WO2024048072A1 - Inspection method using unmanned underwater vehicle - Google Patents

Inspection method using unmanned underwater vehicle Download PDF

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Publication number
WO2024048072A1
WO2024048072A1 PCT/JP2023/025073 JP2023025073W WO2024048072A1 WO 2024048072 A1 WO2024048072 A1 WO 2024048072A1 JP 2023025073 W JP2023025073 W JP 2023025073W WO 2024048072 A1 WO2024048072 A1 WO 2024048072A1
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WO
WIPO (PCT)
Prior art keywords
sensor
inspection
inspected
rov
underwater vehicle
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Application number
PCT/JP2023/025073
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French (fr)
Japanese (ja)
Inventor
茂明 稲葉
栄二郎 大橋
昌平 伊藤
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株式会社FullDepth
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Publication of WO2024048072A1 publication Critical patent/WO2024048072A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/07—Analysing solids by measuring propagation velocity or propagation time of acoustic waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot

Definitions

  • Patent Document 1 describes an AUV that inspects an undersea pipeline while traveling along the pipeline.
  • This AUV can be equipped with a wall thickness tester that tests the wall thickness of the pipeline to check the degree of corrosion and the presence or absence of damage.
  • the present application includes a plurality of means for solving the above-mentioned problems, but to give one example, a first unmanned underwater vehicle equipped with a deposit removal means is used to remove deposits attached to an object to be inspected. removing the object; and measuring the thickness of the object to be inspected using the first unmanned underwater vehicle further comprising a first sensor or the second unmanned underwater vehicle comprising the first sensor; Alternatively, there is an inspection method including a step of generating an image of the inspection object.
  • FIG. 1 shows an example of an inspection system 100.
  • FIG. 2 is a perspective view showing an example of the appearance of the ROV 101.
  • FIG. 3 is a plan view showing an example of the appearance of the ROV 101.
  • FIG. 4 is a side view showing an example of the appearance of the ROV 101.
  • FIG. 5 is a bottom view showing an example of the appearance of the ROV 101.
  • FIG. 6 is a front view showing an example of the appearance of the ROV 101.
  • FIG. 7 is a rear view showing an example of the appearance of the ROV 101.
  • FIG. 8 is a perspective view showing an example of the appearance of the ROV main body 201.
  • FIG. 9 is a plan view showing an example of the appearance of the ROV main body 201.
  • FIG. 9 is a plan view showing an example of the appearance of the ROV main body 201.
  • FIG. 10 is a side view showing an example of the appearance of the ROV main body 201.
  • FIG. 11 is a bottom view showing an example of the external appearance of the ROV main body 201.
  • FIG. 12 is a front view showing an example of the external appearance of the ROV main body 201.
  • FIG. 13 is a rear view showing an example of the external appearance of the ROV main body 201.
  • FIG. 14 is a perspective view showing an example of the high-pressure cleaning unit 202.
  • FIG. 15 is a plan view showing an example of the high pressure cleaning unit 202.
  • FIG. 16 is a side view showing an example of the high-pressure cleaning unit 202.
  • FIG. 17 is a perspective view showing an example of the wall thickness inspection unit 203.
  • FIG. 18 is a plan view showing an example of the wall thickness inspection unit 203.
  • FIG. 19 is a side view showing an example of the wall thickness inspection unit 203.
  • FIG. 20 is a bottom view showing an example of the wall thickness inspection unit 203.
  • FIG. 21 is an exploded perspective view showing an example of the cover plate 1701 and the tip portion 1702.
  • FIG. 22 is a perspective view showing an example of the wall thickness inspection unit 203 with the cover plate 1701 removed.
  • FIG. 23 is a perspective view showing an example of the tension rod 204.
  • FIG. 24 shows an example of a work flow 2400 for wall thickness inspection.
  • FIG. 25 is a plan view showing an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501.
  • FIG. 25 is a plan view showing an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501.
  • FIG. 26 is a side view showing an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501.
  • FIG. 27 shows an example of the hardware configuration of automatic control device 2700.
  • FIG. 28 shows an example of a work flow 2800 for this wall thickness inspection.
  • FIG. 1 shows an example of an inspection system 100.
  • An inspection system 100 shown in the figure is a system for inspecting the wall thickness of a steel pipe pile 105 underwater.
  • This inspection system 100 includes an ROV (Remotely Operated Vehicle) 101, an operation terminal 102, a cloud server 103, and a client terminal 104.
  • ROV Remote Operated Vehicle
  • the ROV 101 is a wired and remotely operated unmanned underwater vehicle (in other words, an unmanned exploration vehicle, an underwater robot, or an underwater drone).
  • This ROV 101 is equipped with an underwater ultrasonic thickness gauge 2105 to measure the wall thickness of the steel pipe pile 105, as will be described later.
  • the operating terminal 102 is a computer device for remotely operating the ROV 101. This operating terminal 102 is connected to the ROV 101 via a communication cable 106.
  • the cloud server 103 is a server for accumulating inspection data generated by the ROV 101.
  • the client terminal 104 is a computer device that downloads test data from the cloud server 103 and displays it on a display.
  • the client terminal 104, the operation terminal 102, and the cloud server 103 are connected to each other via a communication network 107.
  • FIG. 2 is a perspective view
  • FIG. 3 is a top view
  • FIG. 4 is a side view
  • FIG. 5 is a bottom view
  • FIG. 6 is a front view
  • FIG. 7 is a rear view.
  • the ROV 101 shown in these figures roughly consists of an ROV main body 201, a high-pressure cleaning unit 202, a wall thickness inspection unit 203, and four tension rods 204.
  • a high-pressure cleaning unit 202 is attached to the bottom surface of the ROV main body 201, and includes a high-pressure cleaning nozzle 1402 as described later.
  • This high-pressure cleaning unit 202 is a means for removing deposits attached to the object to be inspected.
  • the wall thickness inspection unit 203 is attached to the front side of the ROV main body 201, and includes an underwater ultrasonic thickness gauge 2105 as described later.
  • This wall thickness inspection unit 203 is a holding means that holds an underwater ultrasonic thickness gauge 2105 in front of the ROV main body 201 in a state where it is indirectly biased by a coil spring 1709, which will be described later.
  • the four tension rods 204 are attached to the front side of the ROV main body 201, and a portion thereof protrudes to the front of the ROV main body 201. These four tension rods 204 are two pairs of abutting means whose tips are abutted against the object to be inspected. These high-pressure washing unit 202, wall thickness inspection unit 203, and four tension rods 204 are removable from the ROV main body 201 and constitute an inspection unit.
  • FIG. 8 to 13 show examples of the appearance of the ROV main body 201.
  • 8 is a perspective view
  • FIG. 9 is a top view
  • FIG. 10 is a side view
  • FIG. 11 is a bottom view
  • FIG. 12 is a front view
  • FIG. 13 is a rear view.
  • the ROV main body 201 shown in these figures includes a main body frame 801, an underwater camera 802, four underwater lights 803, and seven propellers 804.
  • the main body frame 801 is made up of a plurality of plate-shaped bodies and forms a rectangular parallelepiped-shaped external outline.
  • This main body frame 801 corresponds to a housing.
  • Underwater camera 802 is a visible light image sensor.
  • This underwater camera 802 is housed in a cylindrical case 805 housed in the main body frame 801.
  • This underwater camera 802 faces the front of the ROV main body 201.
  • the four underwater lights 803 are installed on the front side of the ROV main body 201 so as to illuminate the front of the ROV main body 201.
  • the seven propellers 804 are installed at various locations on the main body frame 801, and enable movement of the ROV main body 201 in three-dimensional directions.
  • the ROV main body 201 is equipped with devices such as a GPS receiver, an electronic compass, a depth sensor, a sonar, a manipulator, and a position measurement means (for example, a USB (Ultra Short Base Line) positioning device). It is possible.
  • FIG. 14 is a perspective view
  • FIG. 15 is a plan view
  • FIG. 16 is a side view.
  • the high-pressure cleaning unit 202 shown in these figures includes a frame 1401, a high-pressure cleaning nozzle 1402, and a high-pressure hose 1403.
  • the frame 1401 is made up of a plurality of plate-like bodies and has a ladder-like shape.
  • High-pressure cleaning nozzle 1402 has a cylindrical shape and is attached to the front side of frame 1401.
  • This high-pressure cleaning nozzle 1402 is inclined with respect to the longitudinal and lateral directions of the frame 1401. Further, this high-pressure cleaning nozzle 1402 extends in substantially the same plane as the frame 1401. However, the high pressure cleaning nozzle 1402 does not necessarily have to extend in substantially the same plane as the frame 1401. The high-pressure cleaning nozzle 1402 may be inclined vertically with respect to the frame 1401. Further, the tip of this high-pressure cleaning nozzle 1402 projects forward of the frame 1401. As shown in FIG. 4, the tip of this high-pressure cleaning nozzle 1402 is located behind the tip of the wall thickness inspection unit 203 and the tip of the tension rod 204.
  • the position of the tip of the high-pressure cleaning nozzle 1402 shown in FIG. 3 is just an example.
  • the position of the tip of the high-pressure cleaning nozzle 1402 can be adjusted by changing the fixed position of the high-pressure cleaning nozzle 1402 with respect to the frame 1401.
  • the position of the tip of the high-pressure cleaning nozzle 1402 is adjusted according to the shape of the object to be inspected.
  • one end of the high-pressure hose 1403 is connected to the high-pressure cleaning nozzle 1402, and the other end is connected to a high-pressure pump (not shown).
  • This high-pressure hose 1403 supplies high-pressure water sent out from a high-pressure pump to the high-pressure cleaning nozzle 1402.
  • the high-pressure water supplied to the high-pressure cleaning nozzle 1402 is discharged from the tip of the nozzle. The discharged high-pressure water is used to remove deposits attached to the surface to be inspected.
  • FIG. 17 to 22 show examples of the wall thickness inspection unit 203.
  • 17 is a perspective view
  • FIG. 18 is a plan view
  • FIG. 19 is a side view
  • FIG. 20 is a bottom view.
  • FIG. 21 is an exploded perspective view of a cover plate 1701 and a tip portion 1702, which will be described later.
  • FIG. 22 is a perspective view of the wall thickness inspection unit 203 with the cover plate 1701 removed.
  • the wall thickness inspection unit 203 shown in these figures roughly consists of a cover plate 1701, a tip portion 1702, a base portion 1703, and a fixing plate 1704. Each component will be explained below.
  • the cover plate 1701 has a rectangular shape with four protruding corners. As shown in FIG. 21, this cover plate 1701 has a hole 2101 formed in the center and four holes 2102 formed at equal intervals around the hole 2101. The tip of an underwater ultrasonic thickness gauge 2105, which will be described later, is inserted into the hole 2101. This cover plate 1701 is attached to the front side of the tip portion 1702.
  • the tip portion 1702 has an inner annular portion 2103, an outer annular portion 2104, an underwater ultrasonic thickness gauge 2105, a holding portion 2106, and a base portion 2107, as shown in FIGS. 21 and 22.
  • the inner annular portion 2103 is an annular member having two protrusions in the left-right direction.
  • This inner annular portion 2103 has a hole 2108 and two protrusions 2109 extending perpendicularly from the front surface of the inner annular portion 2103.
  • the tip of an underwater ultrasonic thickness gauge 2105 is inserted into the hole 2108 .
  • Two protrusions 2109 are inserted into holes 2102 of cover plate 1701.
  • the outer annular portion 2104 is an annular member extending in the left-right direction. This outer annular portion 2104 has a hole 2110 and two protrusions 2111 extending perpendicularly from the front surface of the outer annular portion 2104 .
  • the inner annular portion 2103 is inserted into the hole 2110 .
  • the inner annular portion 2103 is held by the outer annular portion 2104 so as to be able to swing in a substantially horizontal plane within the hole 2110 (see arrow 2201 in FIG. 22). Since the inner annular part 2103 is swingable in a substantially horizontal plane, the tip of the underwater ultrasonic thickness gauge 2105 fitted into the inner annular part 2103 is also swingable in a substantially horizontal plane. There is.
  • Two protrusions 2111 are inserted into holes 2102 of cover plate 1701.
  • the underwater ultrasonic thickness gauge 2105 is a sensor that measures the thickness of underwater structures using ultrasonic echoes.
  • the holding portion 2106 is a substantially U-shaped member having two protrusions extending forward.
  • An outer annular portion 2104 is sandwiched between the two protrusions of this holding portion 2106.
  • the outer annular portion 2104 is held by a holding portion 2106 so as to be able to swing in a substantially vertical plane between its two protrusions (see arrow 2202 in FIG. 22). Since the outer annular portion 2104 is swingable in a substantially vertical plane, the tip of the underwater ultrasonic thickness gauge 2105 fitted into the outer annular portion 2104 via the inner annular portion 2103 is also substantially vertical. It can swing within a plane. As described above, the tip of the underwater ultrasonic thickness gauge 2105 is swingable in a substantially horizontal plane and a substantially vertical plane. In other words, the tip of the underwater ultrasonic thickness gauge 2105 is held in the wall thickness inspection unit 203 so as to be swingable around two axes.
  • the base portion 2107 is a substantially rectangular parallelepiped member.
  • the base portion 2107 has a recessed portion 2112 formed on the front surface thereof, and a shaft insertion hole 2113 formed along the front-rear direction.
  • the rear end of the holding part 2106 is fixed to the recessed part 2112.
  • the tip of a shaft 1707, which will be described later, is inserted into the shaft insertion hole 2113.
  • the above is a description of the tip portion 1702.
  • the base portion 1703 of the wall thickness inspection unit 203 is a rectangular plate having a substantially U-shaped peripheral wall 1705 on the front surface.
