JPH11188327A - Underwater inspection cleaning system and underwater inspection cleaning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater inspection cleaning system which is suitable for work underwater performing inspection and cleaning of the inside of a tank and a vessel or the inside of a structure filled with liquid by remote operation instead of a person. SOLUTION: The underwater inspection cleaning system is equipped with an underwater inspection robot body 1 loaded with a sensor for underwater inspection monitor, a monitor 4 indicating both underwater inspection monitor information and the operating state of the underwater inspection robot body 1, an underwater cleaning robot body 2 which is loaded with an underwater cleaning mechanism, traveled and moved, a controlling device 3 for operating and controlling the underwater inspection robot body 1 and the underwater cleaning robot 2 and a composite cable 10 for sending and receiving a signal between the underwater inspection robot body 1 and the controlling device 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater inspection and cleaning system and an underwater inspection and cleaning method for remotely controlling inspection and cleaning of tanks and container facilities of water and sewage water storage facilities, nuclear power plants and chemical plants, and the like. It is about.

[0002]

2. Description of the Related Art Conventionally, inspection and cleaning of water storage facilities and tanks are usually carried out by extracting contents such as stored liquid and allowing an operator to directly enter a container.

[0003] In some cases, an inspection and cleaning robot running on the bottom surface is inserted to perform inspection and cleaning.

[0004] As a new cleaning by stirring, the stored liquid is given a hydraulic force to create a flow, the precipitated impurities are stirred together with the stored liquid, pumped up by a pump and filtered by a water treatment device such as a filter to remove the impurities. Later, a method of returning the stored liquid to the tank again has been considered.

[0005]

However, the conventional inspection and cleaning described above has the following problems. (1) In the conventional inspection and cleaning, the resources and the time for extracting the stored liquid are wasted. (2) Safety measures such as prevention of oxygen deficiency caused by workers entering directly into the mine, and monitoring personnel are required, which increases costs. (3) There is a tendency for a shortage of workers due to 3K work. (4) Emergency inspections are difficult to perform, and the responsiveness of emergency inspections is reduced. (5) In the case of drinking water, there is a problem in terms of sanitary environment management due to human intervention.

On the other hand, the inspection and cleaning by the inspection and cleaning robot running on the bottom face has the following problems. (1) Visual disturbance occurs due to sowing of sediment by running. (2) The inspection range is limited to an accessible range such as a floor surface. (3) Deposits cannot be removed to the upper piping or support.

Further, the cleaning by agitation requires that all the stored liquid in the tank volume be filtered by a water treatment device such as a pumping filter, which is disadvantageous in cost and operation time as compared with other systems. .

SUMMARY OF THE INVENTION The present invention has been made to solve the conventional problems, and has an underwater inspection robot that performs an inspection while swimming three-dimensionally in water without draining a stored liquid on behalf of a person. By using a system that combines a traveling and moving underwater cleaning robot, it is possible to remotely inspect and clean tanks, containers, or liquid-filled structures underwater on behalf of humans. It aims to provide a suitable underwater inspection and cleaning system.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to an underwater inspection robot in which a vessel such as a tank is filled with liquid by remote control from the ground side without entering a mine. And an underwater cleaning robot, which are combined to perform an inspection and cleaning operation.

That is, the present invention provides an underwater inspection robot body equipped with a sensor for underwater inspection monitoring, a monitor unit for displaying underwater inspection monitoring information, and an underwater cleaning robot body equipped with an underwater cleaning mechanism and traveling and traveling. A control device for controlling the operation of the underwater inspection robot body and the underwater cleaning robot body, and a signal transmission path for transmitting and receiving signals between the underwater inspection robot body and the control device.

Further, according to the present invention, a balance weight, a sampling mechanism, a brush for removing deposits, an additional lighting, or a cleaning suction nozzle is removably mounted on the underwater inspection robot main body according to the purpose of work. It has a mounting portion.

Further, the present invention has a water treatment apparatus for performing filtration or filtration and sterilization, and a hose for returning treated water to a tank to be inspected, thereby performing recirculation.

Further, in the present invention, the underwater inspection robot main body, the monitor section, the underwater cleaning robot main body, the signal transmission path, and the control device have a vehicle-mounted structure mounted on a vehicle. It is.

