WO2016076436A1 - Dispositif d'observation sous-marine - Google Patents

Dispositif d'observation sous-marine Download PDF

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Publication number
WO2016076436A1
WO2016076436A1 PCT/JP2015/082053 JP2015082053W WO2016076436A1 WO 2016076436 A1 WO2016076436 A1 WO 2016076436A1 JP 2015082053 W JP2015082053 W JP 2015082053W WO 2016076436 A1 WO2016076436 A1 WO 2016076436A1
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WO
WIPO (PCT)
Prior art keywords
underwater
housing
wall surface
underwater observation
water
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Application number
PCT/JP2015/082053
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English (en)
Japanese (ja)
Inventor
廣瀬　茂男
ミケレ グアラニエリ
パウロ デベネスト
倫光 泉
俊哉 武井
宏 倉橋
公太郎 米澤
Original Assignee
株式会社ハイボット
株式会社建設技術研究所
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Application filed by 株式会社ハイボット, 株式会社建設技術研究所 filed Critical 株式会社ハイボット
Publication of WO2016076436A1 publication Critical patent/WO2016076436A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/08—Waterproof bodies or housings

Definitions

  • the present invention relates to an underwater observation apparatus for observing the state of a wall of a dam submerged in the water, a wall of a pier, or a portion of the irrigation channel or embankment in water.
  • conventional underwater observation devices include a device that simply lowers the camera vertically near the wall surface of the dam and observes the wall surface with the camera. However, if there are steps such as protrusions on the wall surface, avoid it. I could't. Furthermore, since the water in the dam lake is cloudy, it is difficult to observe the wall surface with a conventional underwater observation apparatus.
  • Patent Document 1 describes an underwater observation apparatus and method that can grasp an object even in turbid water in an open water area.
  • the underwater observation apparatus according to Patent Document 1 includes an underwater camera, a monitor that displays an image photographed by the underwater camera, and a hollow case that is attached to cover the photographing window of the underwater camera, and constitutes a hollow case Among these surfaces, at least the surface facing the imaging window is transparent, and the inside of the hollow case is filled with a transparent liquid.
  • Patent Document 2 describes a method and a device for visually confirming excavated ground in muddy water in a process of sinking a caisson into water while excavating a shaft by an open caisson settlement method.
  • the ground visual recognition device according to Patent Document 2 has a lower surface opened, four sides and an upper surface closed, a housing provided with a weight so that the lower surface faces downward, a light source device mounted in the housing, and an underwater device. It is characterized by comprising a camera device, a fresh water feeding device for feeding fresh water into the casing, and a control device for operating the light source device and the underwater camera device to deliver an image to the ground.
  • the underwater observation apparatus described in Patent Document 1 observes the state of the underwater ground such as the underwater ground and the seabed in the excavation hole.
  • the side wall surface of the hollow case is used as the object. It describes that an object is photographed with a water-air camera in contact or within 2 cm.
  • the state of the underwater observation device at this time is not described at all, and it is unknown whether the underwater observation device is suspended in water or whether the underwater observation device is suspended by a wire or the like. is there. Therefore, although the structure and usage of the underwater camera are clear, there are many unclear points regarding the structure and usage of the underwater observation apparatus.
  • the visual recognition device described in Patent Document 2 is used in a process of sinking a caisson into water while excavating a shaft, and is used at a shallow water depth, so it is necessary to consider almost the influence of water pressure. There was no. Therefore, it is possible to design a structure that does not consider the water pressure in the strength calculation of the housing, but it is difficult to work in a deep water place.
  • the present invention was made in order to solve the problems of the conventional system as described above, and by sinking the camera along the wall of the dam, the position coordinates of a ship or the like on the dam lake that starts to sink.
  • an underwater observation device With the characteristics that can accurately measure the observation point of the dam wall surface from the information and the position coordinate information in the downward direction by measuring the subsidence distance of the underwater observation part with a high-precision water depth meter Yes.
  • the underwater propulsion unit normally presses the underwater observation part against the dam wall surface so that it can be observed stably. It is possible to avoid obstacles on the wall surface by moving away from the camera, and the underwater observation device can observe the surface of the wall surface in a wide range even in muddy water due to the effect of the housing filled with transparent water in front of the camera The purpose is to provide.
  • the underwater observation device of the present invention has a hollow portion filled with a transparent liquid, and a casing in which a transparent plate that can be seen through the outside is disposed on a surface facing the hollow portion, and the hollow portion between A camera device that is arranged so that the lens portion faces the transparent plate and is attached to the housing, a suspension device that suspends the housing via a wire and raises and lowers the housing in water, and a housing And an underwater propulsion device capable of moving the casing in the water is provided.
  • a sensor for detecting the state of the casing in order to operate the underwater propulsion device. Furthermore, it is preferable to provide a hanging rod projecting upward on the upper surface of the housing, and connect the lower end of the wire to the tip of the hanging rod.
  • the housing is preferably formed in a conical shape corresponding to the viewing angle of the camera device so that the area on the side where the camera device is attached is smaller than the area on the transparent plate side.
  • a pair of leg members that separate the transparent plate from the observation target are provided in the housing in a bilaterally symmetrical manner with respect to the observation target, and the leg members can be configured to be close to and away from the observation target.