  • a shaft insertion hole 1706 is formed in the peripheral wall 1705 of the base portion 1703 along the front-rear direction of the base portion 1703.
  • the rear end of a shaft 1707 is inserted into this shaft insertion hole 1706.
  • the base portion 1703 is connected to the tip portion 1702 via this shaft 1707.
  • a coil spring 1709 is attached to the shaft 1707.
  • the tip portion 1702 is urged forward by this coil spring 1709.
  • the base portion 1703 is also connected to the tip portion 1702 by two sliders 1708.
  • Each slider 1708 has its outer surface fixed to the inner surface of the peripheral wall 1705, and its inner surface fixed to the base portion 2107 of the tip portion 1702.
  • the distal end portion 1702 is movable in the front-rear direction with respect to the base portion 1703 by these two sliders 1708.
  • the fixed plate 1704 is, for example, a substantially rectangular plate extending in the left-right direction, as shown in FIG. 17 .
  • a base portion 1703 is fixed to the center of the front surface of this fixed plate 1704. Both ends of this fixing plate 1704 are fixed to the main body frame 801 of the ROV main body 201 (see FIG. 2).
  • the above is the description of the wall thickness inspection unit 203.
  • FIG. 23 is a perspective view showing an example of the tension rod 204.
  • the tension rod 204 shown in the figure roughly consists of a rod portion 2301 and a holding portion 2304. Among these components, the rod portion 2301 has a tip cap 2302 attached to its tip and a rear end cap 2303 attached to its rear end. The tip of this rod portion 2301 is abutted against the object to be inspected.
  • the holding portion 2304 is a substantially rectangular parallelepiped member. This holding portion 2304 has a rod insertion hole 2305 that penetrates in the front-rear direction. A rod portion 2301 is inserted into this rod insertion hole 2305. The rod portion 2301 is held by a holding portion 2304 in a state where it is biased by a coil spring 2307. The holding portion 2304 is fixed to the main body frame 801 of the ROV main body 201 (see FIG. 2).
  • a tip side fastener 2306 is fixed to the rod portion 2301 between its tip and the holding portion 2304.
  • a coil spring 2307 is attached between the tip side fastener 2306 and the holding portion 2304 of the rod portion 2301 .
  • the rod portion 2301 is urged forward with respect to the holding portion 2304 by the coil spring 2307.
  • a rear end fastener 2308 is fixed to the rod portion 2301 between the rear end and the holding portion 2304 .
  • This rear end side fastener 2308 and the above-mentioned front end side fastener 2306 restrict the movement of the rod portion 2301 in the front-rear direction relative to the holding portion 2304.
  • the length of the rod portion 2301 protruding from the holding portion 2304 can be adjusted.
  • the length of this rod portion 2301 is adjusted depending on the shape of the object to be inspected. The above is the explanation about the tension rod 204.
  • FIG. 24 shows an example of a work flow 2400 for this wall thickness inspection.
  • the work flow 2400 shown in the figure assumes the wall thickness inspection of a steel pipe pile underwater.
  • the inspector operates the operating terminal 102 to start photographing and recording using the underwater camera 802 of the ROV 101 (step 2401). After that, the inspector drops the ROV 101 into the water (step 2402).
  • the inspector After dropping the ROV 101 into the water, the inspector operates the ROV 101 while viewing the image of the underwater camera 802 displayed on the operating terminal 102, and moves the ROV 101 to the surface to be inspected of the steel pipe pile (step 2403).
  • the inspector determines whether shellfish or seaweed are attached to the surface to be inspected based on the image from the underwater camera 802 (step 2404). As a result of this determination, if shellfish or seaweed is attached to the surface to be inspected (YES in step 2404), the inspector removes the attached matter (step 2405).
  • the inspector operates the operating terminal 102 to inject high-pressure water from the high-pressure cleaning nozzle 1402 of the ROV 101 onto the surface to be inspected. At this time, the inspector injects high-pressure water while controlling the propeller 804 to provide thrust in the forward direction so that the ROV 101 does not rotate or retreat due to the reaction force of the injected high pressure.
  • the inspector After spraying high-pressure water for a certain period of time, the inspector re-determines whether shellfish or seaweed are attached to the surface to be inspected (step 2404). As a result of this determination, if shellfish or seaweed are still attached to the inspected surface (YES in step 2404), the inspector removes the attached matter again (step 2405). On the other hand, if the result of this determination is that no shellfish or seaweed is attached to the surface to be inspected (NO in step 2404), the inspector conducts a wall thickness inspection (step 2406).
  • the inspector operates the operating terminal 102 to move the ROV 101 forward toward the steel pipe pile, butts the four tension rods 204 of the ROV 101 against the steel pipe pile, and checks the underwater ultrasonic thickness of the ROV 101. Press the tip of the gauge 2105 against the surface to be inspected. At this time, the coil springs 2307 of each tension rod 204 absorb the impact caused by the ROV 101 colliding with the steel pipe pile. Further, a coil spring 1709 placed behind the underwater ultrasonic thickness gauge 2105 also absorbs the same impact. Therefore, the ROV 101 is prevented from colliding with the steel pipe pile and bouncing. Moreover, even if the steel pipe pile swings, the coil springs 2307 and 1709 can imitate the steel pipe pile and allow the ROV 101 to abut against the steel pipe pile.
  • FIG. 25 and 26 show an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501.
  • FIG. 25 is a plan view
  • FIG. 26 is a side view.
  • the inspector continues to move the ROV 101 forward so that the ROV 101 maintains its posture with respect to the surface to be inspected.
  • the ROV 101 is positioned relative to the surface to be inspected by the four tension rods 204, the ROV 101 is prevented from rotating or deviating from the surface to be inspected due to the forward force.
  • the underwater ultrasonic thickness gauge 2105 is capable of swinging around two axes, as described above. Therefore, even if the ROV 101 is somewhat inclined with respect to the surface to be inspected, the tip surface of the underwater ultrasonic thickness gauge 2105 can be maintained parallel to the surface to be inspected. Therefore, the underwater ultrasonic thickness gauge 2105 can reliably detect reflected echoes.
  • the inspector After pressing the tip of the underwater ultrasonic thickness meter 2105 against the surface to be inspected, the inspector operates the operation terminal 102 to measure the thickness of the surface to be inspected.
  • the measured wall thickness data is stored in the storage device of the operation terminal 102.
  • the inspector also stores the image data of the underwater camera 802 at the time of wall thickness measurement in the storage device of the operation terminal 102 in association with the measurement data (step 2407).
  • the method of associating the image data with the measurement data includes, for example, attaching the same date and time data, location information, or identification information (for example, project ID, survey ID, equipment ID, worker name, etc.) to both data. It will be done.
  • the user of the client terminal 104 can easily refer to the state of the surface to be inspected at the time the measurement data was generated.
  • the inspector After completing the wall thickness inspection, the inspector floats the ROV 101 above the water and collects it (step 2408). After collecting the ROV 101, the inspector stops photographing and recording by the underwater camera 802 (step 2409).
  • the examiner operates the operation terminal 102 to upload video data, measurement data, and image data (hereinafter collectively referred to as "inspection data") to the cloud server 103 (step 2410).
  • the cloud server 103 stores the uploaded test data.
  • a client who desires to view the test data operates the client terminal 104 to download the test data from the cloud server 103 (step 2411).
  • the above is a description of the work flow 2400 for wall thickness inspection.
  • the inspection data is uploaded to the cloud server 103 after collecting the ROV 101, but the inspection data may be uploaded to the cloud server 103 before collecting the ROV 101.
  • step 2410 may be executed simultaneously with or immediately after step 2407, and in a situation where radio waves are unstable, step 2410 may be executed after step 2409. In this case, if the radio waves are stable, step 2411 may be executed before collecting the ROV 101.
  • the wall thickness inspection is performed manually. Instead of such an inspection method, the wall thickness inspection may be performed automatically. Below, a method for automatically performing wall thickness inspection will be explained.
  • an automatic control device 2700 is used in place of the operation terminal 102 in order to automatically perform a wall thickness inspection.
  • the automatic control device 2700 may be, for example, a portable terminal (mobile terminal) such as a smartphone, a tablet, a mobile phone, or a personal digital assistant (PDA), or may be a wearable terminal such as a glasses type, a wristwatch type, or a wearable type. Alternatively, it may be a stationary or portable computer, or a server placed on a cloud or network.
  • the function may be a VR (Virtual Reality) terminal, an AR (Augmented Reality) terminal, or an MR (Mixed Reality) terminal. Alternatively, it may be a combination of these multiple terminals. For example, a combination of one smartphone and one wearable terminal can logically function as one terminal. Further, information processing terminals other than these may also be used.
  • the automatic control device 2700 includes a processor that executes an operating system, applications, programs, etc., a main storage device such as RAM (Random Access Memory), and auxiliary devices such as an IC card, hard disk drive, SSD (Solid State Drive), and flash memory.
  • Storage devices communication control units such as network cards, wireless communication modules, and mobile communication modules; input devices such as touch panels, keyboards, mice, voice input, and input based on motion detection using image capture by cameras; and monitors and displays, etc. and an output device.
  • the output device may be a device or terminal that transmits information to be output to an external monitor, display, printer, device, or the like.
  • the main storage device stores various programs, applications, etc. (modules), and when the processor executes these programs and applications, each functional element of the overall system is realized.
  • each of these modules may be implemented in hardware by integrating them or the like.
  • each module may be an independent program or application, or may be implemented as a part of a subprogram or function within one integrated program or application.
  • each module is described as a subject (subject) that performs processing, but in reality, a processor that processes various programs, applications, etc. (modules) executes processing.
  • FIG. 27 shows an example of the hardware configuration of automatic control device 2700.
  • the automatic control device 2700 shown in the figure includes a main storage device 2701, an auxiliary storage device 2702, a processor 2703, an input device 2704, an output device 2705, and a communication control section 2706.
  • the main storage device 2701 stores programs and applications such as a navigation control module 2711, an imaging control module 2712, a determination module 2713, a cleaning control module 2714, and an inspection control module 2715.
  • Each functional element of the automatic control device 2700 is realized by the processor 2703 executing these programs and applications. Each module will be explained below.
  • the navigation control module 2711 controls the navigation of the ROV 101 based on sensor values such as an acceleration sensor, a gyroscope, and a pressure sensor included in the ROV 101.
  • the photographing control module 2712 controls photographing and recording by the underwater camera 802 of the ROV 101.
  • the determination module 2713 determines whether shellfish or seaweed are attached to the surface to be inspected, based on the image of the underwater camera 802 of the ROV 101. Specifically, this module inputs the image of the underwater camera 802 into an adhesion determination model, and determines whether shellfish or seaweed is attached to the surface to be inspected.
  • the adhesion determination model used by this module is generated by having a machine learning model such as a neural network learn a large amount of teacher data.
  • the training data to be trained by the machine learning model are a group of images of the inspected surface to which shellfish and seaweed are attached (positive example data), and a group of images of the inspected surface to which shellfish and seaweed are not attached ( negative example data).
  • the adhesion determination model generated in this manner receives the image from the underwater camera 802 as input, and outputs information indicating whether or not shellfish or seaweed are attached.
  • the cleaning control module 2714 injects high-pressure water from the high-pressure cleaning nozzle 1402 of the ROV 101 onto the surface to be inspected based on the image of the underwater camera 802.
  • the inspection control module 2715 executes a wall thickness inspection. Specifically, the inspection control module 2715 moves the ROV 101 forward toward the steel pipe pile based on the image of the underwater camera 802, hits the four tension rods 204 of the ROV 101 against the steel pipe pile, and moves the ROV 101 underwater. The tip of the ultrasonic thickness gauge 2105 is pressed against the surface to be inspected. The module then measures the wall thickness of the surface to be inspected.
  • the module After measuring the wall thickness, the module stores the measurement data in the auxiliary storage device 2702 of the automatic control device 2700 in association with the image data of the underwater camera 802 at the time of measuring the wall thickness.
  • the method of associating measurement data and image data includes, for example, attaching the same date and time data or identification information to both data. By associating the image data with the measurement data in this way, the user of the client terminal 104 can easily refer to the state of the surface to be inspected at the time the measurement data was generated.
  • FIG. 28 shows an example of a work flow 2800 for this wall thickness inspection.
  • the work flow 2800 shown in the figure assumes the wall thickness inspection of a steel pipe pile underwater.
  • the inspector first inputs the position information of the surface to be inspected and the position information of the collection point of the ROV 101 into the automatic control device 2700 (step 2801). After inputting the position information, the inspector drops the ROV 101 into the water (step 2802) and inputs an inspection start instruction to the automatic control device 2700 (step 2803).
  • the photographing control module 2712 of the automatic control device 2700 starts photographing and recording by the underwater camera 802 of the ROV 101 (step 2804). Further, the navigation control module 2711 of the automatic control device 2700 moves the ROV 101 to the surface to be inspected of the steel pipe pile (step 2805).
  • the determination module 2713 of the automatic control device 2700 determines whether shellfish or seaweed are attached to the surface to be inspected based on the image of the underwater camera 802 (step 2806). As a result of this determination, if shellfish or seaweed is attached to the surface to be inspected (YES in step 2806), the cleaning control module 2714 of the automatic control device 2700 removes the attached matter (step 2807).
  • the cleaning control module 2714 injects high-pressure water from the high-pressure cleaning nozzle 1402 of the ROV 101 onto the surface to be inspected based on the image of the underwater camera 802. At this time, the module injects high-pressure water while controlling the propeller 804 to provide thrust in the forward direction so that the ROV 101 does not rotate or retreat due to the reaction force of the injected high-pressure.