Further, the present invention comprises a visual sensor for inspecting and monitoring the underwater cleaning operation by the underwater cleaning robot main body independently of the underwater cleaning robot main body.

Further, in the present invention, the underwater cleaning robot main body has a detachable mechanism for detachably connecting a hose connected to a pump.

Further, in the present invention, the hose detached from the underwater cleaning robot main body is detachably connected to an operation rod for cleaning a narrow portion.

Further, the present invention has a gently arcuate shape for preventing and guiding entanglement of a cable or a hose used during an inspection operation by the underwater inspection robot body and a cleaning operation by the underwater cleaning robot body. A cable guide having an installation portion for traversing the manhole and having an opening in a part thereof, and for installing the manhole so that the center of gravity in the manhole is stable in the front-rear and left-right directions. .

Further, in the present invention, a monitoring device having a visual monitoring function is attached to the cable guide via a hollow cylindrical column so as to be vertically movable and rotatable.

Further, the present invention includes a cable or hose drum used for inspection work by the underwater inspection robot main body and cleaning work by the underwater cleaning robot main body. The mounting seat is mounted on the vehicle so as to be freely deployable outside the vehicle.

Further, the present invention is provided with a communication system capable of communicating with each worker during an inspection operation by the underwater inspection robot main body and a cleaning operation by the underwater cleaning robot main body.

According to the present invention, there is provided an inspection and cleaning method for inspecting and cleaning the inside of a structure in which a liquid is stored. Is cleaned by the cleaning means.

With such a configuration, in the present invention,
The underwater inspection robot swims three-dimensionally in the tank, etc., and performs inspection, cleaning work monitoring, sampling, and sediment removal cleaning.The underwater cleaning robot performs cleaning of the tank bottom, cleaning of the vicinity of the entrance Kamaba, etc. By sharing,
(1) Prevention of visual obstruction caused by sowing of sediment by running the underwater cleaning robot, (2) Expansion of the inspection response range by three-dimensional underwater swimming movement, (3) Removal of sediment on upper piping and supports, etc. The system configuration allows the cleaning range to be expanded by the system.

According to this system configuration, the operation can be performed without draining the liquid in the tank by remote control. (1) There is no waste of working time for disposing and extracting the stored liquid,
(2) Remote control eliminates the need for safety equipment to prevent oxygen deficiency and monitoring personnel to ensure safety.
In addition to releasing from K, (4) it is possible to respond to emergency inspections and the like, and (5) in the case of water, an effective system can be constructed in terms of sanitary environment since no human intervention is required.

Further, in the present system, the inspection and cleaning work function is divided and assigned to each robot and used in combination at the time of work, so that maintenance cost can be reduced and work required time can be shortened.

The loading and collecting of the robot body can be performed by a cable or a hose attached to the robot body.

[0026]

[Function] According to this system, underwater swimming moves three-dimensionally in a tank, etc., and inspection, cleaning work monitoring, sampling,
The underwater inspection robot is responsible for cleaning the sediment removal and the underwater cleaning robot is responsible for cleaning the bottom of the tank and cleaning the area near the entrance to the kiln. Prevention, (2) Expansion of inspection range by three-dimensional underwater swimming movement, (3)
The cleaning range can be expanded by removing deposits to the upper piping and supports.

The underwater cleaning robot has a structure in which work monitoring is entrusted to the underwater inspection robot and the vehicle travels while suction-cleaning the sediment in order to prevent visual obstruction caused by the sediment soaring during traveling.

Further, the remote operation by the robot in the manhole from the ground side eliminates the necessity of gas concentration measurement and ventilation / drainage work for entering a person, so that there is an immediate response that can be performed immediately.

In the present system, by adopting a structure that can be moved on a vehicle, a preparation work such as storage and deployment can be simplified and a structure excellent in mobility can be achieved.

[0030]

Embodiments of the present invention will be described below with reference to the drawings. 1 is an overall configuration diagram of the present system, FIG. 2 is an external perspective view of an underwater inspection robot main body, and FIG. 3 is a diagram illustrating a detachable underwater cleaning robot hose structure.

In FIG. 1, the present system comprises an underwater inspection robot body 1, an underwater cleaning robot body 2, various devices described below mounted on a moving vehicle 14, these devices, the underwater inspection robot body 1, and an underwater cleaning robot. It is provided with cables and hoses for connecting to the main body 2.

