are orthogonal to each other. The movement can be easily performed by the operation of each propulsion mechanism 115, 116.

The front-rear direction propulsion mechanism 115 and the vertical direction propulsion mechanism 116 are arranged in parallel with each other along the axial direction of the balance weight 117, so that the propulsion force and the direction are different for each propulsion mechanism. The direction can be changed. Therefore, the direction of the steering mechanism is not required, the degree of freedom of swimming can be increased, and the pressure-resistant casing 114 has a spherical shape, so that the size can be further reduced.

The CMOS camera 118 is connected to the pressure-resistant casing 1
Since the orientation of the CMOS camera 118 can be changed, the detailed visual inspection can be performed by freely changing the orientation of the CMOS camera 118 up and down independently. Therefore, the range of visual observation can be expanded as compared with the conventional apparatus, and the visual direction can be changed while the pressure-resistant casing 114 is kept in a fixed posture, so that the inspection speed can be improved.

A plurality of illuminating devices 119 are provided along the direction in which the direction of the CMOS camera 118 changes, and
Since it is possible to turn on the light corresponding to the direction of the S camera 118, it is possible to efficiently and clearly illuminate and observe a necessary visual target using a limited power supply.

A fourth embodiment (corresponding to claim 10) of a swimming type inspection device according to the present invention will be described with reference to FIG. In the present embodiment, a unit-type repair device 129 having a structure in which a laser surface reforming device 161 is suspended at the tip of a balance weight 117 of the underwater vehicle 111 is provided. FIG. 17 shows a laser surface reforming device 161 as a unit-type repair device 129, which is an underwater vehicle 111.
It is a side view of the swimming type underwater repair apparatus 166 attached to the. The attachment structure 163 and the swing mechanism 170 are attached to the balance weight 117, and the laser surface reforming device 161 is attached to the swing mechanism 170. The contact structure 162 is attached to the front surface of the laser surface reforming device 161. FIG. 18 is a view taken in the direction of the arrows CC in FIG.
1 is a front view of the swimming type underwater repair device 166 attached to the underwater vehicle 111.

FIG. 19 is a sectional view of the laser surface reforming apparatus 161 as viewed from the front. Laser irradiation nozzle 183, X
An axial sweep mechanism 184, a Y-axis sweep mechanism 185, an optical fiber connection mechanism 186, and a reflection optical system 187 are provided. The X-axis direction sweeping mechanism 184 includes a set gear 188, a driving device 171, and a guide rail 172. The Y-axis direction sweeping mechanism 185 includes a set gear 173, a driving device 174, and a guide rail 175.
Reference numeral 6 denotes an optical system 176, an optical fiber 165, and an emission end structure 177. A CMOS camera 180 is attached to the set gear 173. Driving devices 171, 17
4. The control cable (and power cable and signal cable) (not shown) of the CMOS camera 180 is a cable 1
13 and is connected to the controller 112.

In the fifth embodiment configured as described above, when used for inspection of the inside of the reactor pressure vessel 128, etc., the operation floor 1 of the reactor building 168 is used.
At 69, the operator suspends and lowers the swimming type underwater repair device 166 in which the unit type repair device 129 is attached to the swimming type inspection device 111 on the surface of the reactor well 75. By operating the controller 112, the swimming type inspection device 1
11 by moving the forward and backward propulsion mechanism 115 and the vertical propulsion mechanism 116 remotely, and causing the swimming type underwater repair device 166 to levitate, dive, advance, retreat, and turn, etc.
5 to the reactor pressure vessel upper chamber 78 to the annulus section 80
And then move to the shroud inner chamber 79 through the opening 72 a of the upper lattice plate 70. After that, the CMOS camera 11
8 and the illuminating device 119 illuminate and observe the welding line. The forward / rearward propulsion mechanism 115 is driven until the contact structure 162 of the laser surface reforming device 161 hits a structure around the weld line to be repaired.
When the laser surface modification device 161 reaches a predetermined surface modification position, a laser irradiation operation is performed.