  • the determination module 2713 determines again whether shellfish or seaweed are attached to the surface to be inspected (step 2806). As a result of this determination, if shellfish or seaweed are still attached to the surface to be inspected (YES at step 2806), the cleaning control module 2714 removes the attached matter again (step 2807). On the other hand, if the result of this determination is that no shellfish or seaweed is attached to the surface to be inspected (NO in step 2806), the inspection control module 2715 of the automatic control device 2700 performs a wall thickness inspection (step 2808).
  • the inspection control module 2715 moves the ROV 101 forward toward the steel pipe pile based on the image of the underwater camera 802, hits the four tension rods 204 of the ROV 101 against the steel pipe pile, and moves the ROV 101 underwater.
  • the tip of the ultrasonic thickness gauge 2105 is pressed against the surface to be inspected.
  • the coil springs 2307 of each tension rod 204 absorb the impact caused by the ROV 101 colliding with the steel pipe pile.
  • a coil spring 1709 placed behind the underwater ultrasonic thickness gauge 2105 also absorbs the same impact. Therefore, the ROV 101 is prevented from colliding with the steel pipe pile and bouncing.
  • the inspection control module 2715 continues to move the ROV 101 forward so that the ROV 101 maintains its posture with respect to the surface to be inspected. At this time, since the ROV 101 is positioned relative to the surface to be inspected by the four tension rods 204, the ROV 101 is prevented from rotating or deviating from the surface to be inspected due to the forward force.
  • the underwater ultrasonic thickness gauge 2105 is capable of swinging around two axes, as described above. Therefore, even if the ROV 101 is somewhat inclined with respect to the surface to be inspected, the tip surface of the underwater ultrasonic thickness gauge 2105 can be maintained parallel to the surface to be inspected. Therefore, the underwater ultrasonic thickness gauge 2105 can reliably detect reflected echoes.
  • the inspection control module 2715 measures the thickness of the surface to be inspected after the tip of the underwater ultrasonic thickness meter 2105 is pressed against the surface to be inspected. The module then stores the measurement data in the auxiliary storage device 2702 of the automatic control device 2700 in association with the image data of the underwater camera 802 at the time of wall thickness measurement (step 2809).
  • the navigation control module 2711 moves the ROV 101 to a predetermined collection point (step 2810).
  • the photographing control module 2712 stops photographing and recording by the underwater camera 802 of the ROV 101 (step 2811). The inspector collects the ROV 101 that has returned to the predetermined collection point (step 2812).
  • the examiner operates the operating terminal 102 to upload video data, measurement data, and image data (hereinafter collectively referred to as "inspection data") to the cloud server 103 (step 2813).
  • the cloud server 103 stores the uploaded test data.
  • the client who desires to view the test data operates the client terminal 104 to download the test data from the cloud server 103 (step 2814).
  • the above is a description of the work flow 2800 for wall thickness inspection.
  • the ROV 101 includes a high-pressure cleaning unit 202 as a means for removing deposits.
  • this high-pressure cleaning unit 202 is only an example of deposit removal means.
  • the ROV 101 may include, for example, an electric rotating brush instead of the high-pressure cleaning unit 202.
  • the automatic control device 2700 controls the ROV 101.
  • the ROV 101 itself may control its own operation.
  • the ROV 101 may be operated as an AUV (Autonomous Underwater Vehicle).
  • each device and each function (see FIG. 27) included in the automatic control device 2700 will be implemented in the ROV 101.
  • the wall thickness inspection is performed using one ROV 101.
  • the above wall thickness inspection may be performed using two ROVs 101.
  • the cleaning process and the inspection process for the above-mentioned wall thickness inspection may be shared between two ROVs 101.
  • the wall thickness inspection unit 203 may be omitted from the ROV 101 that is responsible for the cleaning process.
  • the high-pressure cleaning unit 202 may be omitted from the ROV 101 that is in charge of the inspection process.
  • the first ROV 101 removes deposits from the surface to be inspected.
  • the second ROV 101 performs a thickness inspection of the surface to be inspected.
  • the wall thickness inspection can also be performed using the inspection method described above.
  • the wall thickness inspection of steel pipe piles is assumed.
  • the objects of wall thickness inspection are not limited to steel pipe piles.
  • underwater structures such as steel sheet piles, ship hulls, and submarine piping may be subject to wall thickness inspection.
  • the underwater camera 802 is a visible light image sensor.
  • a sensor may be used that generates an image of the inspection object using the reflection speed of light or sound waves.
  • a Time-of-Flight camera, LiDAR scanner, multi-beam sonar, Doppler velocimeter, infrared camera, acoustic camera, etc. may be used. By using these sensors, it is possible to generate images that clearly represent the object to be inspected even in water with low transparency.
  • a wall thickness inspection is assumed as an inspection item.
  • the inspection items are not limited to wall thickness inspection.
  • a sacrificial electrode test may be performed instead of a wall thickness test.
  • the sacrificial electrode may be photographed by the ROV 101, and the inspector may determine the degree of corrosion of the sacrificial electrode based on the photographed image.
  • the captured image of the sacrificial electrode may be captured by the underwater camera 802 of the ROV 101, or may be generated by other sensors (e.g., Time-of-Flight camera, LiDAR scanner, multibeam sonar, Doppler velocimeter, etc.) You may.
  • the number of tension rods 204 is not limited to four.
  • the number of tension rods 204 may be changed as appropriate depending on the shape of the object to be inspected.
  • the coil springs 1709 and 2307 are used as members for absorbing the impact caused by the ROV 101 colliding with the steel pipe pile.
  • other elastic members such as rubber may be used instead of the coil springs 1709 and 2307.
  • each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized by hardware, for example, by designing an integrated circuit.
  • each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.
  • Information such as programs, tables, files, etc. that realize each function can be stored in a memory, a recording device such as a hard disk, an SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.
  • control lines and information lines are shown to be necessary for explanation purposes, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected. Note that the above-described embodiments disclose at least the configuration described in the claims.
  • 100... Inspection system 101... ROV, 102... Operation terminal, 103... Cloud server, 104... Client terminal, 105... Steel pipe pile, 106... Communication cable, 107... Communication network, 201... ROV main body, 202... High pressure cleaning unit , 203... Thickness inspection unit, 204... Tension rod, 801... Body frame, 802... Underwater camera, 803... Underwater light, 804... Propeller, 1401... Frame, 1402... High pressure cleaning nozzle, 1403... High pressure hose, 1701...
  • Cover plate 1702...Tip, 1703...Base, 1704...Fixing plate, 1705...Peripheral wall, 1706...Shaft insertion hole, 1707...Shaft, 1708...Slider, 1709...Coil spring, 2101...Hole, 2102...Hole , 2103...Inner annular part, 2104...Outer annular part, 2105...Underwater ultrasonic thickness gauge, 2106...Holding part, 2107...Base part, 2108...Hole part, 2109...Protrusion part, 2110...Hole part, 2111...Protrusion part part, 2112... recessed part, 2113... shaft insertion hole, 2301... rod part, 2302... tip cap, 2303... rear end cap, 2304...

Abstract

Provided is a mechanism for suppressing a decrease in inspection precision caused by an object attached to an inspection target.　Provided is an inspection method comprising a step of using a first unmanned underwater vehicle including an attached-object removal means to remove an object attached to an inspection target and a step of using the first unmanned underwater vehicle further including a first sensor or a second unmanned underwater vehicle including the first sensor to measure the thickness of the inspection target or to generate an image of the inspection target.

Description

無人潜水機を用いた検査方法Inspection method using unmanned underwater vehicle
[関連出願]
　本出願は、２０２２年８月２９日に出願された「無人潜水機を用いた検査方法」と題する日本特許出願２０２２－１３６２３８号の優先権を主張し、その開示はその全体が参照により本明細書に取り込まれる。
　本開示は、検査方法、無人潜水機、検査システムおよび検査ユニットに関する。 [Related applications]
This application claims priority to Japanese Patent Application No. 2022-136238 entitled "Inspection method using unmanned underwater vehicle" filed on August 29, 2022, the disclosure of which is incorporated herein by reference in its entirety. incorporated into the book.
The present disclosure relates to an inspection method, an unmanned underwater vehicle, an inspection system, and an inspection unit.
　従来、無人潜水機を用いた検査方法が知られている。例えば、特許文献１には、海底パイプラインに沿って航走しながら、当該パイプラインを検査するＡＵＶが記載されている。このＡＵＶは、腐食の程度や損傷の有無を検査するためにパイプラインの肉厚を検査する肉厚検査器を備えることができる。 Conventionally, inspection methods using unmanned underwater vehicles have been known. For example, Patent Document 1 describes an AUV that inspects an undersea pipeline while traveling along the pipeline. This AUV can be equipped with a wall thickness tester that tests the wall thickness of the pipeline to check the degree of corrosion and the presence or absence of damage.
特開２０１９－１８９１１２号公報JP2019-189112A
　上記のＡＵＶの検査対象であるパイプラインには、貝や海藻などの異物が付着しやすい。パイプラインに異物が付着した場合、その肉厚を正確に検査することができないという問題がある。
　本開示はこのような事情に鑑みてなされたものであり、検査対象物に付着した付着物に起因する検査精度の低下を抑制するための仕組みを提供する。 Foreign substances such as shellfish and seaweed are likely to adhere to pipelines that are subject to the above AUV inspection. When foreign matter adheres to a pipeline, there is a problem in that its wall thickness cannot be accurately inspected.
The present disclosure has been made in view of such circumstances, and provides a mechanism for suppressing a decrease in inspection accuracy caused by deposits attached to an object to be inspected.
　上記課題を解決するために、例えば、特許請求の範囲に記載の構成を採用する。
　本願は上記課題を解決するための手段を複数含んでいるが、その一例を挙げるならば、付着物除去手段を備えた第１の無人潜水機を用いて、検査対象物に付着した付着物を除去するステップと、第１のセンサをさらに備えた前記第１の無人潜水機または前記第１のセンサを備えた第２の無人潜水機を用いて、前記検査対象物の厚みを測定するか、または前記検査対象物の画像を生成するステップとを有する検査方法が挙げられる。 In order to solve the above problems, for example, the configurations described in the claims are adopted.
The present application includes a plurality of means for solving the above-mentioned problems, but to give one example, a first unmanned underwater vehicle equipped with a deposit removal means is used to remove deposits attached to an object to be inspected. removing the object; and measuring the thickness of the object to be inspected using the first unmanned underwater vehicle further comprising a first sensor or the second unmanned underwater vehicle comprising the first sensor; Alternatively, there is an inspection method including a step of generating an image of the inspection object.
　本開示によれば、検査対象物に付着した付着物に起因する検査精度の低下を抑制するための仕組みを提供することができる。
　上記したもの以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 According to the present disclosure, it is possible to provide a mechanism for suppressing a decrease in inspection accuracy caused by deposits attached to an object to be inspected.
Problems, configurations, and effects other than those described above will be made clear by the description of the embodiments below.
図１は、検査システム１００の例を示す。FIG. 1 shows an example of an inspection system 100. 図２は、ＲＯＶ１０１の外観の例を示す斜視図である。FIG. 2 is a perspective view showing an example of the appearance of the ROV 101. 図３は、ＲＯＶ１０１の外観の例を示す平面図である。FIG. 3 is a plan view showing an example of the appearance of the ROV 101. 図４は、ＲＯＶ１０１の外観の例を示す側面図である。FIG. 4 is a side view showing an example of the appearance of the ROV 101. 図５は、ＲＯＶ１０１の外観の例を示す底面図である。FIG. 5 is a bottom view showing an example of the appearance of the ROV 101. 図６は、ＲＯＶ１０１の外観の例を示す正面図である。FIG. 6 is a front view showing an example of the appearance of the ROV 101. 図７は、ＲＯＶ１０１の外観の例を示す背面図である。FIG. 7 is a rear view showing an example of the appearance of the ROV 101. 図８は、ＲＯＶ本体２０１の外観の例を示す斜視図である。FIG. 8 is a perspective view showing an example of the appearance of the ROV main body 201. 図９は、ＲＯＶ本体２０１の外観の例を示す平面図である。FIG. 9 is a plan view showing an example of the appearance of the ROV main body 201. 図１０は、ＲＯＶ本体２０１の外観の例を示す側面図である。FIG. 10 is a side view showing an example of the appearance of the ROV main body 201. 図１１は、ＲＯＶ本体２０１の外観の例を示す底面図である。FIG. 11 is a bottom view showing an example of the external appearance of the ROV main body 201. 図１２は、ＲＯＶ本体２０１の外観の例を示す正面図である。FIG. 12 is a front view showing an example of the external appearance of the ROV main body 201. 図１３は、ＲＯＶ本体２０１の外観の例を示す背面図である。FIG. 13 is a rear view showing an example of the external appearance of the ROV main body 201. 図１４は、高圧洗浄ユニット２０２の例を示す斜視図である。FIG. 14 is a perspective view showing an example of the high-pressure cleaning unit 202. 図１５は、高圧洗浄ユニット２０２の例を示す平面図である。FIG. 15 is a plan view showing an example of the high pressure cleaning unit 202. 図１６は、高圧洗浄ユニット２０２の例を示す側面図である。FIG. 16 is a side view showing an example of the high-pressure cleaning unit 202. 図１７は、肉厚検査ユニット２０３の例を示す斜視図である。FIG. 17 is a perspective view showing an example of the wall thickness inspection unit 203. 図１８は、肉厚検査ユニット２０３の例を示す平面図である。FIG. 18 is a plan view showing an example of the wall thickness inspection unit 203. 図１９は、肉厚検査ユニット２０３の例を示す側面図である。FIG. 19 is a side view showing an example of the wall thickness inspection unit 203. 図２０は、肉厚検査ユニット２０３の例を示す底面図である。FIG. 20 is a bottom view showing an example of the wall thickness inspection unit 203. 図２１は、カバープレート１７０１と先端部１７０２の例を示す分解斜視図である。FIG. 21 is an exploded perspective view showing an example of the cover plate 1701 and the tip portion 1702. 図２２は、カバープレート１７０１を取り外した状態の肉厚検査ユニット２０３の例を示す斜視図である。FIG. 22 is a perspective view showing an example of the wall thickness inspection unit 203 with the cover plate 1701 removed. 図２３は、突っ張り棒２０４の例を示す斜視図である。FIG. 23 is a perspective view showing an example of the tension rod 204. 図２４は、肉厚検査の作業フロー２４００の例を示す。FIG. 24 shows an example of a work flow 2400 for wall thickness inspection. 図２５は、被検査面２５０１に水中超音波厚さ計２１０５の先端を押し当てたＲＯＶ１０１の例を示す平面図である。FIG. 25 is a plan view showing an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501. 図２６は、被検査面２５０１に水中超音波厚さ計２１０５の先端を押し当てたＲＯＶ１０１の例を示す側面図である。FIG. 26 is a side view showing an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501. 図２７は、自動制御装置２７００のハードウェア構成の例を示す。FIG. 27 shows an example of the hardware configuration of automatic control device 2700. 図２８は、この肉厚検査の作業フロー２８００の例を示す。FIG. 28 shows an example of a work flow 2800 for this wall thickness inspection.