  • the submersible propellers are attached to the pair of leg members so as to be inclined at a predetermined angle one by one.
  • a rearview mirror in the hollow part of the housing and within the viewing angle of the camera device so that the outside can be observed through the lower surface of the housing or a transparent plate.
  • a wiper device for wiping the wall surface to be observed on the housing.
  • the housing with a liquid supply port for injecting a transparent liquid into the hollow portion and a liquid discharge port for discharging the transparent liquid filled in the hollow portion to the outside.
  • the observation point on the observation wall such as a dam can be accurately measured, and the underwater observation unit can be pressed against the observation wall with an underwater propulsion device and can be observed stably.
  • the obstacle on the wall surface can be avoided by temporarily leaving the observation wall surface by the ejection control of the underwater propulsion device, and the transparency in front of the camera can be avoided. Due to the effect of the structure of the case filled with water, it is possible to provide an underwater observation apparatus capable of observing the surface of the observation wall surface with a clean image in a wide range even in muddy water.
  • FIG. 4 is a plan view illustrating an operation of the underwater observation unit illustrated in FIG. 3, as viewed from above the underwater observation unit that moves up and down along the dam wall surface.
  • FIG. 4 is an explanatory diagram illustrating an operation of the underwater observation unit illustrated in FIG.
  • FIG. 4 is an explanatory diagram illustrating an operation of the underwater observation unit illustrated in FIG. 3, as viewed from above in a state in which the underwater observation unit is moved so that a transparent plate is brought close to a dam wall surface.
  • FIG. 5 is an explanatory diagram illustrating an operation of the underwater observation unit illustrated in FIG. 3, as viewed from above in a state in which the underwater observation unit is moved to a state where the transparent plate is brought close to the dam wall surface and can be observed by the camera device.
  • FIG. 4 is an explanatory diagram illustrating an operation of the underwater observation unit illustrated in FIG.
  • FIG. 5 is an explanatory diagram illustrating an operation of the underwater observation unit illustrated in FIG. 3, as viewed from above in a state in which the underwater observation unit is rotated about a hanging wire.
  • FIG. 4 is an explanatory diagram illustrating the operation of the underwater observation unit illustrated in FIG. 3, as viewed from above in a state where the underwater observation unit is moved in the horizontal direction along the dam wall surface. It is explanatory drawing explaining the movement operation
  • FIG. 4 is an explanatory diagram for explaining the operation of the underwater observation unit shown in FIG.
  • FIG. 3 illustrates the operation of the underwater observation unit shown in FIG. 3.
  • the underwater observation unit comes into contact with a step (obstacle) on the dam wall surface during descent, it acts on the underwater observation unit depending on the presence or absence of a hanging rod.
  • FIG. 15A is an explanatory view when a hanging rod is provided on the housing
  • FIG. 15B is an explanatory view when no hanging rod is provided on the housing.
  • the 2nd Example of the underwater observation part concerning the present invention is shown, and it is explanatory drawing which looked at the case provided with the wiper device which wipes the observation object side from the upper part. It is explanatory drawing which looked at the underwater observation part which made the transparent board approach the dam wall surface from the state shown in FIG. 16, and made the brush part of a wiper apparatus contact the observation object surface from the upper direction.
  • FIG. 1 shows an embodiment in which an underwater observation apparatus 1 according to the present invention is installed on a ship, and a wall surface is observed by entering an underwater observation section into the water from above the ship floating on water.
  • FIG. 2 shows the Example which installs the underwater observation apparatus 1 of this invention in a motor vehicle, infiltrates an underwater observation part into water from the top of a dam, and observes a wall surface.
  • the underwater observation device 1 includes an underwater observation unit 10 that is thrown into water, a suspension device 7 that lifts and lowers the underwater observation unit 10, and the like.
  • a first example of the underwater observation unit 10 according to the underwater observation apparatus 1 of the present invention will be described with reference to FIGS. 3 to 15.
  • the underwater observation unit 10 includes a housing 2 having a hollow portion 3 filled with a transparent liquid such as water and a transparent plate 4 disposed on one surface of the hollow portion 3, and the hollow portion 3.
  • a camera device 5 that is disposed on the transparent plate 4 so as to face the transparent plate 4 and is attached to the housing 2, and an underwater propulsion device 9 that is provided in the housing 2 and moves the housing 2 in water. Etc. are provided.
  • the lower end of the suspension wire 8 is connected to the casing 2 of the underwater observation unit 10, and the underwater observation unit 10 is thrown into the water by the operation of the suspension device 7 including the suspension wire 8, and is pulled up from the water. .
  • the housing 2 includes a frame body 11 that is framed to form a square, a body 12 that is integrally formed so as to be continuous with one side of the frame body 11, and a frame body 11.
  • the suspension bar 13 and the like are fixed.
  • the frame 11 includes an upper frame portion 11a and a lower frame portion 11b arranged in parallel in the vertical direction with a predetermined interval, and a left frame portion 11c and a right frame portion 11d arranged in parallel in the left and right direction with a predetermined interval.
  • the body 12 includes an upper surface portion 12a and a lower surface portion 12b opposed to each other in the vertical direction, and a left side surface portion 12c and a right side surface portion 12d opposed to each other in the left and right directions. Are connected, and the lower end edges of the left and right side surface portions 12c and 12d are connected to both side edges of the lower frame portion 12b.