The underwater inspection robot main body 1 includes an ITV camera 101, a light 102, a propulsion unit 103, a circuit unit 104, and detachable tools 19 attached via a detachable seat 18. The control device 3, the monitor 4, the V
A TR deck 5, an operating device 6, a generator 7, a pump 8, and a cable drum 9 are mounted. The mobile vehicle 14 and the underwater inspection robot main body 1 are connected by a composite cable 10, and the mobile vehicle 14 and the underwater cleaning robot main body 2 are connected by a hose 11 and a steering cable 12. 14 to be movable and workable using a moving vehicle.

The main body 1 of the underwater inspection robot is electrically connected to the control device 3 by a composite cable 10 to supply power and transmit signals.

The underwater cleaning robot main body 2 is connected to the pump 8 by a hose 11, and drains wastewater containing sediment sucked by the suction force of the pump 8 for cleaning to a drainage groove 16 via a ground-side drainage hose 13. .

The operation of the underwater cleaning robot main body 2 is performed by operating a control measure 12 connecting the underwater cleaning robot main body 2 and the control unit 6 with the control unit 6.

As shown in FIG. 2, the attachment / detachment mechanism for the underwater inspection robot body 1 has an attachment / detachment seat 18 at a position of the robot body 1 which does not hinder the inspection and monitoring, through an attachment hole such as a flange portion of the body. Then, the fixing pins 20 are inserted in the direction of arrow a by matching the shapes and holes of the attachment / detachment tools 19b to 19e with the mounting grooves and holes of the attachment / detachment 18, and the pull-out prevention key 21 is moved from the hinge portion in the direction of arrow b. The structure is fixed by bending. In addition, in the detachable tools, 19b is a cleaning brush, 19c is a sampling mechanism, 19d is additional lighting,
9e is a suction nozzle.

As shown in FIG. 3, the hose 11 is detachably attached to the robot main body 2 through a hose attaching / detaching seat 22 and a hose attaching port 27 of the underwater cleaning robot main body 2. The hose attachment / detachment seat 22 is provided at the hose reception port 201.

In FIG. 3, (a) shows the hose reception port on the robot body 2, (b) shows the end of the hose, (c) is a view taken along the line AA of (b), (D) is a figure which shows the relationship with an operation stick.

The hose attachment / detachment seat 22 is rotated by inserting a fitting key 25 of a hose attachment port 27 from an opening of a groove similar to the structure of a camera mount or the like, and the fixing pin 24 is fixed to the hose attachment port 27. This is a structure that is inserted and fixed into the receiving hole 26 by using an elastic force such as a spring. In addition, a sealing material 23 is provided on the periphery of the hose attaching / detaching seat 22.

The operating rod 29 has a telescopic mechanism 32, and a pair of guide pins 28 provided on both sides of the hose mounting port 27.
And the fixing member 30 is slid in accordance with the slide groove 31 so that the hose 1
1 is fixed so that it does not come off the operation rod 29.

FIGS. 4A and 4B are external views of the guide structure, in which FIG. 4A is a side view, FIG. 4B is a plan view, and FIG. 4C is a plan view showing another configuration example of FIG. In these figures, a structural example of the guide 113 for preventing cable entanglement and the guide 112 with columns is shown.

The guide 112 with a pillar is a guide for preventing cable entanglement having an inspection and monitoring device 110 used as a visual monitoring function to be used on behalf of or in combination with the underwater inspection robot. Is divided into the inside and outside of the guide using the shape of the main body, and is stably installed through the installation seat 109. The inspection monitoring device 110 is provided with a camera head 115, a lighting 117, and an ITV camera head 118 at the tip of an inspection operation pole 114, and is obtained from the other end through a camera cable 116 therein.

FIG. 5 is a cross-sectional functional view of the cable drum structure. The cable drum 9 has a drum core receiver 40 supported on a slide seat 42 and is housed in a vehicle side provided with a door 35. The slide seat 42 is supported on a mounting seat 38. The mounting seat 38 is supported by a rotating shaft 37 provided on the moving vehicle 14, and slides a guide shaft 39 along the guide 36 around the rotating shaft 37 as a rotation center. By doing so, it is rotatable outward in the direction indicated by arrow j. That is,
The cable drum 9 has a drum core 43 whose slide seat 4
2 and mounted on a drum core receiver 40 via a mounting seat 38,
The disinfecting solution 44 of the cleaning tank 34 is provided by the developing function that the slide seat 42 can be slid in the direction of arrow k.
The cable can be directly immersed without any manual operation, and the cable can be cleaned hygienically.