　以下、図面を用いて実施例について説明する。
１．第１実施例
１－１．構成
　図１は、検査システム１００の例を示す。同図に示す検査システム１００は、水中の鋼管杭１０５の肉厚検査を行うためのシステムである。
　この検査システム１００は、ＲＯＶ（Remotely Operated Vehicle）１０１、操作用端末１０２、クラウドサーバ１０３およびクライアント端末１０４を有する。 Examples will be described below with reference to the drawings.
1. First Example 1-1. Configuration FIG. 1 shows an example of an inspection system 100. An inspection system 100 shown in the figure is a system for inspecting the wall thickness of a steel pipe pile 105 underwater.
This inspection system 100 includes an ROV (Remotely Operated Vehicle) 101, an operation terminal 102, a cloud server 103, and a client terminal 104.
　この検査システム１００を構成する装置のうち、ＲＯＶ１０１は、有線式かつ遠隔操作型の無人潜水機（言い換えると、無人探査機、水中ロボットまたは水中ドローン）である。このＲＯＶ１０１は、後述するように水中超音波厚さ計２１０５を備え、鋼管杭１０５の肉厚を測定する。
　操作用端末１０２は、ＲＯＶ１０１を遠隔操作するためのコンピュータ装置である。この操作用端末１０２は、通信ケーブル１０６を介してＲＯＶ１０１と接続されている。 Among the devices constituting this inspection system 100, the ROV 101 is a wired and remotely operated unmanned underwater vehicle (in other words, an unmanned exploration vehicle, an underwater robot, or an underwater drone). This ROV 101 is equipped with an underwater ultrasonic thickness gauge 2105 to measure the wall thickness of the steel pipe pile 105, as will be described later.
The operating terminal 102 is a computer device for remotely operating the ROV 101. This operating terminal 102 is connected to the ROV 101 via a communication cable 106.
　クラウドサーバ１０３は、ＲＯＶ１０１により生成された検査データを蓄積するためのサーバである。
　クライアント端末１０４は、クラウドサーバ１０３から検査データをダウンロードして、ディスプレイに表示するためのコンピュータ装置である。このクライアント端末１０４と操作用端末１０２とクラウドサーバ１０３は、通信ネットワーク１０７を介して互いに接続されている。 The cloud server 103 is a server for accumulating inspection data generated by the ROV 101.
The client terminal 104 is a computer device that downloads test data from the cloud server 103 and displays it on a display. The client terminal 104, the operation terminal 102, and the cloud server 103 are connected to each other via a communication network 107.
　次に、ＲＯＶ１０１について詳細に説明する。
　図２～図７は、ＲＯＶ１０１の外観の例を示す。図２は斜視図であり、図３は平面図であり、図４は側面図であり、図５は底面図であり、図６は正面図であり、図７は背面図である。
　これらの図に示すＲＯＶ１０１は、大略、ＲＯＶ本体２０１、高圧洗浄ユニット２０２、肉厚検査ユニット２０３および４本の突っ張り棒２０４からなる。 Next, the ROV 101 will be explained in detail.
2 to 7 show examples of the appearance of the ROV 101. 2 is a perspective view, FIG. 3 is a top view, FIG. 4 is a side view, FIG. 5 is a bottom view, FIG. 6 is a front view, and FIG. 7 is a rear view.
The ROV 101 shown in these figures roughly consists of an ROV main body 201, a high-pressure cleaning unit 202, a wall thickness inspection unit 203, and four tension rods 204.
　このＲＯＶ１０１を構成する要素のうち、高圧洗浄ユニット２０２は、ＲＯＶ本体２０１の底面に取り付けられており、後述するように高圧洗浄ノズル１４０２を備える。この高圧洗浄ユニット２０２は、検査対象物に付着した付着物を除去するための手段である。
　肉厚検査ユニット２０３は、ＲＯＶ本体２０１の正面側に取り付けられており、後述するように水中超音波厚さ計２１０５を備える。この肉厚検査ユニット２０３は、ＲＯＶ本体２０１の前方に、後述するコイルばね１７０９で間接的に付勢された状態で水中超音波厚さ計２１０５を保持する保持手段である。 Among the elements constituting this ROV 101, a high-pressure cleaning unit 202 is attached to the bottom surface of the ROV main body 201, and includes a high-pressure cleaning nozzle 1402 as described later. This high-pressure cleaning unit 202 is a means for removing deposits attached to the object to be inspected.
The wall thickness inspection unit 203 is attached to the front side of the ROV main body 201, and includes an underwater ultrasonic thickness gauge 2105 as described later. This wall thickness inspection unit 203 is a holding means that holds an underwater ultrasonic thickness gauge 2105 in front of the ROV main body 201 in a state where it is indirectly biased by a coil spring 1709, which will be described later.
　４本の突っ張り棒２０４は、ＲＯＶ本体２０１の正面側に取り付けられており、その一部がＲＯＶ本体２０１の前方に突出している。この４本の突っ張り棒２０４は、その先端が検査対象物に突き当てられる２対の突き当て手段である。
　これらの高圧洗浄ユニット２０２、肉厚検査ユニット２０３および４本の突っ張り棒２０４は、ＲＯＶ本体２０１に対して着脱可能であり、検査ユニットを構成する。 The four tension rods 204 are attached to the front side of the ROV main body 201, and a portion thereof protrudes to the front of the ROV main body 201. These four tension rods 204 are two pairs of abutting means whose tips are abutted against the object to be inspected.
These high-pressure washing unit 202, wall thickness inspection unit 203, and four tension rods 204 are removable from the ROV main body 201 and constitute an inspection unit.
　次に、ＲＯＶ本体２０１の各構成要素について詳細に説明する。
　図８～図１３は、ＲＯＶ本体２０１の外観の例を示す。図８は斜視図であり、図９は平面図であり、図１０は側面図であり、図１１は底面図であり、図１２は正面図であり、図１３は背面図である。
　これらの図に示すＲＯＶ本体２０１は、本体フレーム８０１、水中カメラ８０２、４台の水中ライト８０３および７台の推進器８０４を備える。 Next, each component of the ROV main body 201 will be explained in detail.
8 to 13 show examples of the appearance of the ROV main body 201. 8 is a perspective view, FIG. 9 is a top view, FIG. 10 is a side view, FIG. 11 is a bottom view, FIG. 12 is a front view, and FIG. 13 is a rear view.
The ROV main body 201 shown in these figures includes a main body frame 801, an underwater camera 802, four underwater lights 803, and seven propellers 804.
　このＲＯＶ本体２０１を構成する要素のうち、本体フレーム８０１は、複数の板状体からなり、直方体状の外形輪郭を形成する。この本体フレーム８０１は筐体に相当する。
　水中カメラ８０２は、可視光イメージセンサである。この水中カメラ８０２は、本体フレーム８０１に収容された円筒状ケース８０５に格納されている。この水中カメラ８０２は、ＲＯＶ本体２０１の前方を向いている。 Among the elements constituting this ROV main body 201, the main body frame 801 is made up of a plurality of plate-shaped bodies and forms a rectangular parallelepiped-shaped external outline. This main body frame 801 corresponds to a housing.
Underwater camera 802 is a visible light image sensor. This underwater camera 802 is housed in a cylindrical case 805 housed in the main body frame 801. This underwater camera 802 faces the front of the ROV main body 201.
　４台の水中ライト８０３は、ＲＯＶ本体２０１の前方を照らせるようにＲＯＶ本体２０１の前側に設置されている。
　７台の推進器８０４は、本体フレーム８０１の各所に設置されており、ＲＯＶ本体２０１の３次元方向への移動を可能にする。
　ＲＯＶ本体２０１は、以上説明した構成要素以外にも、ＧＰＳ受信機、電子コンパス、深度センサ、ソナー、マニピュレータ、位置計測手段（例えば、ＵＳＢＬ（Ultra Short Base Line）方式測位装置）等の機器を搭載可能である。 The four underwater lights 803 are installed on the front side of the ROV main body 201 so as to illuminate the front of the ROV main body 201.
The seven propellers 804 are installed at various locations on the main body frame 801, and enable movement of the ROV main body 201 in three-dimensional directions.
In addition to the components described above, the ROV main body 201 is equipped with devices such as a GPS receiver, an electronic compass, a depth sensor, a sonar, a manipulator, and a position measurement means (for example, a USB (Ultra Short Base Line) positioning device). It is possible.
　次に、高圧洗浄ユニット２０２について説明する。
　図１４～図１６は、高圧洗浄ユニット２０２の例を示す。図１４は斜視図であり、図１５は平面図であり、図１６は側面図である。
　これらの図に示す高圧洗浄ユニット２０２は、フレーム１４０１、高圧洗浄ノズル１４０２および高圧ホース１４０３を備える。 Next, the high pressure cleaning unit 202 will be explained.
14 to 16 show examples of the high pressure cleaning unit 202. FIG. 14 is a perspective view, FIG. 15 is a plan view, and FIG. 16 is a side view.
The high-pressure cleaning unit 202 shown in these figures includes a frame 1401, a high-pressure cleaning nozzle 1402, and a high-pressure hose 1403.
　この高圧洗浄ユニット２０２を構成する要素のうち、フレーム１４０１は、複数の板状体からなり、梯子状の形状を有する。
　高圧洗浄ノズル１４０２は、円筒形状を有し、フレーム１４０１の前側に取り付けられている。 Among the elements constituting this high-pressure cleaning unit 202, the frame 1401 is made up of a plurality of plate-like bodies and has a ladder-like shape.
High-pressure cleaning nozzle 1402 has a cylindrical shape and is attached to the front side of frame 1401.
　この高圧洗浄ノズル１４０２は、フレーム１４０１の長手方向および短手方向に対して傾斜している。また、この高圧洗浄ノズル１４０２は、フレーム１４０１と略同一平面内で延びている。ただし、高圧洗浄ノズル１４０２は、必ずしもフレーム１４０１と略同一平面内で延びなくてもよい。高圧洗浄ノズル１４０２はフレーム１４０１に対して上下方向に傾斜してもよい。
　また、この高圧洗浄ノズル１４０２は、その先端がフレーム１４０１の前方に突出している。この高圧洗浄ノズル１４０２の先端は、図４に示すように、肉厚検査ユニット２０３の先端と突っ張り棒２０４の先端よりも後方に位置する。 This high-pressure cleaning nozzle 1402 is inclined with respect to the longitudinal and lateral directions of the frame 1401. Further, this high-pressure cleaning nozzle 1402 extends in substantially the same plane as the frame 1401. However, the high pressure cleaning nozzle 1402 does not necessarily have to extend in substantially the same plane as the frame 1401. The high-pressure cleaning nozzle 1402 may be inclined vertically with respect to the frame 1401.
Further, the tip of this high-pressure cleaning nozzle 1402 projects forward of the frame 1401. As shown in FIG. 4, the tip of this high-pressure cleaning nozzle 1402 is located behind the tip of the wall thickness inspection unit 203 and the tip of the tension rod 204.
　なお、図３に示す高圧洗浄ノズル１４０２の先端の位置は、あくまで一例である。高圧洗浄ノズル１４０２の先端の位置は、フレーム１４０１に対する高圧洗浄ノズル１４０２の固定位置を変更することで調整可能である。高圧洗浄ノズル１４０２の先端の位置は、検査対象物の形状に応じて調整される。 Note that the position of the tip of the high-pressure cleaning nozzle 1402 shown in FIG. 3 is just an example. The position of the tip of the high-pressure cleaning nozzle 1402 can be adjusted by changing the fixed position of the high-pressure cleaning nozzle 1402 with respect to the frame 1401. The position of the tip of the high-pressure cleaning nozzle 1402 is adjusted according to the shape of the object to be inspected.
　次に、高圧ホース１４０３は、その一端が高圧洗浄ノズル１４０２に接続され、その他端が高圧ポンプ（図示略）に接続されている。この高圧ホース１４０３は、高圧ポンプから送出される高圧水を高圧洗浄ノズル１４０２に供給する。高圧洗浄ノズル１４０２に供給された高圧水は当該ノズルの先端から吐出される。吐出される高圧水は、検査対象面に付着した付着物を除去するために利用される。 Next, one end of the high-pressure hose 1403 is connected to the high-pressure cleaning nozzle 1402, and the other end is connected to a high-pressure pump (not shown). This high-pressure hose 1403 supplies high-pressure water sent out from a high-pressure pump to the high-pressure cleaning nozzle 1402. The high-pressure water supplied to the high-pressure cleaning nozzle 1402 is discharged from the tip of the nozzle. The discharged high-pressure water is used to remove deposits attached to the surface to be inspected.