  • the body 12 has a quadrangular pyramid shape in which the cross-sectional shape in a direction orthogonal to the axial direction forms a square, and the size of the cross-section gradually decreases from one side of the axial direction toward the other side. .
  • a see-through window 15 formed of a transparent plate material is provided on the lower surface portion 12b so that the outside of the housing 2 can be seen. In addition, it is good also as a structure which provides the transparent window formed of the transparent board
  • the frame 11 is integrally connected to the large opening side of the body 12, and the transparent plate 4 covering the entire surface of the opening is attached to the side of the frame 11 opposite to the body 12.
  • the transparent plate 4 for example, a plate material formed of polycarbonate (PC) can be applied, and a preferable one is a colorless and transparent PC plate. It is also possible to use a plate material made of an engineering plastic other than the PC plate.
  • a hollow portion 3 of the housing 2 is configured by a space portion surrounded by the transparent plate 4, the frame body 11, and the body 12.
  • the shape of the housing 2 is not limited to the quadrangular frustum shape shown in this embodiment, and may be a frustum shape, an elliptic frustum shape, or the like.
  • a camera device 5 is attached to the small opening side of the body 12.
  • the camera device 5 has a function of allowing the outside to be visually recognized through the transparent liquid and the transparent plate 4 filled in the hollow portion 3 of the body 12.
  • a sensor unit of an underwater television system eyeball: manufactured by Hitachi Zosen
  • the camera device 5 is not limited to this.
  • An illuminator 16 having a plurality of LEDs is provided around the lens unit 6 of the camera device 5. Several LED is arrange
  • FIG. 1 An illuminator 16 having a plurality of LEDs is provided around the lens unit 6 of the camera device 5. Several LED is arrange
  • the inclination angles of the four surfaces of the body 12 in the housing 2 are set so that the gradient of the viewing angle of the lens unit 6 of the camera device 5 is substantially the same.
  • the volume of the hollow portion 3 is reduced when the viewing angle of the lens unit 6 is the same as compared with the case where the housing 2 is a prismatic shape. Can be small.
  • the outside is viewed from the lower portion of the transparent plate 4 or the front portion of the transparent window 15 by the line of sight EL seen by the lens portion 6 of the camera device 5.
  • a rearview mirror 17 is provided so that it can be seen. That is, the rearview mirror 17 is attached by a mirror bracket 18 fixed to the inner surface of the upper frame portion 11 a of the frame body 11 so that the mirror surface is inward and faces the lens portion 6.
  • the outside of the housing 2 can be seen from the lower part of the window and the front part of the transparent window 15.
  • a liquid supply port 21 for injecting a transparent liquid into the hollow portion 3 is provided in the upper frame portion 11 a of the frame 11 of the housing 2.
  • a liquid supply stopper is detachably attached to the liquid supply port 21.
  • a drainage port 22 for discharging the liquid filled in the hollow portion 3 is provided in the right frame portion 11 d of the frame body 11 of the housing 2.
  • a drain plug is detachably attached to the drain port 22.
  • a wire is attached to the drainage stopper of the drainage port 22, and the drainage stopper is pulled out by fixing the wire around the upper frame portion 11a. This is done by slowly pulling up the housing 2 with a winch. In this way, the transparent liquid inside flows out from the drainage port 22.
  • the “pair” in the present invention is not limited to four wheels, and may be two or six or more wheels as long as it is an even number.
  • the leg member is not limited to the wheel shown in this embodiment, and may be a leg such as a sled.
  • the pair of leg members are an upper left wheel 25A and a lower left wheel 25B arranged at predetermined intervals in the vertical direction on the left side surface of the housing 2, and an upper right wheel arranged at predetermined intervals in the vertical direction on the right side surface of the housing 2.
  • a wheel 26A and a lower right wheel 26B are provided.
  • Each of the four wheels 25A to 26B is rotatably supported on one side of the wheel shaft 27.
  • Rotating shafts 28 are respectively passed through the other side portions of the two wheel shafts 27 for the left wheel and the two wheel shafts 27 for the right wheel in a direction perpendicular to the axial direction of the wheel shaft 27.
  • the wheel shaft 27 is configured to rotate together with each rotation shaft 28.
  • the two rotation shafts 28 extend in the vertical direction along both side surfaces of the housing 2 and can be freely rotated by bearing portions 29 fixed to the upper and lower sides of the left and right frame portions 11 c and 11 d of the frame body 11. It is supported by.
  • the two rotation shafts 28 are rotation shafts of the two drive motors 30 respectively.
  • the two drive motors 30 are respectively fixed to an upper bearing portion 29 that also serves as a motor base. When the drive motor 30 is driven to rotate the rotation shaft 28 that is the rotation shaft, the wheels 25A, 25B, 26A, and 26B are turned through the wheel shaft 27 according to the rotation direction and the rotation amount. .
  • the left wheel turning mechanism 31 ⁇ / b> A is configured by the rotating shaft 28, the bearing portion 29, and the drive motor 30 provided in association with the two left wheels 25 ⁇ / b> A and 25 ⁇ / b> B and the wheel shaft 27.