The laser light 181 of the visible light pulse transmitted through the optical fiber 165 is emitted from the emission end structure 177, and the expanded light beam is converted into a parallel light by the optical system 176, and is converted via the reflection optical system 187. Laser irradiation nozzle 18
The light is converged by an optical system 3 (not shown). Driving device 174
To guide the laser irradiation nozzle 183 to move the laser irradiation nozzle 183 at a predetermined speed in the Y-axis direction via the set gear 173 so as to have a predetermined light diameter on the welding line.
The moving speed is set as a function of the number of superpositions of the irradiated pulse laser light, the energy density of the irradiation laser, the pulse width, the irradiation light diameter, and the like. When laser irradiation is performed by a predetermined width in the Y-axis direction, the driving device 171 is operated, and the Y-axis direction sweeping mechanism 185 is moved to the X-axis through the set gear 188.
It is moved at a predetermined speed in the axial direction. The moving speed is set as a function such as a pulse width and a reflected light diameter.

When the laser irradiation is completed in the laser irradiation window range 178, in the case of a horizontal welding line, the front-rear propulsion mechanism 115 is operated to slightly separate from the structure to be repaired, and the two front-rear propulsion mechanisms are separated. The swimming type underwater repair device 166 is moved by appropriately changing the direction of 115, and the contact structure portion 162 is again pressed against the welding line of the structure to be repaired at a position adjacent to the range where the laser irradiation was previously performed, and laser irradiation is performed. I do. Thereafter, these series of operations are continuously performed until the surface modification in a predetermined range is performed. The laser irradiation range 179 is the laser irradiation window range 1 as shown in FIG.
It is narrower than 78.

The CMOS camera 180 is provided with an electronic shutter (not shown). The shutter is closed while the pulsed laser light is irradiated on the structure to be repaired, and the pulsed laser light is emitted. After a certain time after the end of the irradiation, the shutter is opened and the structure to be repaired is photographed.
When the operator observes the photographed video or performs image processing and finds an abnormality, the digital data of the CMOS camera 180 is processed so as to be projected on a monitor television that enlarges the location. Attach the unit type repair device 129 of the laser surface reforming device 161 to the swimming type inspection device 111,
Welding line of reactor pressure vessel 128, welding line of shroud 76, welding line of shroud support 74, bulkhead 77
By adopting a method of performing preventive maintenance work to modify the surface of the welding line, etc., a swimming-type inspection device that transports tools can be standardized, reducing robot manufacturing costs and product reliability. Can be improved. In addition, for tools used for performing preventive maintenance, it is possible to work on improving quality and reducing production costs independently of the transport device.

Next, the fifth embodiment of the swimming type inspection device according to the present invention will be described.
Embodiment (corresponding to claim 11) will be described with reference to FIG. In this embodiment, a swimming type underwater inspection device 1 in which a video unit 191 is attached to an underwater vehicle 111 is described.
92. They are connected via a mounting structure 193.
The image unit 191 is covered with a transparent shell structure 194,
A CMOS camera 195 is fixed to the mounting structure 193 via a driving device 196 for rotating in the elevation direction and a driving device 197 for turning in a horizontal plane. CMOS camera 19
A shielding structure 198 for shielding radiation is attached to the periphery of the device 5, and the driving device 197 can turn together with the CMOS camera 195. Power, control and video cable 19 for CMOS camera 195, drives 196, 197
9 is taken directly from the transparent shell structure 194 and processed together with the cable 113 of the underwater vehicle 111.

In the present embodiment configured as described above,
In the same manner as in the fourth embodiment, the image is transferred to the inspection target using the underwater vehicle 111, and all the images except for the upper part of the swimming type underwater inspection robot 192 using the CMOS camera 195 of the image unit 191 that has performed radiation shielding are used. Inspection by azimuth image is performed by the CMOS camera 19 with the driving devices 196 and 197.
5 is operated.

In this embodiment, the underwater vehicle 1
By attaching the video unit 191 to the inspection unit 11, the welding line and the like in the reactor pressure vessel 128 can be inspected,
The inspection unit, the video unit 191, can improve the quality and reduce the production cost independently of the underwater vehicle 111 as the transport device. Since the imaging element portion of the CMOS camera 195 can be formed into a single chip and can be easily miniaturized, the size of the CMOS camera 195 can be easily miniaturized, and the radiation shielding structure 198 can be miniaturized accordingly. The transparent shell structure 194 for making the portion 191 have a neutral buoyancy can also be reduced.