　次に、肉厚検査ユニット２０３について説明する。
　図１７～図２２は、肉厚検査ユニット２０３の例を示す。図１７は斜視図であり、図１８は平面図であり、図１９は側面図であり、図２０は底面図である。図２１は、後述するカバープレート１７０１と先端部１７０２の分解斜視図である。図２２は、カバープレート１７０１を取り外した状態の肉厚検査ユニット２０３の斜視図である。
　これらの図に示す肉厚検査ユニット２０３は、大略、カバープレート１７０１、先端部１７０２、ベース部１７０３および固定プレート１７０４からなる。以下、各構成要素について説明する。 Next, the wall thickness inspection unit 203 will be explained.
17 to 22 show examples of the wall thickness inspection unit 203. 17 is a perspective view, FIG. 18 is a plan view, FIG. 19 is a side view, and FIG. 20 is a bottom view. FIG. 21 is an exploded perspective view of a cover plate 1701 and a tip portion 1702, which will be described later. FIG. 22 is a perspective view of the wall thickness inspection unit 203 with the cover plate 1701 removed.
The wall thickness inspection unit 203 shown in these figures roughly consists of a cover plate 1701, a tip portion 1702, a base portion 1703, and a fixing plate 1704. Each component will be explained below.
　カバープレート１７０１は、四隅が突出した矩形の形状を有する。このカバープレート１７０１は、図２１に示すように、中央に形成された孔部２１０１と、孔部２１０１の周囲に等間隔に形成された４個の孔部２１０２を有する。孔部２１０１には、後述する水中超音波厚さ計２１０５の先端が挿入されている。
　このカバープレート１７０１は、先端部１７０２の前側に取り付けられている。 The cover plate 1701 has a rectangular shape with four protruding corners. As shown in FIG. 21, this cover plate 1701 has a hole 2101 formed in the center and four holes 2102 formed at equal intervals around the hole 2101. The tip of an underwater ultrasonic thickness gauge 2105, which will be described later, is inserted into the hole 2101.
This cover plate 1701 is attached to the front side of the tip portion 1702.
　先端部１７０２は、図２１および図２２に示すように、内側環状部２１０３、外側環状部２１０４、水中超音波厚さ計２１０５、保持部２１０６およびベース部２１０７を有する。
　これらの構成要素のうち、内側環状部２１０３は、左右方向に２つの突出部を有する環状の部材である。この内側環状部２１０３は、孔部２１０８と、内側環状部２１０３のおもて面から垂直に延びる２つの突起部２１０９とを有する。孔部２１０８には、水中超音波厚さ計２１０５の先端が挿入されている。２つの突起部２１０９は、カバープレート１７０１の孔部２１０２に挿入されている。 The tip portion 1702 has an inner annular portion 2103, an outer annular portion 2104, an underwater ultrasonic thickness gauge 2105, a holding portion 2106, and a base portion 2107, as shown in FIGS. 21 and 22.
Among these components, the inner annular portion 2103 is an annular member having two protrusions in the left-right direction. This inner annular portion 2103 has a hole 2108 and two protrusions 2109 extending perpendicularly from the front surface of the inner annular portion 2103. The tip of an underwater ultrasonic thickness gauge 2105 is inserted into the hole 2108 . Two protrusions 2109 are inserted into holes 2102 of cover plate 1701.
　外側環状部２１０４は、左右方向に延びた環状の部材である。この外側環状部２１０４は、孔部２１１０と、外側環状部２１０４のおもて面から垂直に延びる２つの突起部２１１１とを有する。孔部２１１０には、内側環状部２１０３が挿入されている。内側環状部２１０３は、孔部２１１０内において略水平面内で揺動可能なように（図２２の矢印２２０１参照）外側環状部２１０４に保持されている。内側環状部２１０３が略水平面内で揺動可能であることから、この内側環状部２１０３に嵌め込まれている水中超音波厚さ計２１０５の先端も、同様に略水平面内で揺動可能になっている。
　２つの突起部２１１１は、カバープレート１７０１の孔部２１０２に挿入されている。 The outer annular portion 2104 is an annular member extending in the left-right direction. This outer annular portion 2104 has a hole 2110 and two protrusions 2111 extending perpendicularly from the front surface of the outer annular portion 2104 . The inner annular portion 2103 is inserted into the hole 2110 . The inner annular portion 2103 is held by the outer annular portion 2104 so as to be able to swing in a substantially horizontal plane within the hole 2110 (see arrow 2201 in FIG. 22). Since the inner annular part 2103 is swingable in a substantially horizontal plane, the tip of the underwater ultrasonic thickness gauge 2105 fitted into the inner annular part 2103 is also swingable in a substantially horizontal plane. There is.
Two protrusions 2111 are inserted into holes 2102 of cover plate 1701.
　水中超音波厚さ計２１０５は、超音波エコーにより水中構造物の厚みを測定するセンサである。 The underwater ultrasonic thickness gauge 2105 is a sensor that measures the thickness of underwater structures using ultrasonic echoes.
　保持部２１０６は、前方に延びる２つの突出部を有する略コ字状の部材である。この保持部２１０６の２つの突出部の間には、外側環状部２１０４が挟み込まれている。外側環状部２１０４は、その２つの突出部の間において略垂直平面内で揺動可能なように（図２２の矢印２２０２参照）保持部２１０６に保持されている。外側環状部２１０４が略垂直平面内で揺動可能であることから、この外側環状部２１０４に内側環状部２１０３を介して嵌め込まれている水中超音波厚さ計２１０５の先端も、同様に略垂直平面内で揺動可能になっている。
　水中超音波厚さ計２１０５の先端は、上記の通り、略水平面内および略垂直平面内で揺動可能になっている。言い換えると水中超音波厚さ計２１０５の先端は、２軸周りに揺動可能なように肉厚検査ユニット２０３において保持されている。 The holding portion 2106 is a substantially U-shaped member having two protrusions extending forward. An outer annular portion 2104 is sandwiched between the two protrusions of this holding portion 2106. The outer annular portion 2104 is held by a holding portion 2106 so as to be able to swing in a substantially vertical plane between its two protrusions (see arrow 2202 in FIG. 22). Since the outer annular portion 2104 is swingable in a substantially vertical plane, the tip of the underwater ultrasonic thickness gauge 2105 fitted into the outer annular portion 2104 via the inner annular portion 2103 is also substantially vertical. It can swing within a plane.
As described above, the tip of the underwater ultrasonic thickness gauge 2105 is swingable in a substantially horizontal plane and a substantially vertical plane. In other words, the tip of the underwater ultrasonic thickness gauge 2105 is held in the wall thickness inspection unit 203 so as to be swingable around two axes.
　ベース部２１０７は、略直方体状の部材である。このベース部２１０７は、その前側のおもて面に形成された凹み部２１１２と、その前後方向に沿って形成されたシャフト挿入孔２１１３とを有する。凹み部２１１２には、保持部２１０６の後端が固定されている。シャフト挿入孔２１１３には、後述するシャフト１７０７の先端が挿入されている。
　以上が先端部１７０２についての説明である。 The base portion 2107 is a substantially rectangular parallelepiped member. The base portion 2107 has a recessed portion 2112 formed on the front surface thereof, and a shaft insertion hole 2113 formed along the front-rear direction. The rear end of the holding part 2106 is fixed to the recessed part 2112. The tip of a shaft 1707, which will be described later, is inserted into the shaft insertion hole 2113.
The above is a description of the tip portion 1702.
　次に、肉厚検査ユニット２０３のベース部１７０３について説明する。
　ベース部１７０３は、例えば図１７に示すように、おもて面に略コ字状の周壁１７０５を有する矩形の板体である。このベース部１７０３の周壁１７０５には、ベース部１７０３の前後方向に沿って形成されたシャフト挿入孔１７０６が形成されている。このシャフト挿入孔１７０６には、シャフト１７０７の後端が挿入されている。ベース部１７０３は、このシャフト１７０７を介して先端部１７０２と連結されている。
　シャフト１７０７には、コイルばね１７０９が装着されている。先端部１７０２は、このコイルばね１７０９により前方に付勢されている。 Next, the base portion 1703 of the wall thickness inspection unit 203 will be explained.
For example, as shown in FIG. 17, the base portion 1703 is a rectangular plate having a substantially U-shaped peripheral wall 1705 on the front surface. A shaft insertion hole 1706 is formed in the peripheral wall 1705 of the base portion 1703 along the front-rear direction of the base portion 1703. The rear end of a shaft 1707 is inserted into this shaft insertion hole 1706. The base portion 1703 is connected to the tip portion 1702 via this shaft 1707.
A coil spring 1709 is attached to the shaft 1707. The tip portion 1702 is urged forward by this coil spring 1709.
　ベース部１７０３は、２本のスライダ１７０８によっても先端部１７０２と連結されている。各スライダ１７０８は、その外側の面が周壁１７０５の内面に固定され、その内側の面が先端部１７０２のベース部２１０７に固定されている。先端部１７０２は、この２本のスライダ１７０８により、ベース部１７０３に対して前後方向に移動可能になっている。 The base portion 1703 is also connected to the tip portion 1702 by two sliders 1708. Each slider 1708 has its outer surface fixed to the inner surface of the peripheral wall 1705, and its inner surface fixed to the base portion 2107 of the tip portion 1702. The distal end portion 1702 is movable in the front-rear direction with respect to the base portion 1703 by these two sliders 1708.
　次に、固定プレート１７０４について説明する。
　固定プレート１７０４は、例えば図１７に示すように、左右方向に延びる略矩形状の板体である。この固定プレート１７０４のおもて面の中央には、ベース部１７０３が固定されている。この固定プレート１７０４の両端は、ＲＯＶ本体２０１の本体フレーム８０１に固定されている（図２参照）。
　以上が肉厚検査ユニット２０３についての説明である。 Next, the fixed plate 1704 will be explained.
The fixed plate 1704 is, for example, a substantially rectangular plate extending in the left-right direction, as shown in FIG. 17 . A base portion 1703 is fixed to the center of the front surface of this fixed plate 1704. Both ends of this fixing plate 1704 are fixed to the main body frame 801 of the ROV main body 201 (see FIG. 2).
The above is the description of the wall thickness inspection unit 203.
　次に、４本の突っ張り棒２０４について説明する。
　図２３は、突っ張り棒２０４の例を示す斜視図である。同図に示す突っ張り棒２０４は、大略、棒部２３０１と保持部２３０４からなる。
　これらの構成要素のうち、棒部２３０１は、その先端に先端キャップ２３０２が装着され、その後端に後端キャップ２３０３が装着されている。この棒部２３０１の先端は、検査対象物に突き当てられる。 Next, the four tension rods 204 will be explained.
FIG. 23 is a perspective view showing an example of the tension rod 204. The tension rod 204 shown in the figure roughly consists of a rod portion 2301 and a holding portion 2304.
Among these components, the rod portion 2301 has a tip cap 2302 attached to its tip and a rear end cap 2303 attached to its rear end. The tip of this rod portion 2301 is abutted against the object to be inspected.
　保持部２３０４は、略直方体状の部材である。この保持部２３０４は、前後方向に貫通する棒挿入孔２３０５を有する。この棒挿入孔２３０５には、棒部２３０１が挿入されている。棒部２３０１は保持部２３０４により、コイルばね２３０７で付勢された状態で保持される。
　保持部２３０４は、ＲＯＶ本体２０１の本体フレーム８０１に固定されている（図２参照）。 The holding portion 2304 is a substantially rectangular parallelepiped member. This holding portion 2304 has a rod insertion hole 2305 that penetrates in the front-rear direction. A rod portion 2301 is inserted into this rod insertion hole 2305. The rod portion 2301 is held by a holding portion 2304 in a state where it is biased by a coil spring 2307.
The holding portion 2304 is fixed to the main body frame 801 of the ROV main body 201 (see FIG. 2).
　棒部２３０１には、その先端と保持部２３０４の間に先端側留め具２３０６が固定されている。棒部２３０１のうち、先端側留め具２３０６と保持部２３０４の間にはコイルばね２３０７が装着されている。棒部２３０１は、このコイルばね２３０７により、保持部２３０４に対して前側に付勢されている。 A tip side fastener 2306 is fixed to the rod portion 2301 between its tip and the holding portion 2304. A coil spring 2307 is attached between the tip side fastener 2306 and the holding portion 2304 of the rod portion 2301 . The rod portion 2301 is urged forward with respect to the holding portion 2304 by the coil spring 2307.
　また棒部２３０１には、その後端と保持部２３０４の間に後端側留め具２３０８が固定されている。この後端側留め具２３０８と上述した先端側留め具２３０６により、保持部２３０４に対する棒部２３０１の前後方向の動きが規制される。これらの留め具の位置を変更することで、保持部２３０４から突出する棒部２３０１の長さを調整することができる。この棒部２３０１の長さは、検査対象物の形状に応じて調整される。
　以上が突っ張り棒２０４についての説明である。 Further, a rear end fastener 2308 is fixed to the rod portion 2301 between the rear end and the holding portion 2304 . This rear end side fastener 2308 and the above-mentioned front end side fastener 2306 restrict the movement of the rod portion 2301 in the front-rear direction relative to the holding portion 2304. By changing the positions of these fasteners, the length of the rod portion 2301 protruding from the holding portion 2304 can be adjusted. The length of this rod portion 2301 is adjusted depending on the shape of the object to be inspected.
The above is the explanation about the tension rod 204.