  • the right wheel turning mechanism 31 ⁇ / b> B is configured by the rotation shaft 28, the bearing portion 29, and the drive motor 30 provided in association with the two right wheels 26 ⁇ / b> A and 26 ⁇ / b> B and the wheel shaft 27.
  • the drive motor for example, a pulse motor can be applied, and a DC motor or a combination of an AC motor and a speed reduction mechanism can be applied.
  • a left underwater propulsion device 9A for moving the casing 2 in water is attached to the upper left wheel shaft 27, and a right underwater propulsion device 9B is attached to the upper right wheel shaft 27.
  • the underwater propulsion devices 9A and 9B include a screw, a motor that rotationally drives the screw, a cylinder in which these are built, and the like.
  • the motor is supported by a cylinder, and is configured to rotate a rotating shaft by driving the motor and obtain a propulsive force by the pressure of a water flow pushed out by rotation of a screw attached to the rotating shaft.
  • the rotation direction of the screws of the submersible propulsors 9A and 9B can be switched, and the forward and backward switching can be performed by ejecting the water flow backward or forward according to the rotational direction. .
  • the two underwater propulsion devices 9A and 9B are fixed to the left and right upper wheel shafts 27 via brackets 34. As shown in FIG. 5 and the like, each of the submersible propellers 9A and 9B is individually connected to the left and right upper wheel shafts 27 so that the direction of the water flow is inclined by a predetermined angle ⁇ with respect to the center line CL of the field of view of the camera device 5. Is attached. Although the predetermined angle ⁇ is set to 30 degrees in this embodiment, the predetermined angle ⁇ is not limited to this, and is preferably set to a value within a range represented by equation (5) described later. The reason why the predetermined angle ⁇ is set for the attachment of the underwater propulsors 9A and 9B will be described in detail in the description of the operation of the underwater observation apparatus 1 described later.
  • a hanging rod 13 and a controller 35 are attached to the upper frame portion 11a of the frame body 11 in the housing 2.
  • the lower end of the hanging rod 13 is fixed to the central portion in the longitudinal direction of the upper frame portion 11a, and the upper end side extends straight upward.
  • a hole is provided in the upper end portion of the hanging rod 13, and one end of the hanging wire 8 is connected using this hole.
  • a controller 35 is attached to the fixed end of the hanging rod 13.
  • the controller 35 accommodates a calculation unit amplifier for executing the operation shown in FIG. 13 and other control operations, a water depth sensor, an azimuth angle sensor, and the like for acquiring information necessary for the operation control. .
  • the controller 35 controls the operation of the left and right wheel turning mechanisms 31A and 31B, the left and right underwater propulsion devices 9A and 9B, and other actuators based on information obtained by a water depth sensor, an azimuth angle sensor, and the like.
  • a control board on which a computer, LSI, and other electronic components are mounted is provided.
  • the water depth sensor is a measuring instrument that detects the depth from the water surface of the casing 2 that is submerged in water.
  • a high-precision pressure sensor module MU101 manufactured by Yokogawa Electric Corporation
  • the azimuth angle sensor is a measuring instrument that detects the azimuth angle of the casing 2 that is submerged in water.
  • a Titech M4 Controller manufactured by Hibot Co., Ltd. that incorporates the azimuth angle sensor can be used.
  • the controller 35 determines the difference between the detection value based on the detection information and a preset command value.
  • the controller 35 controls the left and right underwater propulsion devices 9A and 9B based on the calculated value, and controls the underwater observation unit 10. By repeating such control continuously, control of the posture and movement of the underwater observation unit 10 can be executed.
  • the underwater observation unit 10 having such a configuration is used by being suspended by a suspension device 7 via a suspension wire 8.
  • the suspending device 7 can be used by being installed on a ship BS floating on a dam lake or a irrigation channel.
  • the suspending device 7 can also be installed and used in the motor vehicle BT which got on plane parts, such as a dam and a bank.
  • the suspension device 7 includes, for example, a suspension wire 8, a suspension arm 41 having a pulley that slidably supports a middle portion of the suspension wire 8, and a side opposite to the housing 2 of the suspension wire 8.
  • a winding drum 42 that winds up and feeds out is provided.
  • the ship BS and the automobile BT are for controlling the operation of the control circuit, the sensor, the power supply device for supplying power to the camera device 5, the drive motor 30, etc., and the controller 35 and other operations.
  • a controller or the like is provided. The controller is used manually by an operator while watching a monitor installed on a ship (or a car).
  • the underwater observation apparatus 1 having such a configuration can be used as follows, for example. First, before putting the underwater observation unit 10 into the water, a transparent liquid, for example, transparent water generated by filtering fresh water or lake water, is injected into the hollow portion 3 of the housing 2. In this transparent water supply operation, the liquid supply stopper attached to the liquid supply port 21 of the housing 2 is removed, and transparent water is injected from the liquid supply port 21 to fill the hollow portion 3 with the transparent water. In this way, by filling the hollow portion 3 with transparent water immediately before the housing 2 is put into the water, the weight of the housing 2 during the previous transportation or the like is reduced and the carrying work is facilitated. can do.
  • a transparent liquid for example, transparent water generated by filtering fresh water or lake water
  • the underwater observation part 10 in which the hollow part 3 of the housing 2 is filled with transparent water is lifted by the suspension device 7, and then the underwater observation part 10 is moved over the lake, and then the suspension wire 8 is fed out.