Next, the sixth embodiment of the swimming type inspection device according to the present invention will be described.
Embodiment (corresponding to claim 12) will be described with reference to FIG. In the present embodiment, the underwater vehicle 111
Cleaning unit 201 with balance weight 117
The present invention relates to a swim-type inspection device for cleaning the inside of a nuclear reactor, which has a structure in which a suspension is provided.

FIG. 21 is a conceptual diagram of a swimming type washing apparatus in which a suction nozzle 203 is attached to a tip of a suction hose 202 using a shape memory alloy. The suction hose 202 is made of a shape memory alloy and has hose units 204, 205, and 206. The unit-type cleaning device 201 is mounted on a swing mechanism 170 mounted on the lower surface of the balance weight 117 of the underwater vehicle 111, and a suction pump 208 and a filtration device 209 are housed inside the mounting structure 207. One end of the suction hose 202 is connected to the suction pump 208, the outlet thereof is connected to the filtration device 209, and the outlet thereof is connected to the opening of the mounting structure 207. CMOS camera 21 so that the inside of suction nozzle 203 is projected
0 is attached, and a lamp 211 is installed so as to illuminate the inside.

FIG. 21 shows the suction of a swimming type cleaning device 200 in which a unit type cleaning device 201 having a suction nozzle 203 attached to the tip of a suction hose 202 using a shape memory alloy is attached to the tip of a balance weight 117 of an underwater vehicle 111. FIG. 4 is a conceptual diagram showing a state where a hose 202 is bent. When the hose units 204 and 206 are energized and heated, they are made of a shape memory alloy that is curved as shown in the figure.

In the sixth embodiment configured as described above, the underwater vehicle 111 is similar to the fourth and fifth embodiments.
Then, the shape memory alloy of the hose units 204 and 206 is electrically heated to deform the suction hose 202 as shown in FIG. 22, and the suction nozzle 203 with the cleaning brush 212 is moved underwater. Vehicle 111
The underwater vehicle 111 is moved downward by driving the vertical propulsion mechanism 116 toward the front, and the suction nozzle 203 of the cleaning brush 212 is pressed against the bottom plate surface or the like. Suction pump 20
8 is driven to suck the dust in the range pressed by the suction nozzle 203. By operating the swing mechanism 170 to swing the suction nozzle 203, a predetermined range of cleaning is performed. The suction nozzle 203 is also operated while the front-rear direction propulsion mechanism 115 and the vertical direction propulsion mechanism 116 of the underwater vehicle 111 are driven to move the underwater vehicle 111 back and forth and up and down, thereby cleaning the inner surface of the three-dimensional bottom plate in a belt shape.

By attaching the unit-type cleaning device 201 to the underwater vehicle 111 in this manner, it is possible to clean the lower mirror 215 and the partition wall 77 (see FIG. 9) of the reactor pressure vessel 128. Since the working device is configured to be attached to the underwater vehicle 111, the underwater vehicle 111 can be used as a standard product while independently working on development, quality improvement, and cost reduction of the working device itself.

The image sensor of the CMOS camera 210 can be easily integrated into a single chip, so that it can be easily miniaturized.
Since the size of the camera 210 can be reduced, the camera 210 can be easily attached to the suction nozzle 203. Since the cleaning operation can be performed while observing the cleaning section, the cleaning can be performed efficiently.

In the fourth embodiment of the swimming type inspection device according to the present invention described with reference to FIGS. 17 and 18, the unit type repair device 129 is suspended from the balance weight 117 of the underwater vehicle 111. However, this may be provided on the outer shell of the underwater vehicle 111. In this way, fine adjustment of the balance can be performed by the balance weight 117 separately from the balancer 164 during movement or during work. Conversely, in the fifth embodiment shown in FIG. 20, it is installed directly on the outer shell of the underwater vehicle 111, but it may be suspended from the balance weight 117.