１－２．動作
　次に、以上説明した検査システム１００を用いた肉厚検査について説明する。図２４は、この肉厚検査の作業フロー２４００の例を示す。同図に示す作業フロー２４００は、水中の鋼管杭の肉厚検査を想定している。 1-2. Operation Next, wall thickness inspection using the inspection system 100 described above will be explained. FIG. 24 shows an example of a work flow 2400 for this wall thickness inspection. The work flow 2400 shown in the figure assumes the wall thickness inspection of a steel pipe pile underwater.
　検査者はまず、操作用端末１０２を操作して、ＲＯＶ１０１の水中カメラ８０２による撮影および録画を開始する（ステップ２４０１）。その後、検査者はＲＯＶ１０１を水中に投下する（ステップ２４０２）。 First, the inspector operates the operating terminal 102 to start photographing and recording using the underwater camera 802 of the ROV 101 (step 2401). After that, the inspector drops the ROV 101 into the water (step 2402).
　検査者は、ＲＯＶ１０１を水中に投下後、操作用端末１０２に表示される水中カメラ８０２の映像を見ながらＲＯＶ１０１を操作し、鋼管杭の被検査面までＲＯＶ１０１を移動させる（ステップ２４０３）。
　検査者は、ＲＯＶ１０１が被検査面に到着すると、水中カメラ８０２の映像をもとに、被検査面に貝や海藻が付着していないか判定する（ステップ２４０４）。この判定の結果、被検査面に貝や海藻が付着している場合には（ステップ２４０４のＹＥＳ）、検査者は付着物を除去する（ステップ２４０５）。 After dropping the ROV 101 into the water, the inspector operates the ROV 101 while viewing the image of the underwater camera 802 displayed on the operating terminal 102, and moves the ROV 101 to the surface to be inspected of the steel pipe pile (step 2403).
When the ROV 101 arrives at the surface to be inspected, the inspector determines whether shellfish or seaweed are attached to the surface to be inspected based on the image from the underwater camera 802 (step 2404). As a result of this determination, if shellfish or seaweed is attached to the surface to be inspected (YES in step 2404), the inspector removes the attached matter (step 2405).
　具体的には検査者は、操作用端末１０２を操作して、ＲＯＶ１０１の高圧洗浄ノズル１４０２から被検査面に対して高圧水を噴射させる。その際、検査者は、噴射する高圧力の反力によってＲＯＶ１０１が回転したり後退したりしないように、前進方向に推力を与えるよう推進器８０４を制御しつつ高圧水を噴射させる。 Specifically, the inspector operates the operating terminal 102 to inject high-pressure water from the high-pressure cleaning nozzle 1402 of the ROV 101 onto the surface to be inspected. At this time, the inspector injects high-pressure water while controlling the propeller 804 to provide thrust in the forward direction so that the ROV 101 does not rotate or retreat due to the reaction force of the injected high pressure.
　検査者は、一定時間、高圧水を噴射後、被検査面に貝や海藻が付着していないか再度判定する（ステップ２４０４）。この判定の結果、被検査面に依然として貝や海藻が付着している場合には（ステップ２４０４のＹＥＳ）、検査者は再度、付着物を除去する（ステップ２４０５）。一方、この判定の結果、被検査面に貝や海藻が付着していない場合には（ステップ２４０４のＮＯ）、検査者は肉厚検査を実施する（ステップ２４０６）。 After spraying high-pressure water for a certain period of time, the inspector re-determines whether shellfish or seaweed are attached to the surface to be inspected (step 2404). As a result of this determination, if shellfish or seaweed are still attached to the inspected surface (YES in step 2404), the inspector removes the attached matter again (step 2405). On the other hand, if the result of this determination is that no shellfish or seaweed is attached to the surface to be inspected (NO in step 2404), the inspector conducts a wall thickness inspection (step 2406).
　具体的には検査者は、操作用端末１０２を操作して、鋼管杭に向かってＲＯＶ１０１を前進させ、ＲＯＶ１０１の４本の突っ張り棒２０４を鋼管杭に突き当て、かつ、ＲＯＶ１０１の水中超音波厚さ計２１０５の先端を被検査面に押し当てる。その際、各突っ張り棒２０４のコイルばね２３０７は、ＲＯＶ１０１が鋼管杭に衝突することで生じる衝撃を吸収する。また、水中超音波厚さ計２１０５の後方に配置されたコイルばね１７０９も、同衝撃を吸収する。そのため、ＲＯＶ１０１が鋼管杭に衝突してバウンドしてしまうことが防止される。また、コイルばね２３０７および１７０９は、鋼管杭が揺動した場合でも、当該鋼管杭に倣ってＲＯＶ１０１を突き当てることができる。 Specifically, the inspector operates the operating terminal 102 to move the ROV 101 forward toward the steel pipe pile, butts the four tension rods 204 of the ROV 101 against the steel pipe pile, and checks the underwater ultrasonic thickness of the ROV 101. Press the tip of the gauge 2105 against the surface to be inspected. At this time, the coil springs 2307 of each tension rod 204 absorb the impact caused by the ROV 101 colliding with the steel pipe pile. Further, a coil spring 1709 placed behind the underwater ultrasonic thickness gauge 2105 also absorbs the same impact. Therefore, the ROV 101 is prevented from colliding with the steel pipe pile and bouncing. Moreover, even if the steel pipe pile swings, the coil springs 2307 and 1709 can imitate the steel pipe pile and allow the ROV 101 to abut against the steel pipe pile.
　図２５および図２６は、被検査面２５０１に水中超音波厚さ計２１０５の先端を押し当てたＲＯＶ１０１の例を示す。図２５は平面図であり、図２６は側面図である。 25 and 26 show an example of the ROV 101 in which the tip of the underwater ultrasonic thickness gauge 2105 is pressed against the surface to be inspected 2501. FIG. 25 is a plan view, and FIG. 26 is a side view.
　検査者は、被検査面に水中超音波厚さ計２１０５の先端を押し当てた後も、ＲＯＶ１０１が被検査面に対して姿勢を維持できるようにＲＯＶ１０１を前進させ続ける。このとき、ＲＯＶ１０１は４本の突っ張り棒２０４により被検査面に対して位置決めされているため、前進する力によってＲＯＶ１０１が回転したり被検査面から逸れたりすることが防止される。 Even after pressing the tip of the underwater ultrasonic thickness gauge 2105 against the surface to be inspected, the inspector continues to move the ROV 101 forward so that the ROV 101 maintains its posture with respect to the surface to be inspected. At this time, since the ROV 101 is positioned relative to the surface to be inspected by the four tension rods 204, the ROV 101 is prevented from rotating or deviating from the surface to be inspected due to the forward force.
　加えて、水中超音波厚さ計２１０５は、上述の通り、２軸周りに揺動可能になっている。そのため、ＲＯＶ１０１が被検査面に対して多少傾いたとしても、水中超音波厚さ計２１０５の先端面を被検査面に対して平行に維持することができる。このため、水中超音波厚さ計２１０５は、反射エコーを確実に検出することができる。 In addition, the underwater ultrasonic thickness gauge 2105 is capable of swinging around two axes, as described above. Therefore, even if the ROV 101 is somewhat inclined with respect to the surface to be inspected, the tip surface of the underwater ultrasonic thickness gauge 2105 can be maintained parallel to the surface to be inspected. Therefore, the underwater ultrasonic thickness gauge 2105 can reliably detect reflected echoes.
　検査者は、被検査面に水中超音波厚さ計２１０５の先端を押し当てた後、操作用端末１０２を操作して被検査面の肉厚を測定する。測定された肉厚のデータは、操作用端末１０２の記憶装置に保存される。 After pressing the tip of the underwater ultrasonic thickness meter 2105 against the surface to be inspected, the inspector operates the operation terminal 102 to measure the thickness of the surface to be inspected. The measured wall thickness data is stored in the storage device of the operation terminal 102.
　また検査者は、肉厚測定時の水中カメラ８０２の画像データを、測定データと対応付けて操作用端末１０２の記憶装置に保存する（ステップ２４０７）。ここで、画像データを測定データに関連付ける方法には、例えば、両データに同じ日時データや位置情報や識別情報（例えば、案件ＩＤ、調査ＩＤ、機材ＩＤ、作業者名など）を付すことが含まれる。
　このように測定データに画像データを関連付けることで、クライアント端末１０４の利用者は、当該測定データの生成時の被検査面の様子を容易に参照することができる。 The inspector also stores the image data of the underwater camera 802 at the time of wall thickness measurement in the storage device of the operation terminal 102 in association with the measurement data (step 2407). Here, the method of associating the image data with the measurement data includes, for example, attaching the same date and time data, location information, or identification information (for example, project ID, survey ID, equipment ID, worker name, etc.) to both data. It will be done.
By associating the image data with the measurement data in this way, the user of the client terminal 104 can easily refer to the state of the surface to be inspected at the time the measurement data was generated.
　検査者は、肉厚検査を終えると、ＲＯＶ１０１を水上に浮上させて回収する（ステップ２４０８）。検査者は、ＲＯＶ１０１を回収後、水中カメラ８０２による撮影および録画を停止する（ステップ２４０９）。 After completing the wall thickness inspection, the inspector floats the ROV 101 above the water and collects it (step 2408). After collecting the ROV 101, the inspector stops photographing and recording by the underwater camera 802 (step 2409).
　その後、検査者は、操作用端末１０２を操作して、映像データ、測定データおよび画像データ（以下、まとめて「検査データ」という。）をクラウドサーバ１０３にアップロードする（ステップ２４１０）。クラウドサーバ１０３は、アップロードされた検査データを記憶する。 Thereafter, the examiner operates the operation terminal 102 to upload video data, measurement data, and image data (hereinafter collectively referred to as "inspection data") to the cloud server 103 (step 2410). The cloud server 103 stores the uploaded test data.
　その後、検査データの閲覧を所望するクライアントは、クライアント端末１０４を操作して、クラウドサーバ１０３から検査データをダウンロードする（ステップ２４１１）。
　以上が肉厚検査の作業フロー２４００についての説明である。 Thereafter, a client who desires to view the test data operates the client terminal 104 to download the test data from the cloud server 103 (step 2411).
The above is a description of the work flow 2400 for wall thickness inspection.
　なお、上記の作業フロー２４００では、ＲＯＶ１０１を回収してから検査データをクラウドサーバ１０３にアップロードしているが、ＲＯＶ１０１を回収する前に検査データをクラウドサーバ１０３にアップロードしてもよい。
　例えば、電波が安定している状況では、ステップ２４０７と同時に又はその直後にステップ２４１０を実行し、電波が不安定な状況では、ステップ２４０９の後にステップ２４１０を実行するようにしてもよい。
　この場合、電波が安定している状況では、ＲＯＶ１０１の回収前にステップ２４１１を実行してもよい。 Note that in the above work flow 2400, the inspection data is uploaded to the cloud server 103 after collecting the ROV 101, but the inspection data may be uploaded to the cloud server 103 before collecting the ROV 101.
For example, in a situation where radio waves are stable, step 2410 may be executed simultaneously with or immediately after step 2407, and in a situation where radio waves are unstable, step 2410 may be executed after step 2409.
In this case, if the radio waves are stable, step 2411 may be executed before collecting the ROV 101.
２．第２実施例
　上記の第１実施例では、肉厚検査が手動で行われている。このような検査方法に代えて、肉厚検査を自動で行ってもよい。以下では、肉厚検査を自動で行う方法について説明する。 2. Second Embodiment In the first embodiment described above, the wall thickness inspection is performed manually. Instead of such an inspection method, the wall thickness inspection may be performed automatically. Below, a method for automatically performing wall thickness inspection will be explained.
２－１．構成
　本実施例では、肉厚検査を自動で行うために、操作用端末１０２に代えて自動制御装置２７００が使用される。
　自動制御装置２７００は、例えば、スマートフォン、タブレット、携帯電話機、携帯情報端末（ＰＤＡ）などの携帯端末（モバイル端末）でもよいし、メガネ型や腕時計型、着衣型などのウェアラブル端末でもよい。また、据置型または携帯型のコンピュータや、クラウドやネットワーク上に配置されるサーバでもよい。また、機能としてはＶＲ（仮想現実：Virtual Reality）端末、ＡＲ（拡張現実：Augmented Reality）端末、ＭＲ（複合現実：Mixed Reality）端末でもよい。あるいは、これらの複数の端末の組合せであってもよい。例えば、１台のスマートフォンと１台のウェアラブル端末との組合せが論理的に一つの端末として機能し得る。またこれら以外の情報処理端末であってもよい。 2-1. Configuration In this embodiment, an automatic control device 2700 is used in place of the operation terminal 102 in order to automatically perform a wall thickness inspection.
The automatic control device 2700 may be, for example, a portable terminal (mobile terminal) such as a smartphone, a tablet, a mobile phone, or a personal digital assistant (PDA), or may be a wearable terminal such as a glasses type, a wristwatch type, or a wearable type. Alternatively, it may be a stationary or portable computer, or a server placed on a cloud or network. In addition, the function may be a VR (Virtual Reality) terminal, an AR (Augmented Reality) terminal, or an MR (Mixed Reality) terminal. Alternatively, it may be a combination of these multiple terminals. For example, a combination of one smartphone and one wearable terminal can logically function as one terminal. Further, information processing terminals other than these may also be used.