  • the underwater observation unit 10 is lowered to enter the water.
  • the underwater observation unit 10 in which the hollow portion 3 is filled with transparent water continues to descend due to its own weight.
  • the operation of the suspension device 7 is stopped at a desired position to be observed, and the underwater observation unit 10 is stopped at a desired water depth position.
  • the water depth of the underwater observation unit 10 at this time can be known based on the measurement information regarding the water depth supplied from the water depth sensor installed in the housing 2.
  • the transparent plates 4 attached to the housing 2 are operated by operating the left and right underwater propulsion devices 9A and 9B based on the measurement information relating to the azimuth angle supplied from the azimuth angle sensor similarly installed in the housing 2. Is opposed to the wall surface WT at the observation position of a dam or the like to be observed. Then, the two underwater propulsion devices 9A and 9B are operated to bring the underwater observation unit 10 closer to the observation wall surface WT. At this time, when the two underwater propulsion devices 9A and 9B are operated, the underwater observation unit 10 suspended by the suspension wire 8 rotates in an arbitrary direction (around the yaw axis) with the suspension wire 8 as the center of rotation.
  • the operations of the left and right underwater propulsion devices 9A and 9B are controlled based on the supplied azimuth information, so that the transparent plate 4 of the housing 2 faces the wall surface WT.
  • a control system for controlling the left and right underwater propulsion devices 9A and 9B at this time is shown in FIG.
  • a signal indicating the azimuth angle of the wall surface WT known in advance is input as a command value to the controller 35, and the azimuth detected by the azimuth angle sensor CS is input to the controller 35.
  • Information representing the measured value of the corner is supplied.
  • the controller 35 takes the difference between the measured value of the azimuth angle and the command value, calculates the injection directions of the left and right underwater propulsion devices 9A and 9B from the value, and performs the injection.
  • the housing 2 can be brought close to the wall surface WT without rotating the housing 2 around the yaw axis.
  • FIG. 5 shows two upper wheels 25A, 26A (2) of the housing 2 with the jet direction of the water flow jetted from the left and right underwater propulsion devices 9A, 9B as the rear (the direction from the transparent plate 4 toward the camera device 5).
  • the lower wheels 25B and 26B in contact with the wall surface WT.
  • the wheel shafts 27 of the four wheels 25A, 25B, 26A, 26B extend substantially parallel to the wall surface WT, and the transparent plate 4 and the wall surface WT disposed on the front surface of the housing 2 There is a certain gap between them, and the image captured by the camera device 5 is unclear.
  • the underwater observation unit 10 descends along the wall surface WT due to the weight of the casing 2 containing transparent water by feeding the hanging wire 8.
  • the underwater observation part 10 rises along the wall surface WT by winding up the hanging wire 8.
  • FIG. 7 is a diagram for explaining the operation of bringing the transparent plate 4 installed on the front surface of the housing 2 closer to the observation wall surface WT from the state shown in FIG.
  • This operation operates the left and right wheel turning mechanisms 31A, 31B so as to separate the four wheels 25A, 25B, 26A, 26B from the wall surface WT, and the left and right submersible propellers 9A so as to inject a water flow backward.
  • 9B can be executed. That is, in FIG. 7, the left wheel turning mechanism 31A is driven to turn the upper left wheel 25A (same for the lower left wheel 25B) counterclockwise, and the upper right wheel 26A (same for the lower right wheel 26B) is turned clockwise. The right wheel turning mechanism 31B is driven to turn. At the same time, the left and right underwater propulsion devices 9A and 9B are operated so that the water flow is jetted backward.
  • the posture of the underwater observation unit 10 changes from the state shown in FIG. 5 to the state shown in FIG. 8, and the transparent plate 4 installed on the front surface of the housing 2 approaches the wall surface WT.
  • the transparent plate 4 installed on the front surface of the housing 2 approaches the wall surface WT.
  • there is almost no muddy water between the transparent plate 4 and the wall surface WT and the focal position of the lens unit 6 of the camera device 5 is substantially coincident with the wall surface WT, so that a clean image of the wall surface WT can be acquired.
  • the image information is supplied to a controller (not shown) operated by an operator.
  • the water flow from the left and right underwater propulsion devices 9A and 9B is sprayed backward (opposite to the wall surface WT) to press the underwater observation unit 10 against the wall surface, and the transparent plate 4 is always opposed to the wall surface to be observed. While maintaining this state, the underwater observation unit 10 is lowered to perform underwater observation of the target wall surface. Thereby, the observation screen can be seen as a clean image, and the state of the observation wall surface can be accurately grasped based on the image.
  • FIG. 9 illustrates a state in which the underwater observation unit 10 is controlled to be separated from the wall surface WT.
  • the water flow by the left and right underwater propulsion devices 9A and 9B is simultaneously jetted forward (to the wall surface WT). Thereby, the underwater observation part 10 can be separated from the wall surface WT.
  • the underwater observation unit 10 when the underwater observation unit 10 is lowered while maintaining the posture shown in FIG. 5, it is lowered through the rearview mirror 17 installed in the hollow part 3 of the housing 2.