The operation of rotating the cable drum 9 in the direction of arrow j and sliding it in the direction of arrow k can be performed by manually expanding the handle 47 with the handle 47 attached to the drum 41, or by controlling the actuator with an actuator (not shown). There is a way to do that.

FIG. 6 shows another configuration example of the unfolding function configuration shown in FIG. 5. In this configuration example, the drum core receiver 40 is directly fixed on the moving vehicle, and the cable winding device 46 is used.
The coupling mechanism 45 is attached so as to be freely taken up through the coupling mechanism 45. During disinfection, the coupling mechanism 45 is detached, and the coupling mechanism 45 is removed along the guide groove of the drum core receiver 40 in the direction of arrow l. I have. 47 is a handle provided at one end of the drum 41. This handle 47 is provided on the opposite side of the winding device 46.

FIG. 7 shows a case where, when the moving vehicle 14 'is small, the generator 7 and the cable drum 9 are mounted only at the time of transfer, and the work is performed by lowering the vehicle at the time of work.
7, the same reference numerals as those shown in FIGS. 1 to 6 indicate the same components.

FIG. 8 is a block diagram showing a modified example of the configuration shown in FIG. 1. A vehicle-mounted crane 125 (including a stabilizer) for lifting a manhole iron cover, an attached valve, and piping.
And a water treatment device 122 having a filter 126 for water treatment of wastewater and a circulation hose 123, and an ITV camera 124 mounted on the underwater cleaning robot main body 2 and a composite cable 12 'are mainly different. For other configurations, see FIG.
Is the same as

The composite cable 12 'is composed of a high-pressure water hose for the steering actuator, a signal from the ITV camera 124, a power supply cable, and the like.

The operation of the above embodiment will be described below. ITV camera 101, illumination 1 shown in FIG.
02, an underwater inspection robot body 1, an underwater cleaning robot body 2, a control device 3, a monitor 4, and a propulsion unit 103, a circuit unit 104, and detachable tools attached via the detachable seat 18.
The VTR deck 5, the operating device 6, the generator 7, the pump 8, and the cable drum 9 are mounted on a moving vehicle 14 and can be moved. At the time of work, the doors and windows are opened, and the operator's view and the generator are provided. The operation can be performed only by ventilating the air and deploying the cable drum 9 and the hose 11.

The operation is performed while looking through the manhole 17 at the side of the vehicle inside the vehicle or through the window of the operation room on the vehicle, or
This can be done while watching the image on the screen of the monitor 4 or while holding the operation device 6 directly outside the vehicle and looking at the manhole.

The operation instruction of the underwater inspection robot main body 1 is transmitted to the control device 3 by operating the operation device 6 and the composite cable 10 is transmitted.
Is transmitted to the circuit unit 104 via the
TV camera 101, lighting 102, propulsion unit 103, pan head 1
05 (see FIG. 8).

The main commands of the underwater inspection robot body 1 include camera lens focus and zoom control of the ITV camera 101, turning on / off and illumination of the light 102, switching and thrust control of the propulsion device 103 for three-dimensional swimming. , Head 10
5 and the like.

On the other hand, from the underwater inspection robot body 1, I
Video signal from TV camera 101, focus and zoom position of camera lens, angle information of pan head 105, depth meter 1
06 (see FIG. 8) is transmitted from the circuit unit 104 to the control device 3 via the composite cable 10, and the monitor 4
Is displayed and output on a screen (not shown) of the operating device 6.

The operation of the underwater cleaning robot main body 2 is performed by remotely operating the steering cable 12 from the operation device 6, and the main body is switched between forward and backward and steering.

The steering cable 12 has a structure similar to a camera release mechanism via a spacer that covers the steering cable 12 with a waterproof hollow cladding tube and reduces operation resistance.

The underwater cleaning robot main body 2 has a structure that does not have a motor portion, can run using the suction force of the pump 8, and has no circuit portion, so that a seal portion such as grease is not required.

The tank 15 has such a size and strength that an operator can put the underwater inspection robot main body 1 and the underwater cleaning robot main body 2 from the entrance of the manhole 17.