　自動制御装置２７００は、オペレーティングシステムやアプリケーション、プログラムなどを実行するプロセッサと、ＲＡＭ（Random Access Memory）等の主記憶装置と、ＩＣカードやハードディスクドライブ、ＳＳＤ（Solid State Drive）、フラッシュメモリ等の補助記憶装置と、ネットワークカードや無線通信モジュール、モバイル通信モジュール等の通信制御部と、タッチパネルやキーボード、マウス、音声入力、カメラ部の撮像による動き検知による入力などの入力装置と、モニタやディスプレイ等の出力装置とを備える。なお、出力装置は、外部のモニタやディスプレイ、プリンタ、機器などに、出力するための情報を送信する装置や端子であってもよい。 The automatic control device 2700 includes a processor that executes an operating system, applications, programs, etc., a main storage device such as RAM (Random Access Memory), and auxiliary devices such as an IC card, hard disk drive, SSD (Solid State Drive), and flash memory. Storage devices, communication control units such as network cards, wireless communication modules, and mobile communication modules; input devices such as touch panels, keyboards, mice, voice input, and input based on motion detection using image capture by cameras; and monitors and displays, etc. and an output device. Note that the output device may be a device or terminal that transmits information to be output to an external monitor, display, printer, device, or the like.
　主記憶装置には、各種プログラムやアプリケーションなど（モジュール）が記憶されており、これらのプログラムやアプリケーションをプロセッサが実行することで全体システムの各機能要素が実現される。なお、これらの各モジュールは集積化する等によりハードウェアで実装してもよい。また、各モジュールはそれぞれ独立したプログラムやアプリケーションでもよいが、１つの統合プログラムやアプリケーションの中の一部のサブプログラムや関数などの形で実装されていてもよい。 The main storage device stores various programs, applications, etc. (modules), and when the processor executes these programs and applications, each functional element of the overall system is realized. Note that each of these modules may be implemented in hardware by integrating them or the like. Further, each module may be an independent program or application, or may be implemented as a part of a subprogram or function within one integrated program or application.
　本明細書では、各モジュールが、処理を行う主体（主語）として記載をしているが、実際には各種プログラムやアプリケーションなど（モジュール）を処理するプロセッサが処理を実行する。 In this specification, each module is described as a subject (subject) that performs processing, but in reality, a processor that processes various programs, applications, etc. (modules) executes processing.
　図２７は、自動制御装置２７００のハードウェア構成の例を示す。
　同図に示す自動制御装置２７００は、主記憶装置２７０１、補助記憶装置２７０２、プロセッサ２７０３、入力装置２７０４、出力装置２７０５および通信制御部２７０６を有する。
　これらの構成要素のうち、主記憶装置２７０１は、航行制御モジュール２７１１、撮影制御モジュール２７１２、判定モジュール２７１３、清掃制御モジュール２７１４、検査制御モジュール２７１５等のプログラムやアプリケーションを記憶する。これらのプログラムやアプリケーションをプロセッサ２７０３が実行することで、自動制御装置２７００の各機能要素が実現される。
　以下、各モジュールについて説明する。 FIG. 27 shows an example of the hardware configuration of automatic control device 2700.
The automatic control device 2700 shown in the figure includes a main storage device 2701, an auxiliary storage device 2702, a processor 2703, an input device 2704, an output device 2705, and a communication control section 2706.
Among these components, the main storage device 2701 stores programs and applications such as a navigation control module 2711, an imaging control module 2712, a determination module 2713, a cleaning control module 2714, and an inspection control module 2715. Each functional element of the automatic control device 2700 is realized by the processor 2703 executing these programs and applications.
Each module will be explained below.
　航行制御モジュール２７１１は、ＲＯＶ１０１が備える加速度センサ、ジャイロスコープ、圧力センサ等のセンサ値に基づいてＲＯＶ１０１の航行を制御する。 The navigation control module 2711 controls the navigation of the ROV 101 based on sensor values such as an acceleration sensor, a gyroscope, and a pressure sensor included in the ROV 101.
　撮影制御モジュール２７１２は、ＲＯＶ１０１の水中カメラ８０２による撮影および録画を制御する。 The photographing control module 2712 controls photographing and recording by the underwater camera 802 of the ROV 101.
　判定モジュール２７１３は、ＲＯＶ１０１の水中カメラ８０２の映像をもとに、被検査面に貝や海藻が付着していないか判定する。具体的には当該モジュールは、水中カメラ８０２の画像を付着判定モデルに入力して、被検査面に貝や海藻が付着していないか判定する。 The determination module 2713 determines whether shellfish or seaweed are attached to the surface to be inspected, based on the image of the underwater camera 802 of the ROV 101. Specifically, this module inputs the image of the underwater camera 802 into an adhesion determination model, and determines whether shellfish or seaweed is attached to the surface to be inspected.
　ここで当該モジュールが使用する付着判定モデルは、多数の教師データをニューラルネットワーク等の機械学習モデルに学習させることで生成される。ここで、機械学習モデルに学習させる教師データとは、貝や海藻が付着している被検査面の画像群（正例データ）と、貝や海藻が付着していない被検査面の画像群（負例データ）である。
　このように生成される付着判定モデルは、水中カメラ８０２の画像を入力とし、貝や海藻の付着の有無を示す情報を出力する。 The adhesion determination model used by this module is generated by having a machine learning model such as a neural network learn a large amount of teacher data. Here, the training data to be trained by the machine learning model are a group of images of the inspected surface to which shellfish and seaweed are attached (positive example data), and a group of images of the inspected surface to which shellfish and seaweed are not attached ( negative example data).
The adhesion determination model generated in this manner receives the image from the underwater camera 802 as input, and outputs information indicating whether or not shellfish or seaweed are attached.
　清掃制御モジュール２７１４は、水中カメラ８０２の映像をもとに、ＲＯＶ１０１の高圧洗浄ノズル１４０２から被検査面に対して高圧水を噴射させる。 The cleaning control module 2714 injects high-pressure water from the high-pressure cleaning nozzle 1402 of the ROV 101 onto the surface to be inspected based on the image of the underwater camera 802.
　検査制御モジュール２７１５は、肉厚検査を実行する。具体的には検査制御モジュール２７１５は、水中カメラ８０２の映像をもとに、鋼管杭に向かってＲＯＶ１０１を前進させ、ＲＯＶ１０１の４本の突っ張り棒２０４を鋼管杭に突き当て、かつ、ＲＯＶ１０１の水中超音波厚さ計２１０５の先端を被検査面に押し当てる。そして当該モジュールは、被検査面の肉厚を測定する。 The inspection control module 2715 executes a wall thickness inspection. Specifically, the inspection control module 2715 moves the ROV 101 forward toward the steel pipe pile based on the image of the underwater camera 802, hits the four tension rods 204 of the ROV 101 against the steel pipe pile, and moves the ROV 101 underwater. The tip of the ultrasonic thickness gauge 2105 is pressed against the surface to be inspected. The module then measures the wall thickness of the surface to be inspected.
　肉厚測定後、当該モジュールは、測定データを、肉厚測定時の水中カメラ８０２の画像データと関連付けて、自動制御装置２７００の補助記憶装置２７０２に保存する。ここで、測定データと画像データを関連付ける方法には、例えば、両データに同じ日時データや識別情報を付すことが含まれる。
　このように測定データに画像データを関連付けることで、クライアント端末１０４の利用者は、当該測定データの生成時の被検査面の様子を容易に参照することができる。 After measuring the wall thickness, the module stores the measurement data in the auxiliary storage device 2702 of the automatic control device 2700 in association with the image data of the underwater camera 802 at the time of measuring the wall thickness. Here, the method of associating measurement data and image data includes, for example, attaching the same date and time data or identification information to both data.
By associating the image data with the measurement data in this way, the user of the client terminal 104 can easily refer to the state of the surface to be inspected at the time the measurement data was generated.
２－２．動作
　次に、以上説明した自動制御装置２７００を用いた肉厚検査について説明する。図２８は、この肉厚検査の作業フロー２８００の例を示す。同図に示す作業フロー２８００は、水中の鋼管杭の肉厚検査を想定している。 2-2. Operation Next, wall thickness inspection using the automatic control device 2700 described above will be described. FIG. 28 shows an example of a work flow 2800 for this wall thickness inspection. The work flow 2800 shown in the figure assumes the wall thickness inspection of a steel pipe pile underwater.
　検査者はまず、被検査面の位置情報と、ＲＯＶ１０１の回収地点の位置情報を自動制御装置２７００に入力する（ステップ２８０１）。検査者は、位置情報の入力後、ＲＯＶ１０１を水中に投下し（ステップ２８０２）、検査開始指示を自動制御装置２７００に入力する（ステップ２８０３）。 The inspector first inputs the position information of the surface to be inspected and the position information of the collection point of the ROV 101 into the automatic control device 2700 (step 2801). After inputting the position information, the inspector drops the ROV 101 into the water (step 2802) and inputs an inspection start instruction to the automatic control device 2700 (step 2803).
　検査開始指示が入力されると、自動制御装置２７００の撮影制御モジュール２７１２は、ＲＯＶ１０１の水中カメラ８０２による撮影および録画を開始する（ステップ２８０４）。また自動制御装置２７００の航行制御モジュール２７１１は、鋼管杭の被検査面までＲＯＶ１０１を移動させる（ステップ２８０５）。 When the inspection start instruction is input, the photographing control module 2712 of the automatic control device 2700 starts photographing and recording by the underwater camera 802 of the ROV 101 (step 2804). Further, the navigation control module 2711 of the automatic control device 2700 moves the ROV 101 to the surface to be inspected of the steel pipe pile (step 2805).
　ＲＯＶ１０１が被検査面に到着すると、自動制御装置２７００の判定モジュール２７１３は、水中カメラ８０２の映像をもとに、被検査面に貝や海藻が付着していないか判定する（ステップ２８０６）。この判定の結果、被検査面に貝や海藻が付着している場合には（ステップ２８０６のＹＥＳ）、自動制御装置２７００の清掃制御モジュール２７１４は付着物を除去する（ステップ２８０７）。 When the ROV 101 arrives at the surface to be inspected, the determination module 2713 of the automatic control device 2700 determines whether shellfish or seaweed are attached to the surface to be inspected based on the image of the underwater camera 802 (step 2806). As a result of this determination, if shellfish or seaweed is attached to the surface to be inspected (YES in step 2806), the cleaning control module 2714 of the automatic control device 2700 removes the attached matter (step 2807).
　具体的には清掃制御モジュール２７１４は、水中カメラ８０２の映像をもとに、ＲＯＶ１０１の高圧洗浄ノズル１４０２から被検査面に対して高圧水を噴射させる。その際、当該モジュールは、噴射する高圧力の反力によってＲＯＶ１０１が回転したり後退したりしないように、前進方向に推力を与えるよう推進器８０４を制御しつつ高圧水を噴射させる。 Specifically, the cleaning control module 2714 injects high-pressure water from the high-pressure cleaning nozzle 1402 of the ROV 101 onto the surface to be inspected based on the image of the underwater camera 802. At this time, the module injects high-pressure water while controlling the propeller 804 to provide thrust in the forward direction so that the ROV 101 does not rotate or retreat due to the reaction force of the injected high-pressure.
　一定時間、高圧水を噴射後、判定モジュール２７１３は、被検査面に貝や海藻が付着していないか再度判定する（ステップ２８０６）。この判定の結果、被検査面に依然として貝や海藻が付着している場合には（ステップ２８０６のＹＥＳ）、清掃制御モジュール２７１４は再度、付着物を除去する（ステップ２８０７）。一方、この判定の結果、被検査面に貝や海藻が付着していない場合には（ステップ２８０６のＮＯ）、自動制御装置２７００の検査制御モジュール２７１５は肉厚検査を実施する（ステップ２８０８）。 After spraying high-pressure water for a certain period of time, the determination module 2713 determines again whether shellfish or seaweed are attached to the surface to be inspected (step 2806). As a result of this determination, if shellfish or seaweed are still attached to the surface to be inspected (YES at step 2806), the cleaning control module 2714 removes the attached matter again (step 2807). On the other hand, if the result of this determination is that no shellfish or seaweed is attached to the surface to be inspected (NO in step 2806), the inspection control module 2715 of the automatic control device 2700 performs a wall thickness inspection (step 2808).
　具体的には検査制御モジュール２７１５は、水中カメラ８０２の映像をもとに、鋼管杭に向かってＲＯＶ１０１を前進させ、ＲＯＶ１０１の４本の突っ張り棒２０４を鋼管杭に突き当て、かつ、ＲＯＶ１０１の水中超音波厚さ計２１０５の先端を被検査面に押し当てる。その際、各突っ張り棒２０４のコイルばね２３０７は、ＲＯＶ１０１が鋼管杭に衝突することで生じる衝撃を吸収する。また、水中超音波厚さ計２１０５の後方に配置されたコイルばね１７０９も、同衝撃を吸収する。そのため、ＲＯＶ１０１が鋼管杭に衝突してバウンドしてしまうことが防止される。 Specifically, the inspection control module 2715 moves the ROV 101 forward toward the steel pipe pile based on the image of the underwater camera 802, hits the four tension rods 204 of the ROV 101 against the steel pipe pile, and moves the ROV 101 underwater. The tip of the ultrasonic thickness gauge 2105 is pressed against the surface to be inspected. At this time, the coil springs 2307 of each tension rod 204 absorb the impact caused by the ROV 101 colliding with the steel pipe pile. Further, a coil spring 1709 placed behind the underwater ultrasonic thickness gauge 2105 also absorbs the same impact. Therefore, the ROV 101 is prevented from colliding with the steel pipe pile and bouncing.
　検査制御モジュール２７１５は、被検査面に水中超音波厚さ計２１０５の先端を押し当てた後も、ＲＯＶ１０１が被検査面に対して姿勢を維持できるようにＲＯＶ１０１を前進させ続ける。このとき、ＲＯＶ１０１は４本の突っ張り棒２０４により被検査面に対して位置決めされているため、前進する力によってＲＯＶ１０１が回転したり被検査面から逸れたりすることが防止される。 Even after pressing the tip of the underwater ultrasonic thickness gauge 2105 against the surface to be inspected, the inspection control module 2715 continues to move the ROV 101 forward so that the ROV 101 maintains its posture with respect to the surface to be inspected. At this time, since the ROV 101 is positioned relative to the surface to be inspected by the four tension rods 204, the ROV 101 is prevented from rotating or deviating from the surface to be inspected due to the forward force.