Next, a second embodiment (corresponding to claim 13) of the swimming type inspection system according to the present invention will be described with reference to FIG.
This will be described with reference to FIG. FIG. 24 shows D-
FIG. 4 is a cross-sectional view taken along a line D. In FIG. 23, a relay robot 219 according to the present embodiment includes a winding device 220 and a driving device 224 for the cable 113, a CMOS camera 221,
A pair of propulsion devices 222, a driving device 223, and a spherical shell structure 225
have. The propulsion device 222 is connected to the driving device 223 by a rotating shaft 227 having a seal structure that penetrates the spherical shell structure 225. The power and the control signal to the driving device 226 of the propulsion device 222 are transmitted via the slipping mechanism of the rotating shaft 227. The winding device 220 of the cable 113 is connected to the driving device 224 by a rotating shaft 228 having a seal structure that penetrates the concave surface of the spherical shell structure 225. Power and control signals to the cable 113 are transmitted via a slipping mechanism of the rotating shaft 228. Transmission of power and control signals to the cable 113, the driving devices 226, 223, 224, and the CMOS camera 221 is performed from the cable 87 through the spherical shell structure 22.
5 is transmitted.

In the present embodiment configured as described above, in the swimming type inspection system according to the first embodiment, the underwater vehicle 111 is lowered below the surface of the water, and at the same time, the buoy 85 (see FIGS. 9 and 12). The relay robot 219 is also lowered below the water surface. The cable 87 is deployed by driving the winding device 102 (see FIG. 12) of the buoy 85, and the underwater vehicle 1
11 and the relay robot 219 are submerged toward the inspection target location. The buoy 85 has a relay robot 219 thereunder.
The water surface is moved two-dimensionally so that it comes. Underwater vehicle 1
11 and the relay robot 219 enter another new space through the narrow opening, and the winding device 22 of the relay robot 219
Then, the underwater vehicle 111 is moved toward the inspection target location. After being moved to the inspection target location, an inspection operation is performed as in the above-described embodiment. When the underwater vehicle 111 and the relay robot 219 are collected, the procedure is reversed. When passing through a plurality of narrow openings or turning a corner a plurality of times, it is desirable to connect the relay robot 219 by the number of narrow openings.

In order to move the relay robot 219 three-dimensionally, it is possible to change the direction of the propulsion devices 222 and 226 by driving the driving device 223 from the state shown in FIG. In particular, various driving modes are possible by changing the directions of the propulsion devices 222 and 226 in the same direction or in different directions. CMOS camera 22
Reference numeral 1 is used to monitor the state of the cables 113 and 87.

In this embodiment, the cables 113 and 87 mounted on the relay robot 219 that can swim three-dimensionally in the water and the buoy 85 that can move two-dimensionally on the water surface.
Of the cables 113 and 87 for transmitting the power and the signal to the underwater vehicle 111 by the winding devices 220 and 102, the cables 113 and 87 interfere with the structure during the movement of the underwater vehicle 111 in a complicated space and operate. It is possible to avoid deterioration of the operability and operability, and it is possible to shorten the time required for inspection and repair of the underwater vehicle 111 in a space where a structure having a complicated shape exists. Next, a third embodiment (corresponding to claim 14) of a swimming type inspection system according to the present invention will be described with reference to FIG.
This will be described with reference to FIG. FIG. 26 is a view taken along line EE in FIG. 25. In this embodiment, a relay robot 219 capable of three-dimensional swimming in the second embodiment is described.
The cylindrical structure 231 incorporating the winding device 230 and the partial spherical shell structure 2 incorporating the propulsion device 232 on the flat surface of the cylinder
And a relay robot 229 provided with driving devices 234 and 235 such that the partial spherical shell structure 233 rotates around the central axis of the cylindrical structure 231.
It is assumed that. In FIG. 25, the relay robot 22
9 comprises a cylindrical structure 231 and two partial spherical shell structures 233. The cylindrical structure 231 is provided with a winding device 230 for the cable 113 and a driving device 234 for driving the winding device 230, and a driving device 235 for driving the partial spherical shell structure 233, a control device 243, and an outer cylinder. It has a shell structure 236. The cable 87 is connected to the cylindrical outer shell structure 236 via a connector 237. The driving device 235 is connected to the partial spherical shell structure 233 by a rotating shaft 238 having a seal structure. The driving device 234 is connected to the winding device 230 of the cable 113 and the hollow rotary shaft 239. The partial spherical shell structure 233 includes a propulsion device 222, a CMOS camera 240,
1 is transmitted by a control device 243 in the cylindrical structure 231 via a slip ring structure of the rotating shaft 238. In addition, the power and the signal from the cable 87 are transmitted to the control device 243 via the connector 237.
In this configuration, power and signals are transmitted to 34, 235, and the like.