  • a stepped portion SG showing one specific example of an obstacle is found on the lower wall surface (WT)
  • the water flow of the two underwater propulsion devices 9A and 9B is jetted forward
  • the underwater observation device 10 is moved to the wall surface WT.
  • the obstacle SG can be avoided as shown by a broken line in FIG.
  • the observation is continued if the submersible propulsors 9A and 9B are sprayed backward to return to the state in contact with the wall surface WT.
  • the underwater observation unit 10 suspended by the suspension wire 8 rotates in an arbitrary direction (around the yaw axis) with the suspension wire 8 as a rotation center. In some cases.
  • the orientation of the transparent plate 4 is set to the wall surface while the underwater observation unit 10 is away from the wall surface WT.
  • the left and right underwater propulsion devices 9A and 9B are jetted in opposite directions (for example, the left underwater propulsion device 9A is forward and the right underwater propulsion device 9B is backward) so as to be directed so as to rotate around the yaw axis.
  • the control system for controlling the azimuth is as shown in FIG. 13, and the measurement value measured by the azimuth angle sensor CS mounted on the underwater observation unit 10 with the azimuth angle of the wall surface WT known in advance as a command value. And the difference between the command values, the injection directions of the two submersible propulsors 9A and 9B are calculated from the values, and the injection is performed.
  • the wheel shaft 27 to which the underwater propulsion devices 9A and 9B are attached When the injection directions of the left and right underwater propulsion devices 9A and 9B are reversed to generate rotation around the yaw axis away from the wall surface WT, the wheel shaft 27 to which the underwater propulsion devices 9A and 9B are attached. It is preferable to adjust the mounting angle so that the injection directions of the submersible propulsors 9A and 9B are parallel to each other. The reason is that if the two underwater propulsion devices 9A and 9B are jetted in opposite directions in a non-parallel state, the underwater observation unit 10 will rotate, but not only its rotational motion but also the two underwater propulsion devices 9A and 9B. This is because a thrust force component in the left-right direction is generated by the thrust force, so that a lateral motion is also generated simultaneously with the rotation.
  • the injection by the two underwater propulsion devices 9A and 9B is continued in the direction in which the underwater observation unit 10 is pressed against the wall surface WT.
  • the underwater observation part 10 returns to the original posture shown in FIG. 5 where the transparent plate 4 side is lowered with the propulsive force of the two underwater propulsion devices 9A and 9B pressed against the wall surface WT.
  • the angle of the wheel shaft 27 tilted so that the two underwater propulsion devices 9A and 9B are parallel to each other is adjusted to a reference angle when the wall surface WT is moved in contact. Control to return is also performed.
  • the transparent plate 4 may be brought close to the wall surface WT as shown in FIG. Further, when there is a protrusion or the like on the surface of the wall surface WT, the transparent plate 4 may be moved away from the wall surface WT in the posture shown in FIG.
  • both of the two underwater propulsion devices 9A and 9B are usually connected.
  • the underwater observation unit 10 is urged toward the wall surface WT by jetting (the state shown in FIG. 5).
  • one underwater propulsion device in this embodiment, right underwater propulsion
  • the action of the jet power causes the bottom of the page in FIG. A movement of sliding the underwater observation unit 10 to the left side is generated.
  • the underwater observation unit 10 is supported by four wheels 25A, 25B, 26A, and 26B, and these wheels 25A to 26B are in contact with the wall surface WT. Therefore, the wheels 25A to 26B are usually located between the wall surfaces WT. Although considerable frictional resistance is generated, it is assumed here that the wall surface WT is slippery and the surfaces of the wheels 25A to 26B are in a surface state that can slide in the lateral direction.
  • the conditions under which the underwater observation unit 10 does not rotate counterclockwise in FIG. 12 around the contact point TC of the right wheels 26A and 26B even when the propulsive force F is applied obliquely in this case are as follows.
  • the distance from the rotation center of the wheels 25A to 26B to the wall surface WT is H
  • the right underwater propulsion device is parallel to this line from a line extending in the front-rear direction through the contact point TC of the right wheels 26A, 26B.
  • M be the distance to the parallel line PC passing through the center of 9B.
  • the inclination angle of the right underwater propulsion device 9B with respect to the parallel line PC is defined as ⁇ .
  • the propulsive force of the right underwater propulsion device 9B is F
  • a vertical component force Fcos ⁇ acts in a direction perpendicular to the wall surface WT
  • a parallel component force Fsin ⁇ acts in a direction parallel to the wall surface WT perpendicular thereto. Therefore, the condition that the underwater observation unit 10 does not rotate counterclockwise in FIG. 12 about the contact point TC of the right wheels 26A and 26B is that the clockwise moment generated around the contact point TC by the vertical component force Fcos ⁇ is The moment must be greater than the counterclockwise moment around the contact point TC of the parallel component force Fsin ⁇ generated along the wall surface WT by the thrust F.
  • condition in which the lateral movement is generated by the lateral component (horizontal component force) of the propulsive force F is a condition in which this horizontal component force is larger than the frictional force of the wall surface WT.
  • the rotation of the left wheel 25A, 25B side of the underwater observation unit 10 away from the wall surface WT due to the injection of the right underwater propulsion unit 9B means that the injection direction is sufficiently large, that is, the right underwater propulsion unit 9B.