Drainage from cleaning such as sediment in the tank 15 is sucked by the pump 8 from the underwater cleaning robot main body 2 via the hose 11, and is drained to the drainage groove 16 by the drainage hose 13.

In the case of the circulation type shown in FIG.
After draining the wastewater into the pump 8 using the filter 22, the wastewater is filtered by the filter 126 and the chlorine concentration is adjusted and disinfected, and returned to the tank 15 again by the circulation hose 123.

The composite cable 12 'shown in FIG. 8 is a collection cable or a high-pressure hose for passing high-pressure water from a steering actuator, or a composite cable having a signal and power supply cable. A camera 124 is mounted, high-pressure water is used as a driving source, and an electric steering mechanism is mounted. The operation is performed from the operation device 6 via the control device 3 with respect to the electric command.

The generator 7 for supplying power to each device may be a dedicated product for the present system or a generator for a vehicle.

The control device 3 shown in FIG. 1 can control the underwater inspection robot main body 1 and the underwater cleaning robot main body 2 and, if necessary, the generator 7 and the pump 8 as shown in FIG.

The monitor 4 has the ITV cameras 101 and 124
(See FIG. 8), the recorded video playback display from the VTR deck 5, the focus and zoom position of the camera lens of the underwater inspection robot body 1, the angle information of the camera platform 105, the depth gauge and the underwater cleaning robot. The operation status of the main body 2, the generator 7, the pump 8, and the like can be displayed.

The VTR deck 5 records video signals from the ITV cameras 101 and 124 and reproduces already recorded video.

Information processing apparatus 1 in configuration example shown in FIG.
21 is a target name, date and time, target device, inspection result, judgment,
Enter information such as remarks, implementers, etc., and combine them with the inspection video to create a floppy disk, hard disk, or VTR.
It is recorded on a recording medium such as a tape.

As a function for mounting various tools on the body of the underwater inspection robot shown in FIG. 2, a mounting / dismounting tool 19 can be mounted via a mounting / removing seat 18 in accordance with a work purpose.

Normally, the balance weight 19a is attached to adjust the specific gravity, and an inspection operation is performed. At the time of the operation, the cleaning brush 19b and the sampling mechanism 19c having the function of adjusting the specific gravity and the underwater resistance center of gravity similarly to the balance weight 19a. By mounting the additional illumination 19d and the suction nozzle 19e, it can respond to various work requests.

The cleaning brush 19b removes water scale and sediment deposited on the pipes and supports above the tank 15 to which the underwater cleaning robot body 2 cannot access.
Use the three-dimensional underwater swimming access function to clean off the water.

The underwater inspection robot main body 1 is hinged to the tip of a shovel-shaped main body with a lid for sampling the deposited sediment and the like.
Openable and closable lid 1 using the movement of the weight according to the posture
The sample can be collected by scooping up in a forward leaning posture and floating after maintaining the horizontal posture after sampling.

The additional light 19d is used when the required illuminance in water is insufficient, and the suction nozzle 19e pulls a neutral buoyancy (specific gravity is balanced with the content liquid in water) small-diameter hose 11 'from the pump 8. It is used for sucking fine deposits in a narrow portion by a suction nozzle on a straw at the tip.

In order to attach these tools to the underwater inspection robot main body 1 in consideration of the inspection and workability from FIG. 2, a detachable seat 18 is provided below the main body 1 through a mounting hole such as a flange portion of the main body 1. Attachment, the mounting position, shape, and hole of the attachment / detachment tools 19 are aligned with the attachment grooves and holes of the attachment / detachment seat 18, and the fixing pin 20 is inserted in the direction of arrow a, and
From the hinge portion in the direction of arrow b. On the other hand, the tools can be removed by reversing the fixing pin 20 in the direction of arrow a in a reverse order to make it straight, and pulling out the tool in the direction opposite to the direction of arrow a.

As shown in FIG. 3, the hose is mounted by inserting the fitting key 25 of the hose mounting port 27 in the hose mounting / detachment seat 22 through the opening of the groove in accordance with the insertion position, as shown in FIG. After that, the fixing pin 24 is rotated in the direction of arrow d, and the fixing pin 24 is inserted and fixed into the fixing pin receiving hole 26 of the hose mounting port 27 by using an elastic force such as a spring.

