JPH11318783A - Device and method for recovering micro foreign matter in body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and method for recovering micro foreign matter capable of recovering micro foreign matter in a body by remote control. SOLUTION: This device is provided with a camera system 3 which is equipped for a manipulator driving device 1, is provided with a camera to pick up the images of the interior of body, and outputs the image pickup signals of the camera to an image pickup monitor 4 via a camera cable. The device is constituted of a suction nozzle device 6 provided with a suction nozzle to suck micro foreign matter in a body, an air hose in parallel with the camera cable, and a suction driving source to generate a suction force in the suction nozzle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for collecting minute foreign matter present in a body such as a gas insulated switchgear (GIS).

[0002]

2. Description of the Related Art The collection of minute foreign substances in the body such as GIS is performed by:
Conventionally, a person enters from a handhole provided in a body, and is generally performed by a vacuum cleaner or a hand wipe.

[0003]

In GIS, SF6 gas is built-in, and a spark is generated when the gas is insulated and opened / closed, and minute metal pieces scatter. It is necessary for the safe operation of the machine to collect such metal pieces, chips, coating strips, dust, dust and the like. It would be difficult to achieve perfection if humans went inside the torso, and in some cases it could drop dust and dirt. The size of the foreign matter is assumed to be between 0.1 mm and 3.0 mm.

An object of the present invention is to provide an apparatus and a method for collecting minute foreign matter in a body, which can collect minute foreign matter inside the body by remote control.

[0005]

Means for Solving the Problems Foreign matter in the lower part of the body such as GIS can be collected by inserting a cleaner nozzle directly in the vicinity of the handhole. Requires a special access method, and the present invention makes this possible by a combination of a flexible camera system and a suction mechanism. The foreign matter is confirmed by a camera monitor, and the foreign matter is suctioned and collected by remote control. According to this method, it is omnidirectional (three-dimensional operation function), even in a narrow portion of a 10.0 mm square area. It is possible to collect foreign matters while checking the inside, and it is possible to prevent foreign matters from being generated in the sliding portion of the device.

The present invention specifically provides the following apparatus and method.

The present invention relates to a manipulator driving device, a manipulator controller for controlling the manipulator driving device, and a manipulator driving device. A camera system provided in the apparatus, for photographing the inside of the body, a camera system for outputting a photographing signal to an image monitor via a camera cable, and a camera system provided in the manipulator driving device for sucking minute foreign matter inside the body. Provided is a body small foreign matter collection device including a suction nozzle, a suction nozzle device including an air hose parallel to the camera cable, and a suction drive source for generating a suction air flow in the suction nozzle.

[0008] The camera system includes a body monitoring CC.
The D-camera and the CCD camera for minute foreign substance inspection can be interchangeably installed.

[0009] The manipulator driving device includes an extendable guide tube, which can guide the camera and the suction nozzle.

The camera system can be an image scope camera system or a fiber scope camera system.

According to the present invention, there is provided a method of collecting minute foreign matter inside a body by remote control from outside the body, wherein the inside of the body is sequentially photographed by a camera in accordance with the extension of a camera cable, and the photographing signal is taken. Based on the image output to the monitor and the suction nozzle output to the imaging monitor, the air hose is extended and swung to make it approach the minute foreign matter, and the body is sucked and collected outside the fuselage. Provide a way.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show a CCD (Change Coupl).
ed Device) The overall outline of the small foreign matter collection device with a camera is shown. In the figure, the apparatus includes a manipulator driving unit 1, a manipulator controller 2, a camera system 3, an overall monitoring monitor system 4, a foreign matter collecting monitor system 5, a suction nozzle device 6, and a filter for seeing what foreign matter is. 7 is comprised.

The manipulator driving section 1 has four guide pipes 11, 12, 13, 14 having different diameters, a holding body 15 for holding the entire manipulator driving section 1, and joints 16, 17, 18 connecting between the guide pipes. Consists of A small CCD camera 19 for overall monitoring is provided at the tip of the guide tube 14.
Are connected to the monitor system 4 for general monitoring. It is used to monitor the torso and has a navigator function. As shown in the figure, none of the guide tubes comes into contact with the body, and can be expanded and contracted.

FIG. 3 shows the CCD camera section 21 for inspection and the suction nozzle 22. As shown in FIG. 4, the CCD camera section 21 for inspection has a tube 24 arranged in a camera cable 23, an optical fiber 25 and forceps 26 therein, and a light source 27. The image signal is integrated with the optical fiber 25 by the stopper 29 between the suction nozzle 22 and the CCD camera unit 21 for inspection, and the camera cable 31 air hose 32
And are juxtaposed. Therefore, it is transmitted to the foreign matter collection monitor system 5.

An image scope or a fiber scope can be used as the camera cable, and thus the camera system can be an image scope camera system or a fiber scope camera system.

The foreign matter image is monitored by the foreign matter collecting monitor system 5 and the guide nozzle is expanded and contracted, and the suction nozzle device 6 is expanded.
The suction nozzle 22 is swung by the swinging mechanism operation 28 provided in the above, so that the suction port of the suction nozzle 22 approaches the minute foreign matter. The suction force of the minute foreign matter by the suction nozzle 22 is generated by a vacuum force from the vacuum device 33 or by suction by compressed air insertion and blowing by the air compressor 34.