  • the injection direction becomes larger than the maximum inclination angle ⁇ max passing through the contact point TC. Therefore, when the inclination angle is smaller than the maximum inclination angle ⁇ max, the underwater observation unit 10 does not rotate, and the underwater observation unit 10 slides and moves in the horizontal direction if the friction coefficient ⁇ of the wall surface WT is low.
  • the underwater observation unit 10 can move in the lateral direction if the friction coefficient ⁇ of the wall surface WT is 0.58 or less.
  • the inclination angle ⁇ of the underwater propulsors 9A and 9B is set within the range of the expression (5), the underwater observation unit 10 can move in the lateral direction while being pressed against the wall surface WT.
  • the underwater observation unit 10 there are only two underwater propulsors, but the linear motion in the direction perpendicular to the wall surface WT and the rotational motion about the suspension wire 8 as the rotation center.
  • a translational motion that moves in the left-right direction along the wall surface WT can also be performed. That is, in general, the two drive devices should be able to generate motions with two degrees of freedom.
  • the underwater observation unit 10 it is possible to perform motions with three degrees of freedom by utilizing the constraints imposed by the walls. it can.
  • FIG. 15A and 15B illustrate the operation of the hanging rod 13 provided in the housing 2.
  • FIG. 15A shows the case where the hanging rod 13 is attached to the housing 2.
  • FIG. The case where it does not attach to 2 is shown.
  • the condition of the length L of the hanging rod 13 is as follows. If the condition of the length L of the hanging rod 13 is in principle zero or more, the effect of attachment can be exhibited.
  • the length L of the hanging bar 13 is preferably 0.2 times or more the height (length in the vertical direction) of the underwater observation unit 10.
  • the upper limit of the length L of the hanging rod 13 is preferably not more than four times the height of the underwater observation unit 10 (length in the vertical direction). However, when the suspension rod is bent or disassembled when not in use, the length L of the suspension rod is up to about 10 times the height of the underwater observation unit 10. May be.
  • the suspension device 7 is driven to raise the underwater observation unit 10 onto a ship or a dam. Since the hollow portion 3 of the casing 2 of the underwater observation unit 10 pulled up on the ship or the like is filled with transparent water, the transparent water is drained from the casing 2. This removes the drain plug that closes the drain port 22 installed in the lower part of the side surface of the housing 2 and also closes the liquid feed port 21 installed on the top surface of the housing 2. Also remove. A drainage pump may be inserted from the liquid supply port 21 on the upper surface of the housing to assist drainage. At this time, since the drain port 22 is set at a low position of the housing 2, substantially all of the transparent water in the hollow portion 3 can be drained out of the housing 2.
  • a large amount of water is stored on the lake side of the dam. For example, at a depth of 100 m, the water pressure becomes 10 atm. Therefore, for example, a pressure of 10 atm is applied to the inside of the device for observing the dam wall surface at a water depth of 100 m.
  • a pressure of 10 atm is applied to the inside of the device for observing the dam wall surface at a water depth of 100 m.
  • the casing 2 is formed of a cube or a cylinder and the transparent plate 4 is disposed on one surface thereof, and the area of the transparent plate 4 is increased in order to increase the photographing area of the camera device 5, the entire hollow portion 3 is formed.
  • the volume increases. Therefore, the volume of the transparent water filled in the hollow part 3 of the housing 2 becomes large, the weight of the housing 2 containing the filled transparent water becomes extremely heavy, and the operability of the housing 2 is difficult. There was a problem of becoming.
  • the underwater observation unit 10 of the present invention is configured as described above, so that the weight of the entire device is relatively light in consideration of the device used in deep water.
  • the underwater observation unit 50 shown in this embodiment is configured to attach a wiper device to the housing 2 and wipe the wall surface WT to be observed with the wiper device. Since the underwater observation unit 50 is different from the underwater observation unit 10 described above only in that a wiper device 51 is additionally provided in the housing 2, the same portions are denoted by the same reference numerals, The description of the overlapping part is omitted.
  • the wiper device 51 includes a swing arm 53 having a brush portion 52 on one side in the axial direction, a swing motor 54 that swings the swing arm 53 by a predetermined angle, and a wall surface WT on which the swing arm 53 is observed.
  • An urging spring 55 and the like are provided.
  • the swing arm 53 is formed of an elongated rod-like member, and a brush portion 52 formed with a predetermined length in the axial direction is provided on one side surface in the axial direction by planting a plastic wire. .
  • a bearing portion is provided for mounting on the rotating shaft 56 of the swing motor 54.
  • the swing motor 54 is disposed and fixed at a substantially central portion in the longitudinal direction of the upper frame portion 11a of the frame 11 in the housing 2 so as to protrude the rotation shaft 56 forward.
  • a rotating shaft 56 of the swing motor 54 is slidably inserted into a bearing hole provided in a bearing portion of the swing arm 53.
  • a spring 55 is loosely attached to the rotating shaft 56, and the swing arm 53 is always urged forward by the spring force of the spring 55. Then, by pressing the swing arm 53 backward against the spring force of the spring 55, the brush portion 52 can be pressed against the wall surface WT by the spring force of the spring 55.
  • FIG. 16 shows a state in which the underwater observation unit 50 is in contact with the wall surface WT to be observed.