The removal of the hose 11 from the underwater cleaning robot main body 2 is performed by rotating the fixing pin 24 in the opposite direction to the direction of the arrow d while pushing it back, and pulling out the hose 11 in the direction opposite to the arrow c.

To attach the hose 11 to the operating rod 29, insert a pair of guide pins 28 on both sides of the hose mounting port 27 in the direction of the arrow f in accordance with the matching groove at the tip of the operating rod 29, and insert it into the slide groove 31. Then, fix the fixing member 30 with the arrow g.
Is performed by sliding the hose 11
Is fixed to the operation rod 29. Removal of hose 11
The above operation is performed in the reverse order.

The hose 11 can be swung in the direction of arrow h about the guide pin 28 as the center of rotation along the mounting surface with the operating rod 29, depending on the contact angle with the target part.

The operation rod 29 can be extended and contracted to an optimum length by an expansion mechanism 32 which expands and contracts in the length direction, which is convenient for draining the pit and cleaning the kiln place 50 shown in FIG.

In the cable processing operation shown in FIG. 4, a guide 112 with a pillar for preventing entanglement is provided with an inspection monitoring device 110 used as a visual monitoring function acting on behalf of or in combination with an underwater inspection robot. The take-out area is divided into the inside and outside of the guide so as not to be entangled on the opening of the manhole 17.

The inspection / monitoring device 110 can manually or electrically turn the inspection operation pole 114 in the vertical direction indicated by the arrow i and the camera head in any direction of the rotation indicated by the arrow m. Also serves as a stand.

The camera head 115 is effective when the range of movement is narrow, such as in a manhole groove or a small container, and the illumination 1
17. It has an ITV camera head 118, and can secure a required illuminance and a visual angle by zooming.

The guide 113 shown in FIG. 4 (c) is provided with an area for taking out the other cables 111 and the hose 11 above and below the opening of the manhole 17 except that the inspection and monitoring device 110 is not provided. There is no difference from the pillar guide 112 in that the structure is set at the installation seat 109.

In the mechanism for sanitarily cleaning the composite cable 10 and the hose 11 shown in FIG. 5, the cable drum 9 has a slide seat 42 and a rotatable mounting seat 38.
The slide seat 42 is slid in the direction of arrow k, and the mounting seat 38 can be rotated in the direction of arrow j. It can be immersed directly without any intermediary, and can be washed hygienically.

As the unfolding operation of rotating in the direction of arrow j and sliding in the direction of arrow k, there are a method of manually expanding with the handle 47 attached to the drum 41 and a method of driving (not shown) by the actuator.

According to the structure shown in FIG. 6, there is no mechanism for deployment shown in FIG.
0 is fixed, and the drum 41 is rewound freely via a cable winding device 46 and a coupling mechanism 45. At the time of disinfection, the drum core receiver 40 is pulled out along the guide groove in the direction of arrow l, and the cleaning tank 34 A disinfection method of dipping in the disinfectant solution 44 can be executed.

When the present system is used in a water storage facility for drinking water or the like, it is convenient that the device to be inserted can be sterilized before insertion.

The intercom device 53 shown in FIG.
Headphones 51 and microphone 52 worn by each worker
Is used to achieve communication between workers and coordination of work, which is effective in a work environment with noise or a long distance. Although FIG. 7 shows a wired example, any of wired and wireless systems can be used.

In the configuration example shown in FIG. 8, in addition to each device in the configuration example shown in FIG. 1, for example, an on-board crane 12 for lifting a manhole iron cover, an attached valve, and piping.
5 (including a stabilizer), a water treatment device 122 having a filter 126 for water treatment of wastewater, and a circulation hose 123, and all the functions are mounted on the mobile vehicle 14.

Hereinafter, the operation procedure of the system shown in FIG. 8 will be described with reference to FIG. 9A shows an inspection procedure, and FIG. 9B shows an inspection cleaning operation.

The work for the container such as the tank 15 is divided into an inspection work and an inspection cleaning work. The inspection work (a) performs only the inspection, and the inspection cleaning work (b) is based on the inspection and the inspection result. Perform cleaning. In each operation, the generator 7 is activated to secure power.