In the present embodiment configured as above, the driving device 235 is driven to drive the partial spherical shell structure 233.
By turning, the relay robot 229 can swim three-dimensionally. In particular, this is possible by making the directions of the two driving devices 235 the same or different.

The relay robot 229 can exhibit the same effects as those of the swimming type inspection system according to the second embodiment. Furthermore, in the present embodiment, since the relay robot 229 has a substantially spherical external shape and a structure without protrusions outside, the relay robot 229 advances while avoiding a narrow portion or a structure. Occasionally, unnecessary collision does not occur, and it is possible to improve the operation controllability.

Next, a fourth embodiment (corresponding to claim 15) of a swimming type inspection system according to the present invention will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 28 shows F- in FIG.
FIG. 29 is a sectional view taken along line F-G of FIG. 27, and FIG. 29 is a sectional view taken along line GG of FIG. 27. In this embodiment, the laser surface reforming device 244 is used.
The stress of the underwater structure surface is improved by using a swimming type inspection device 245 having a built-in, a relay robot 229 that swims three-dimensionally underwater, and a swimming type inspection system using a buoy 85 that can move two-dimensionally on the water surface. Things. 27 to 29, the swimming type inspection device 245 has a surface stress reforming device 244 installed inside the spherical shell structure 2. The laser surface stress reforming device 244 has a laser surface shown in FIG. It is the same as the reformer 161. The main impeller 3 is installed together with the driving device 6, and the CMOS stereoscopic camera 11, the lighting device 246, the turning impeller 23 and the driving device 24 are installed. Further, a laser irradiation window 247 is provided in the spherical shell structure 2.

The electric power and the signal transmitted from the cable 113 are input to a control device (not shown), and are supplied to the laser surface stress modifying device 244, the CMOS stereoscopic camera 11, the lighting device 246, the driving devices 6, 24. The laser beam to the laser surface stress reformer 244 is transmitted by an optical fiber cable, and the optical fiber cable is connected to the cable 11.
3, the relay robot 229 that swims three-dimensionally in the water, the buoy 85 that swims two-dimensionally in the water, and the like are wired to the laser oscillation device. However, the relay robot 229 and the buoy 85 are provided with a structure for guiding the optical fiber cable.

In the present embodiment thus configured, the swimming type inspection device 245 also includes the relay robot 229,
It is possible to freely work inside the reactor pressure vessel while receiving power and signals supplied through the buoy 85.

[0098]

As described above, in the swimming type inspection device and the system thereof according to the present invention, the configuration is simple and the size can be reduced, and each component having a complicated shape inside the reactor pressure vessel can be easily accessed. In addition, the degree of freedom of swimming and the visual range can be effectively expanded, and a detailed visual inspection can be performed. In addition, this swimming type inspection device can be connected to a compact laser surface reforming device, decontamination device, and image unit, and can perform repair and decontamination work simultaneously with inspection.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a first embodiment of a swimming type inspection device according to the present invention.

FIG. 2 is a side view showing the first embodiment of the swimming inspection device according to the present invention.

FIG. 3 is a circuit diagram of an imaging device of the swimming-type inspection device according to the first embodiment.

FIG. 4 is a timing chart illustrating an operation of the imaging device.

FIG. 5 is a potential diagram of a slice transistor of the imaging device of the swimming-type inspection device according to the first embodiment.

FIG. 6 is a side view showing a second embodiment of the swimming-type inspection device according to the present invention.

FIG. 7 is a view taken along line AA in FIG. 6;

FIG. 8 is a longitudinal sectional view showing a compound camera in a third embodiment of the swimming type inspection device according to the present invention.