  • the spring 55 is in an extended state, and the brush unit 52 is not in contact with the wall surface WT.
  • FIG. 17 shows the posture of the underwater observation unit 50 when the wiping operation of the wall surface WT by the wiper device 51 is completed and the wall surface WT is observed.
  • the swing arm 53 after the wiping operation of the wall surface WT by the brush portion 52 is turned to the outside of the frame body 11 and is retracted above the upper frame portion 11a.
  • the underwater observation unit 50 according to the second embodiment the clean wall surface WT wiped by the brush unit 52 can be observed, and the presence or absence of cracks or scratches on the wall surface WT can be accurately recognized on a more beautiful screen. It becomes possible to do.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Studio Devices (AREA)
  • Bridges Or Land Bridges (AREA)
  • Revetment (AREA)

Abstract

La présente invention concerne un dispositif d'observation sous-marine qui permet une observation stable en pressant une unité d'observation sous-marine sur une surface de paroi de retenue à l'aide d'une unité de propulsion sous-marine à un moment normal, et qui, s'il y a un obstacle et similaire sur la surface de paroi de retenue, peut éviter l'obstacle sur une surface de la surface de paroi en quittant temporairement la surface de paroi de retenue par commande par jet de l'unité de propulsion sous-marine, ce qui permet l'observation de la surface de la surface de paroi avec une large gamme d'images propres même dans l'eau boueuse. Un dispositif d'observation sous-marine comprend : un boîtier (2) comprenant une partie creuse (3) rempli de liquide transparent et présentant une plaque transparente (4) disposée dans une face de celle-ci faisant face à la partie creuse, la plaque transparente fournissant une vue externe transparente ; un dispositif de caméra (5) fixé au boîtier (2) et doté d'une partie lentille (6) opposée à la plaque transparente (4) à travers la partie creuse (3) ; un dispositif de suspension (7) suspendant le boîtier (2) par l'intermédiaire d'un fil de suspension (8) pour soulever ou abaisser le boîtier (2) sous l'eau ; et des unités de propulsion sous-marine (9A, 9B) fixées au boîtier (2) et capables de déplacer le boîtier (2) sous l'eau.
PCT/JP2015/082053 2014-11-15 2015-11-14 Dispositif d'observation sous-marine WO2016076436A1 (fr)

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JP2014232262A JP2016094137A (ja) 2014-11-15 2014-11-15 水中観察装置
JP2014-232262 2014-11-15

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CN105994059A (zh) * 2016-06-02 2016-10-12 舟山正恒环保科技有限公司 一种网内监测清洁设备
CN110258457A (zh) * 2019-06-26 2019-09-20 中国电建集团成都勘测设计研究院有限公司 峡谷区水电工程导流洞全洞段检修用挡水坝结构
CN113049492A (zh) * 2021-03-12 2021-06-29 长沙学院 水下桥墩检测系统及方法
CN113386930A (zh) * 2021-05-14 2021-09-14 宁波工程学院 一种应用于桥墩检修的水下机器人及其检修方法
FR3132077A1 (fr) * 2022-01-25 2023-07-28 H2Drone Dispositif support d'inspection sous-marine d'une structure maritime ou fluviale

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CN110244373B (zh) * 2019-08-12 2019-12-10 上海彩虹鱼海洋科技股份有限公司 门槽检测系统和专用水下机器人
KR102079903B1 (ko) * 2019-09-26 2020-04-07 주식회사 합동종합건설 개선된 수중교각 청소장치
KR102320378B1 (ko) * 2020-04-13 2021-12-27 주식회사 지오이 수중에서 시야 확보를 위한 잠수 장치
KR102358672B1 (ko) * 2021-06-17 2022-02-08 주식회사 한국구조진단연구원 수중구조물의 안전점검을 위한 안전진단용 수중측정장치
CN116223455B (zh) * 2023-05-08 2023-07-04 北京承启通科技有限公司 一种基于图像信息的水下浑浊度检测装置

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JPS62122898A (ja) * 1985-11-21 1987-06-04 Ishikawajima Harima Heavy Ind Co Ltd 水中作業装置
JP2000128076A (ja) * 1998-10-22 2000-05-09 Hitachi Zosen Corp 水中点検観測装置
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Publication number Priority date Publication date Assignee Title
CN105994059A (zh) * 2016-06-02 2016-10-12 舟山正恒环保科技有限公司 一种网内监测清洁设备
CN110258457A (zh) * 2019-06-26 2019-09-20 中国电建集团成都勘测设计研究院有限公司 峡谷区水电工程导流洞全洞段检修用挡水坝结构
CN110258457B (zh) * 2019-06-26 2024-02-13 中国电建集团成都勘测设计研究院有限公司 峡谷区水电工程导流洞全洞段检修用挡水坝结构
CN113049492A (zh) * 2021-03-12 2021-06-29 长沙学院 水下桥墩检测系统及方法
CN113386930A (zh) * 2021-05-14 2021-09-14 宁波工程学院 一种应用于桥墩检修的水下机器人及其检修方法
FR3132077A1 (fr) * 2022-01-25 2023-07-28 H2Drone Dispositif support d'inspection sous-marine d'une structure maritime ou fluviale

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