In the inspection work (a), the manhole cover and the attached valve / pipe are pulled out and lifted as a setup work in step S1 to avoid movement from the work area. Next, after the pit is drained in step S2 by the pump 8 (in the case of circulation, it is washed or a separate pit drain pump is provided), and in step S3, the stored liquid in the tank 15 is not drained. The worker holds the composite cable 10 via gloves and throws the underwater inspection robot main body 1 through the manhole.

In step S4, a water tank inspection operation is performed by remote control, and the inspection result is displayed on the monitor 4 and recorded on a VTR tape using a VTR deck. After the completion of the inspection, in step S5, the operator collects the underwater inspection robot main body 1 (including winding of the composite cable 10), and in step S6, the crane 1
25, the manhole cover is restored, and in step S7, clearing work is performed, and the work ends.

Next, the inspection and cleaning work (b) will be described. Steps S11 to S14 of the inspection and cleaning work
Is the same as Step S1 (setup work) to Step S4 (inspection of the water storage tank) in the inspection work (a) except that the cleaning brush 19b is mounted on the underwater inspection robot detachable seat 18 as advance preparation.

After the completion of the water tank inspection in step S14, in step S15, based on the inspection result, the submersible cleaning robot 2 uses the cleaning brush 19b of the underwater inspection robot to control the submersible cleaning robot 2 in a high place or to deposit on the support portion. And clean it.

After the wiping-off cleaning in step S15, the sediment settling is confirmed in step S16.
Judgment of re-cleaning, cleaning if necessary, and waiting for the underwater inspection robot main body.

In step S17, the worker wears the gloves, holds the hose 11, puts the underwater cleaning robot main body 2 through the manhole, and places the underwater cleaning robot main body 1 at a position where the sediment soaring is not affected by the cleaning. While monitoring work, in step S18, the underwater cleaning robot is reciprocated at the bottom to clean the bottom surface of the water storage tank. In step S19, the completion of cleaning is confirmed by checking the cleaning state. In step S20, the underwater cleaning robot main body 2 is collected while winding the hose 11.

After the underwater cleaning robot main body 2 is collected, the hose 11 is removed from the main body, and the hose 11 is attached to the operation rod 29. In step S21, the operation rod 29 is extended and used for finishing the inlet kettle cleaning step S22. In step S23, the completion of cleaning is confirmed using the underwater inspection robot body 1, and after the confirmation, the worker collects the underwater inspection robot body 1 in step S23, and restores the manhole cover using the crane 125 in step S24. ,
In step S25, a cleaning operation is performed, and a series of operations is completed.

When the sampling mechanism 19c and the additional illumination 19d are mounted on the mounting seat of the underwater inspection robot main body 1, the sampling mechanism 19c and the additional illumination 19d are temporarily collected and then attached and detached on the ground.

According to the embodiment described above, the underwater cleaning robot moves three-dimensionally in the tank underwater, and performs inspection, cleaning work monitoring, sampling, and sediment removal cleaning. Is cleaning the tank bottom,
By sharing the cleaning around the entrance to the kettle, etc., (1) the visual obstruction caused by the lifting of the sediment caused by the running of the underwater cleaning robot can be prevented, and (2) the inspection support range can be expanded by three-dimensional underwater swimming movement. (3) The cleaning range can be expanded by removing deposits to the upper piping and supports, (4) no waste of working time for disposal and withdrawal of stored liquid, and (5) acid control by remote operation. (6) There is an effect that (6) monitoring personnel for ensuring safety are not required.

The embodiment of the present invention has been described above.
The present invention is not limited to the above form, for example,
A plurality of underwater cleaning robots may be combined. Further, charging and collecting into the manhole may be performed using a crane or a hoist. Further, the cleaning brush mounted on the underwater inspection robot may have additional operation functions such as rotation and polishing.

Further, the winding of the cable or the hose may be performed by an electric function. Further, the inspection and monitoring device 110 may be configured such that the camera head portion at the tip can expand and contract underwater. In addition, a configuration may be employed in which a dedicated cleaning pump for local cleaning and a cleaning hose attached to an operation rod are provided separately from the underwater cleaning robot. Further, the functions of the system may be mounted on a plurality of vehicles in a distributed manner. Also, a configuration in which a small underwater cleaner is mounted on the underwater inspection robot may be used.