FIG. 9 is a conceptual diagram showing an operation state of the swimming inspection system according to the first embodiment of the present invention.

FIG. 10 is a longitudinal sectional view of a diving mother ship in the first embodiment of the swimming inspection system according to the present invention.

FIG. 11 is a view taken along line BB in FIG. 10;

FIG. 12 is a longitudinal sectional view of a buoy in the first embodiment of the swimming inspection system according to the present invention.

FIG. 13 is an outline view showing a third embodiment of the swimming-type inspection device according to the present invention.

FIG. 14 is a longitudinal sectional view showing a third embodiment of the swimming-type inspection device according to the present invention.

FIG. 15 is a longitudinal sectional view showing a CMOS camera section of a swimming type inspection device according to a third embodiment of the present invention.

FIG. 16 is a conceptual diagram showing an operating state of a swimming-type inspection device according to a fourth embodiment of the present invention.

FIG. 17 is an outline view showing a fourth embodiment of a swimming-type inspection device according to the present invention.

FIG. 18 is a view taken along line CC in FIG. 17;

FIG. 19 is a structural view showing a laser surface reforming apparatus according to a fourth embodiment of the swimming inspection apparatus according to the present invention.

FIG. 20 is an outline view showing a fifth embodiment of the swimming-type inspection device according to the present invention.

FIG. 21 is an outline drawing showing a sixth embodiment of the swimming inspection device according to the present invention.

FIG. 22 is a conceptual diagram for explaining an operation state of a sixth embodiment of the swimming inspection apparatus according to the present invention.

FIG. 23 is a structural view of a relay robot according to a second embodiment of the swimming inspection system according to the present invention.

FIG. 24 is a view taken along the line DD in FIG. 23;

FIG. 25 is a structural view of a relay robot in a swimming type inspection system according to a third embodiment of the present invention.

FIG. 26 is a view taken along the line EE in FIG. 25;

FIG. 27 is a structural view of a swimming-type repair robot in a swimming-type inspection system according to a fourth embodiment of the present invention.

FIG. 28 is a view taken along the line FF in FIG. 27;