FIG. 5 shows a suction method using a nozzle. FIG.
(A) shows a suction method by vacuum for general wide area use. FIG. 5B shows a suction method by compressed air insertion and blowing for a narrow portion. Air conditioner presser 3
A suction force is generated in the air hose 32 by the compressed air 35 from 4, and the sucked minute foreign matter is collected by the minute foreign matter device 36 with a filter. A suction method by vacuum and a suction method by compressed air insertion and blowing by an air compressor can be appropriately selected and used.

FIG. 6 shows another embodiment. In this embodiment, the guide tube 11 is different from the previous embodiment in that a guide tube fixing jig 42 is fixed to a flange 41 of a hand hole. The sucked minute foreign matter is collected in a foreign matter tank (not shown) via the suction pipe 43.

An image pickup signal from the CCD camera is supplied to an industrial video frame 51 and a central control unit CCU (Ce).
ntral control unit) 52 and a monitor TV 54 via a video effector 53, and an inspection monitor 5
5 and is monitored and recorded on video 56 as needed. In this way, digital recording is enabled. Image processing functions include binarization, shading, enlargement, reduction,
Dimension measurement, area calculation, etc. are performed.

FIG. 7 shows the details of the nozzle 57 with a CCD camera.
Shown in A suction nozzle 62 is formed at the tip of the suction pipe 61. A CCD camera 63 for confirming the front is disposed close to the upper side, and a CCD camera 64 for inspection is mounted below.

As described above, the guide tubes 11, 12, 1
A guide tube fixing jig 42 is used to fix 3, 14 to the flange portion 41 of the handhole. The guide tube fixing jig 42 includes a portion for holding the guide tube 11 and a portion for fixing the guide tube 11 to the handhole. The former prepares several types according to the internal situation of the GIS, and positions the guide tube at an optimal position for inspection. Select one that can be set and attach it to the latter for use.

The guide tube is used by inserting a guide tube or an endoscope alone into the inside thereof, and is used as a guide when accessing a foreign substance. Prepare several types of pipes, from a single pipe used for inspecting near foreign substances to a pipe with a telescopic function for inspecting distant foreign substances, and use pipes suitable for inspection.

[0024]

According to the present invention, since it is portable, remotely controllable, and easy to operate, it is possible to judge with human eyes and directly collect foreign matter by manual operation. Can be recovered. In particular, when there is a narrow portion inside the body such as a GIS, the presence of a foreign substance is closely inspected by a CCD camera, and the position of the suction nozzle can be set while viewing the image, which is particularly effective.

[Brief description of the drawings]

FIG. 1 is an overall schematic diagram of an embodiment of the present invention.

FIG. 2 is a side view of a part of the configuration shown in FIG. 1;

FIG. 3 is an enlarged view of a part of the configuration shown in FIG. 2;

FIG. 4 is a partial sectional view of FIG. 3;

FIG. 5 is an explanatory diagram of a suction method.

FIG. 6 is an overall schematic view of another embodiment.

FIG. 7 is a detailed view of a part of the configuration shown in FIG. 6;

[Description of Signs] 1 ... manipulator driving unit, 2 ... manipulator controller, 3 ... camera system, 4 ... monitoring system for overall monitoring, 5 ... monitoring system for foreign matter collection, 6 ... suction nozzle device, 7 ... filter, 11, 12, 13, 14 ... guide tube, 19 ... small CCD camera for overall monitoring, 21 ... CCD camera part for close inspection, 22 ... suction nozzle, 23 ... camera cable, 25 ... optical fiber, 27 ... light source, 33 ... vacuum device, 34 ... air compressor, 41 ... flange, 4
Reference numeral 2 denotes a guide tube fixing jig, 43 denotes a suction pipe, 61 denotes a suction pipe, 62 denotes a suction nozzle, 63 denotes a CCD camera for confirming the front, and 64 denotes a CCD camera for close inspection.

Continuing from the front page (72) Inventor Yoshikazu Nishizawa 3-2-2, Sachimachi, Hitachi-shi, Ibaraki Pref. Hitachi Engineering Services, Ltd. (72) Inventor Fukuo Fujiwara 1-1-1, Kokubuncho, Hitachi-shi, Ibaraki Stock Hitachi Kokubu Factory

Claims (5)

[Claims] An apparatus for collecting minute foreign matter in a body by remote control from outside the body, comprising: a manipulator driving device; a manipulator controller controlling the manipulator driving device; and a manipulator driving device. A camera system provided with a camera for photographing the inside of the body, and a camera system for outputting a photographing signal to an imaging monitor via a camera cable; and a suction nozzle provided for the manipulator driving device, for suctioning minute foreign matter inside the body. And a suction nozzle device provided with an air hose parallel to the camera cable and a suction drive source for generating a suction air flow in the suction nozzle. 2. The apparatus according to claim 1, wherein the camera system is provided so that a CCD camera for monitoring the inside of the body and a CCD camera for inspecting the minute foreign matter are interchangeably installed. 3. The apparatus according to claim 1, wherein the manipulator driving device includes a telescopic guide tube, and the guide tube guides a camera and a suction nozzle. 4. The apparatus according to claim 1, wherein the camera system is an image scope camera system or a fiber scope camera system. 5. A method for collecting minute foreign matter in a body by remote control from outside the body, wherein the method includes the steps of: sequentially photographing the inside of the body with a camera in accordance with the extension of a camera cable; Output, and the suction nozzle based on the image output to the imaging monitor,
A method for collecting minute foreign matter in a body, wherein the foreign matter is approached by elongating and swinging an air hose, and the foreign matter is sucked and collected outside the body.