[0100]

As described above in detail, according to the present invention, inspection and cleaning can be performed by remote control in a structure in which stored liquid is stored, and storage and deployment mobility is excellent. Improve your work, responsiveness, safety,
It is also excellent in reliability, is friendly to the resource environment, can reduce the work cost, save labor, and can improve the sanitary environment management aspect, and can provide a great effect.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an underwater inspection and cleaning system in a container.

FIG. 2 is an external perspective view showing an underwater inspection robot main body.

FIG. 3 is a diagram showing a detachable structure of an underwater cleaning robot hose.

FIG. 4 is an external view of a guide structure.

FIG. 5 is a sectional functional view of a cable drum structure.

FIG. 6 is another external structural view of the cable drum.

FIG. 7 is a conceptual view of the operation of the underwater inspection and cleaning system in the container.

FIG. 8 is another configuration diagram of the in-vessel underwater inspection system.

FIG. 9 is a diagram showing a work procedure of an underwater inspection and cleaning system in a container.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Underwater inspection robot main body 2 Underwater cleaning robot main body 3 Control device 4 Monitor 6 Actuator 7 Generator 8 Pump 9 Cable drum 11 Hose 14 Moving vehicle 15 Tank (container) 17 Manhole 18 Detachable seat 19 Detachable tools

Claims (12)

[Claims] 1. An underwater inspection robot body equipped with a sensor for underwater inspection monitoring, a monitor unit for displaying underwater inspection monitoring information, an underwater cleaning robot body equipped with an underwater cleaning mechanism and traveling and traveling, and the underwater inspection robot An underwater inspection and cleaning system comprising: a control device that controls the operation of the robot main body and the underwater cleaning robot main body; and a signal transmission path that transmits and receives signals between the underwater inspection robot main body and the control device. 2. The underwater inspection robot main body has a mounting portion on which a balance weight, a sampling mechanism, a brush for removing sediment, an additional illumination, or a cleaning suction nozzle is mounted so as to be exchangeable and removable according to a work purpose. Claim 1
Underwater inspection and cleaning system as described. 3. A water treatment apparatus for performing filtration or filtration and sterilization, and a hose for returning treated water to a tank to be inspected, wherein recirculation of treated water is performed. Underwater inspection and cleaning system according to 1. 4. The underwater inspection robot main body, the monitor section, the underwater cleaning robot main body, the signal transmission path, and the control device are mounted on a vehicle to have an on-vehicle structure. The underwater inspection and cleaning system according to claim 3. 5. The underwater inspection according to claim 1, further comprising a visual sensor for inspecting and monitoring an underwater cleaning operation performed by the underwater cleaning robot main body independently of the underwater cleaning robot main body. Cleaning system. 6. The underwater inspection and cleaning system according to claim 1, wherein the underwater cleaning robot body has a detachable mechanism for detachably connecting a hose connected to a pump. 7. The underwater inspection and cleaning system according to claim 6, wherein the hose detached from the underwater cleaning robot main body is detachably connected to an operation rod for cleaning a narrow portion. 8. A gently arcuate manhole for preventing and guiding entanglement of cables or hoses used during inspection work by the underwater inspection robot body and cleaning work by the underwater cleaning robot body. And a cable guide having an installation seat for traversing the manhole and partially having an opening, and for installing the manhole so that the center of gravity in the manhole is stable in the front-rear and left-right directions. Item 8. An underwater inspection and cleaning system according to any one of Items 7. 9. The underwater inspection and cleaning system according to claim 8, wherein a monitoring device having a visual monitoring function is attached to the cable guide via a hollow cylindrical column so as to be vertically movable and rotatable. 10. A cable or hose drum used for inspection work by the underwater inspection robot main body and cleaning work by the underwater cleaning robot main body, and the drum is provided with a mounting seat when the cable or hose is wound. The underwater inspection and cleaning system according to claim 4, wherein the underwater inspection and cleaning system is mounted on the vehicle so as to be freely deployable outside the vehicle. 11. The communication system according to claim 1, further comprising a communication system capable of communicating with each worker during an inspection operation by the underwater inspection robot main body and a cleaning operation by the underwater cleaning robot main body. Underwater inspection and cleaning system described in Crab. 12. An inspection and cleaning method for inspecting and cleaning the inside of a structure in which a liquid is stored, wherein the structure is inspected and monitored by monitoring means movable in the liquid, and the inside of the structure is cleaned by the cleaning means. An inspection and cleaning method characterized by cleaning.