FIG. 29 is a sectional view taken along line GG in FIG. 27;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Swimming type inspection device 2 ... Spherical shell structure 3 ... Main impeller 4 ... Turning impeller 5 ... Turning impeller 6 ... Drive device 7 ... Drive device 8 ... Drive device 9 ... Non-contact power supply terminal 10 ... Power storage device 11 ... CMOS Stereoscopic camera 12 ... Control device 14 ... Microphones 15a, 15
b ... Drive device 16 ... Rotation axis 17 ... Rotation axis 18 ... Lens 19 ... Imaging element unit 20 ... CMOS camera 21 ... Light emitting light 23 ... Swivel impeller 24 ... Drive device 25 ... Swimming type inspection device 26 ... Rotation shaft 27 ... Driving device 28 ... CMO
S compound camera 29 CMOS camera 31 Photodiode 32 Amplification transistor 33 Vertical selection transistor 34 Reset transistor 35 Vertical shift register 36 Horizontal address line 37 Reset line 38 Vertical signal line 39 Load transistor 44 Horizontal Shift register 45 Horizontal signal line 48 Slice transistor 49 Slice capacitance 50 Slice pulse supply terminal 51 Slice power supply terminal 52 Slice reset transistor 53 Slice reset terminal 54 Slice charge transfer capacitance 55 Storage drain power supply terminal 56 Drain set transistor 57 ... Drain set terminal 60 ... Horizontal selection transistor 61 ... Address pulse 63 ... Reset pulse 65 ... Horizontal selection pulse 66 ... Slice reset pulse 67 ... Slice pulse 68 Rain reset pulse 69 Slice pulse 70 Upper lattice plate 71 Core support plate 72a, 72
b ... opening part 73 ... pressure vessel lower chamber 74 ... shroud support 75 ... reactor well 76 ... shroud 77 ... wall 78 ... pressure vessel upper chamber 79 ... shroud inner chamber 80 ... annulus part 81 ... jet pump inlet part 82 ... control Board 83 ... Monitor television 84 ... Cable 85 ... Buoy 86 ... Submersible boat 87 ... Cable 88 ... Jet pump 89 ... Control rod drive mechanism housing 90 ... Non-contact power supply terminal 91 ... Optical signal transmitting / receiving device 92 ... Light emitting device 93 ... CMOS camera 94: control device 95: drive device 96: spherical shell structure 97: propulsion device 98: CMO
S camera 99 connector 100 laser light emitting structure 101 semiconductor laser 102 winding device 103 CMOS camera 104 driving device 105 control device 106 control device 107 spherical shell structure 108 lens part 109 side frame 110 ... Center frame 111 ... Underwater vehicle 112 ... Controller 113 ... Cable 114 ... Pressure resistant casing 115 ... Fore and aft propulsion mechanism 116 ... Vertical propulsion mechanism 117 ... Balance weight 118 ... CM
OS camera 119 lighting device 120 propeller 121 lamp 122 reflector 123 terminal 124 control monitor 125 joystick 127 potentiometer 128 reactor pressure vessel 129 unit repair device 130 propeller 131 ... Drive mechanism 132 ... Output shaft 133 ... Partition wall 134 ... Magnet 135 ... Magnet 136 ... Water hole 137 ... Screw 138 ... Drive mechanism 139 ... Output shaft 140 ... Belt 141 ... Pulley 142 ... Pulley 143 ... Hollow shaft 144 ... Partition wall 145 ... Magnet 146 Magnet 152 Disk 153 Shaft 154 Gear 155 Gear 156 Motor 157 Motor 158 Belt 159 Pulley 160 Pulley 161 Laser surface reformer 162 Contact structure 1 63 mounting structure 164 balancer 165 optical fiber 166 swimming underwater repair device 167 laser irradiation window 168 reactor building 169 operation building 170 swing mechanism 171 drive unit 172 guide rail 173 grouped gear 174 Driving device 175 Guide rail 176 Optical system 177 Emission end structure 178 Laser irradiation window range 179 Laser irradiation range 180 CM
OS camera 181, laser beam 182, laser irradiation window 183, laser irradiation nozzle 184, X-axis direction sweeping mechanism 185, Y-axis direction sweeping mechanism 186, optical fiber connection mechanism 187, reflection optical system 188, set gear 191, image unit 192 Swimming type underwater inspection device 193 ... Mounting structure 194 ... Transparent shell structure 195 ... CMOS camera 196 ... Drive device 197 ... Drive device 198 ... Shielding structure 199 ... Cable 200 ... Swimming type cleaning device 201 ... Unit type cleaning device 202 ... Suction hose 203 ... Suction nozzle 204 ... Hose unit 205 ... Hose unit 206 ... Hose unit 207 ... Mounting structure 208 ... Suction pump 209 ... Filtration device 210 ... CM
OS camera 211 ... Lamp 212 ... Cleaning brush 213 ... Stub tube 214 ... Opening section 215 ... Lower mirror 219 ... Relay robot 220 ... Winding device 221 ... CM
OS camera 222 ... propulsion unit 223 ... drive unit 224 ... drive unit 225 ... spherical shell structure 226 ... drive unit 227 ... rotation axis 228 ... rotation axis 229 ... relay robot 230 ... winding unit 231 ... cylindrical structure 232 ... propulsion unit 233 ... Partially spherical shell structure 234 ... Drive device 235 ... Drive device 236 ... Cylinder outer shell structure 237 ... Connector 238 ... Rotating shaft 239 ... Hollow rotating shaft 240 ... CMOS camera 241 ... Proof lamp 242 ... Outer shell structure 243 ... Control device 244 ... Surface Stress reformer 245: Swimming type inspection device 246: Illumination device 247: Laser irradiation window

Claims (15)

[Claims] 1. An imaging apparatus comprising: two imaging devices; a first propulsion device that obtains a propulsion force by rotation of an impeller; and an impeller provided perpendicular to a rotation axis of the impeller of the first propulsion device. Two second propulsion devices, a driving device for driving the two second propulsion devices rotatably in a plane perpendicular to the rotation axis of the impeller of the first propulsion device, and an external power supply. An installed non-contact power supply terminal, a control device for controlling the control signals of the first and second propulsion units and the driving device, and an image signal of the imaging device, and wirelessly transmitting the control signal and the image signal A swim-type inspection device having a transmitting light for transmitting. 2. The imaging apparatus according to claim 1, wherein the imaging device includes a semiconductor substrate and unit cells including photodiodes arranged in a two-dimensional matrix, and a vertical selection unit that selects a readout row of the imaging region. A plurality of vertical signal lines arranged in the column direction for reading out the detection signals of the photodiodes corresponding to the rows, and horizontal transistors sequentially reading out the detection signals from these vertical signal lines to horizontal signal lines arranged in the row direction. Between the vertical signal line and the horizontal selection transistor, converts the voltage appearing on the vertical signal line into electric charges,
2. The swimming type inspection apparatus according to claim 1, wherein the imaging apparatus is provided with a noise removal circuit for suppressing noise by subtracting in a charge area. 3. The swimming system according to claim 1, wherein the transmitting light transmits the control signals of the first and second propulsion units and the driving device and the image signal of the imaging device by ultrasonic waves. Inspection device. 4. The swimming type inspection device according to claim 1, wherein the lenses of the two imaging devices are wide-angle lenses. 5. In place of the two image pickup devices, one image pickup device is provided at the center, and four image pickup devices are arranged on the hemisphere around the periphery to have a hemispherical field of view. The swimming type inspection device according to claim 1, further comprising an imaging device. 6. An imaging apparatus comprising: two imaging devices; a first propulsion device that obtains a propulsion force by rotation of an impeller; and an impeller on a rotation shaft provided perpendicular to a rotation axis of the impeller of the first propulsion device. Two second propulsion devices, a driving device for rotatably driving the two second propulsion devices in a plane perpendicular to the rotation axis of the impeller of the first propulsion device, and A non-contact power supply terminal installed so as to be capable of supplying power, a control device for controlling control signals of the first and second propulsion units and the driving device, and an image signal of the imaging device; A swimming type inspection device having a transmitting light for wireless transmission, a submersible carrier having a non-contact power supply terminal connected to the non-contact power supply terminal, and a buoy connected to the diving mother ship with a cable and floating on the water surface. , The buoy, the swimming type inspection device and the A swimming type inspection system comprising: a control panel for controlling the movement; a cable connecting the control panel to the buoy; and a monitor television for projecting a video signal from the swimming type inspection device. 7. The swimming type inspection system according to claim 6, wherein the buoy has a winding device for winding a cable connected to the diving mother ship and an imaging device for downward inspection. 8. A substantially spherical pressure-resistant casing having a transparent portion, a first thruster for obtaining thrust by an impeller,
A second thruster for obtaining thrust vertically with the thruster,
An underwater vehicle having a CMOS imaging device provided on the transparent portion and capable of imaging the outside, a control device for controlling the underwater vehicle, and a monitor television for projecting an image from the CMOS imaging device. Swimming type inspection device. 9. The disk drive according to claim 8, further comprising a disk which is mounted on said CMOS image pickup device and rotates in said pressure-resistant casing, and a motor which is connected to said disk via a gear and driven. Swimming type inspection device. 10. The swimming type inspection device according to claim 8, further comprising a laser surface modifying device at a tip of the underwater vehicle. 11. The swimming type inspection device according to claim 10, further comprising an image unit having a radiation shielding structure in place of the laser surface modification device. 12. The swimming type inspection device according to claim 10, further comprising a decontamination device having a suction hose instead of the laser surface modification device. 13. A swimming type inspection device, a relay device connected via the swimming type inspection device cable, and a buoy floating on the water surface while being connected to the relay device by a cable.
A control panel for controlling the driving of the buoy, the swimming type inspection device and the relay device, a cable connecting the control panel and the buoy, and a monitor television for projecting a video signal from the swimming type inspection device. A swimming type inspection system characterized by the following. 14. The relay device has a cylindrical structure and a partial spherical shell structure, a propulsion device built in the partial spherical shell structure, a rotating shaft connected to the partial spherical shell structure, The swimming type inspection system according to claim 13, further comprising a driving device for driving the shaft. 15. The swimming-type inspection system according to claim 13, wherein the swimming-type inspection device has a laser surface modification device.