　加えて、水中超音波厚さ計２１０５は、上述の通り、２軸周りに揺動可能になっている。そのため、ＲＯＶ１０１が被検査面に対して多少傾いたとしても、水中超音波厚さ計２１０５の先端面を被検査面に対して平行に維持することができる。このため、水中超音波厚さ計２１０５は、反射エコーを確実に検出することができる。 In addition, the underwater ultrasonic thickness gauge 2105 is capable of swinging around two axes, as described above. Therefore, even if the ROV 101 is somewhat inclined with respect to the surface to be inspected, the tip surface of the underwater ultrasonic thickness gauge 2105 can be maintained parallel to the surface to be inspected. Therefore, the underwater ultrasonic thickness gauge 2105 can reliably detect reflected echoes.
　検査制御モジュール２７１５は、被検査面に水中超音波厚さ計２１０５の先端が押し当てられた後、被検査面の肉厚を測定する。そして当該モジュールは、測定データを、肉厚測定時の水中カメラ８０２の画像データと関連付けて、自動制御装置２７００の補助記憶装置２７０２に保存する（ステップ２８０９）。 The inspection control module 2715 measures the thickness of the surface to be inspected after the tip of the underwater ultrasonic thickness meter 2105 is pressed against the surface to be inspected. The module then stores the measurement data in the auxiliary storage device 2702 of the automatic control device 2700 in association with the image data of the underwater camera 802 at the time of wall thickness measurement (step 2809).
　肉厚検査の終了後、航行制御モジュール２７１１は、ＲＯＶ１０１を所定の回収地点に移動させる（ステップ２８１０）。ＲＯＶ１０１が所定の回収地点に到着すると、撮影制御モジュール２７１２は、ＲＯＶ１０１の水中カメラ８０２による撮影および録画を停止する（ステップ２８１１）。検査者は、所定の回収地点に帰還したＲＯＶ１０１を回収する（ステップ２８１２）。 After completing the wall thickness inspection, the navigation control module 2711 moves the ROV 101 to a predetermined collection point (step 2810). When the ROV 101 arrives at the predetermined collection point, the photographing control module 2712 stops photographing and recording by the underwater camera 802 of the ROV 101 (step 2811). The inspector collects the ROV 101 that has returned to the predetermined collection point (step 2812).
　その後、検査者は、操作用端末１０２を操作して、映像データ、測定データおよび画像データ（以下、まとめて「検査データ」という。）をクラウドサーバ１０３にアップロードする（ステップ２８１３）。クラウドサーバ１０３は、アップロードされた検査データを記憶する。 Thereafter, the examiner operates the operating terminal 102 to upload video data, measurement data, and image data (hereinafter collectively referred to as "inspection data") to the cloud server 103 (step 2813). The cloud server 103 stores the uploaded test data.
　その後、検査データの閲覧を所望するクライアントは、クライアント端末１０４を操作して、クラウドサーバ１０３から検査データをダウンロードする（ステップ２８１４）。
　以上が肉厚検査の作業フロー２８００についての説明である。 Thereafter, the client who desires to view the test data operates the client terminal 104 to download the test data from the cloud server 103 (step 2814).
The above is a description of the work flow 2800 for wall thickness inspection.
３．変形例
　上記の実施例は以下のように変形してもよい。なお、以下の変形は組み合わせて採用してもよい。 3. Modifications The above embodiment may be modified as follows. Note that the following modifications may be employed in combination.
（１）上記の第１および第２実施例においてＲＯＶ１０１は、付着物除去手段として高圧洗浄ユニット２０２を有している。しかし、この高圧洗浄ユニット２０２は付着物除去手段の一例にすぎない。ＲＯＶ１０１は、高圧洗浄ユニット２０２に代えて、例えば、電動回転ブラシを有してもよい。 (1) In the first and second embodiments described above, the ROV 101 includes a high-pressure cleaning unit 202 as a means for removing deposits. However, this high-pressure cleaning unit 202 is only an example of deposit removal means. The ROV 101 may include, for example, an electric rotating brush instead of the high-pressure cleaning unit 202.
（２）上記の第２実施例では、自動制御装置２７００がＲＯＶ１０１を制御している。しかし、この制御方法に代えて、ＲＯＶ１０１自体に自機の動作を制御させてもよい。言い換えると、ＲＯＶ１０１をＡＵＶ（Autonomous Underwater Vehicle）として動作させてもよい。その場合、自動制御装置２７００が備える各装置および各機能（図２７参照）は、ＲＯＶ１０１に実装されることになる。 (2) In the second embodiment described above, the automatic control device 2700 controls the ROV 101. However, instead of this control method, the ROV 101 itself may control its own operation. In other words, the ROV 101 may be operated as an AUV (Autonomous Underwater Vehicle). In that case, each device and each function (see FIG. 27) included in the automatic control device 2700 will be implemented in the ROV 101.
（３）上記の第１実施例では、１台のＲＯＶ１０１で肉厚検査を実施している。しかし、この検査方法に代えて、２台のＲＯＶ１０１を用いて上記の肉厚検査を実施してもよい。具体的には、上記の肉厚検査の洗浄工程と検査工程を２台のＲＯＶ１０１で分担して行ってもよい。 (3) In the first embodiment described above, the wall thickness inspection is performed using one ROV 101. However, instead of this inspection method, the above wall thickness inspection may be performed using two ROVs 101. Specifically, the cleaning process and the inspection process for the above-mentioned wall thickness inspection may be shared between two ROVs 101.
　その場合、洗浄工程を担当させるＲＯＶ１０１からは、肉厚検査ユニット２０３を省略してもよい。一方、検査工程を担当させるＲＯＶ１０１からは、高圧洗浄ユニット２０２を省略してもよい。
　肉厚検査の作業の進め方としては、まず１台目のＲＯＶ１０１で、被検査面の付着物を除去する。次に、２台目のＲＯＶ１０１で、被検査面の肉厚検査を実施する。
　以上説明した検査方法でも、肉厚検査の実施が可能である。 In that case, the wall thickness inspection unit 203 may be omitted from the ROV 101 that is responsible for the cleaning process. On the other hand, the high-pressure cleaning unit 202 may be omitted from the ROV 101 that is in charge of the inspection process.
To proceed with the wall thickness inspection, first, the first ROV 101 removes deposits from the surface to be inspected. Next, the second ROV 101 performs a thickness inspection of the surface to be inspected.
The wall thickness inspection can also be performed using the inspection method described above.
（４）上記の第１および第２実施例では、鋼管杭の肉厚検査を想定している。しかし、肉厚検査の対象は鋼管杭に限られない。例えば、鋼管杭に代えて、鋼矢板、船体、海底配管などの水中構造物を肉厚検査の対象としてもよい。 (4) In the first and second embodiments described above, the wall thickness inspection of steel pipe piles is assumed. However, the objects of wall thickness inspection are not limited to steel pipe piles. For example, instead of steel pipe piles, underwater structures such as steel sheet piles, ship hulls, and submarine piping may be subject to wall thickness inspection.
（５）上記の第１および第２実施例において、水中カメラ８０２は可視光イメージセンサである。この水中カメラ８０２に代えて又は加えて、光または音波の反射速度を利用して検査対象物の画像を生成するセンサを使用してもよい。具体的には、Time-of-Flightカメラ、LiDARスキャナ、マルチビームソナー、ドップラー速度計、赤外線カメラ、音響カメラなどを使用してもよい。これらのセンサを使用することで、透明度が低い水中においても検査対象物を鮮明に表す画像を生成することができる。 (5) In the first and second embodiments described above, the underwater camera 802 is a visible light image sensor. Instead of or in addition to this underwater camera 802, a sensor may be used that generates an image of the inspection object using the reflection speed of light or sound waves. Specifically, a Time-of-Flight camera, LiDAR scanner, multi-beam sonar, Doppler velocimeter, infrared camera, acoustic camera, etc. may be used. By using these sensors, it is possible to generate images that clearly represent the object to be inspected even in water with low transparency.
（６）上記の第１および第２実施例では、検査項目として肉厚検査を想定している。しかし、検査項目は肉厚検査に限られない。例えば、肉厚検査に代えて、犠牲電極の検査を実施してもよい。具体的には、犠牲電極をＲＯＶ１０１で撮影して、撮影画像をもとに検査者が犠牲電極の腐食の程度を判定してもよい。
　その場合、犠牲電極の撮影画像は、ＲＯＶ１０１の水中カメラ８０２で撮影してもよいし、その他のセンサ（例えば、Time-of-Flightカメラ、LiDARスキャナ、マルチビームソナー、ドップラー速度計など）で生成してもよい。 (6) In the first and second embodiments described above, a wall thickness inspection is assumed as an inspection item. However, the inspection items are not limited to wall thickness inspection. For example, a sacrificial electrode test may be performed instead of a wall thickness test. Specifically, the sacrificial electrode may be photographed by the ROV 101, and the inspector may determine the degree of corrosion of the sacrificial electrode based on the photographed image.
In that case, the captured image of the sacrificial electrode may be captured by the underwater camera 802 of the ROV 101, or may be generated by other sensors (e.g., Time-of-Flight camera, LiDAR scanner, multibeam sonar, Doppler velocimeter, etc.) You may.
（７）上記の第１および第２実施例において、突っ張り棒２０４の数は４本に限られない。突っ張り棒２０４の数は、検査対象物の形状に応じて適宜変更してよい。 (7) In the first and second embodiments described above, the number of tension rods 204 is not limited to four. The number of tension rods 204 may be changed as appropriate depending on the shape of the object to be inspected.
（８）上記の第１および第２実施例では、ＲＯＶ１０１が鋼管杭に衝突することで生じる衝撃を吸収するための部材としてコイルばね１７０９および２３０７が使用されている。しかし、このコイルばね１７０９および２３０７に代えて、ゴム等のその他の弾性部材を使用してもよい。 (8) In the first and second embodiments described above, the coil springs 1709 and 2307 are used as members for absorbing the impact caused by the ROV 101 colliding with the steel pipe pile. However, instead of the coil springs 1709 and 2307, other elastic members such as rubber may be used.
（９）なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 (9) Note that the present invention is not limited to the embodiments described above, and includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add, delete, or replace a part of the configuration of each embodiment with other configurations.
　また、上記の各構成、機能、処理部、処理手段等は、それらの一部又は全部を、例えば集積回路で設計する等によりハードウェアで実現してもよい。また、上記の各構成、機能等は、プロセッサがそれぞれの機能を実現するプログラムを解釈し、実行することによりソフトウェアで実現してもよい。各機能を実現するプログラム、テーブル、ファイル等の情報は、メモリや、ハードディスク、ＳＳＤ（Solid State Drive）等の記録装置、または、ＩＣカード、ＳＤカード、ＤＶＤ等の記録媒体に置くことができる。 Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized by hardware, for example, by designing an integrated circuit. Furthermore, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, files, etc. that realize each function can be stored in a memory, a recording device such as a hard disk, an SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.
　また、制御線や情報線は説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。
　なお、上述の実施例は少なくとも特許請求の範囲に記載の構成を開示している。 Further, the control lines and information lines are shown to be necessary for explanation purposes, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.
Note that the above-described embodiments disclose at least the configuration described in the claims.
１００…検査システム、１０１…ＲＯＶ、１０２…操作用端末、１０３…クラウドサーバ、１０４…クライアント端末、１０５…鋼管杭、１０６…通信ケーブル、１０７…通信ネットワーク、２０１…ＲＯＶ本体、２０２…高圧洗浄ユニット、２０３…肉厚検査ユニット、２０４…突っ張り棒、８０１…本体フレーム、８０２…水中カメラ、８０３…水中ライト、８０４…推進器、１４０１…フレーム、１４０２…高圧洗浄ノズル、１４０３…高圧ホース、１７０１…カバープレート、１７０２…先端部、１７０３…ベース部、１７０４…固定プレート、１７０５…周壁、１７０６…シャフト挿入孔、１７０７…シャフト、１７０８…スライダ、１７０９…コイルばね、２１０１…孔部、２１０２…孔部、２１０３…内側環状部、２１０４…外側環状部、２１０５…水中超音波厚さ計、２１０６…保持部、２１０７…ベース部、２１０８…孔部、２１０９…突起部、２１１０…孔部、２１１１…突起部、２１１２…凹み部、２１１３…シャフト挿入孔、２３０１…棒部、２３０２…先端キャップ、２３０３…後端キャップ、２３０４…保持部、２３０５…棒挿入孔、２３０６…先端側留め具、２３０７…コイルばね、２３０８…後端側留め具、２７００…自動制御装置、２７０１…主記憶装置、２７０２…補助記憶装置、２７０３…プロセッサ、２７０４…入力装置、２７０５…出力装置、２７０６…通信制御部、２７１１…航行制御モジュール、２７１２…撮影制御モジュール、２７１３…判定モジュール、２７１４…清掃制御モジュール、２７１５…検査制御モジュール 100... Inspection system, 101... ROV, 102... Operation terminal, 103... Cloud server, 104... Client terminal, 105... Steel pipe pile, 106... Communication cable, 107... Communication network, 201... ROV main body, 202... High pressure cleaning unit , 203... Thickness inspection unit, 204... Tension rod, 801... Body frame, 802... Underwater camera, 803... Underwater light, 804... Propeller, 1401... Frame, 1402... High pressure cleaning nozzle, 1403... High pressure hose, 1701... Cover plate, 1702...Tip, 1703...Base, 1704...Fixing plate, 1705...Peripheral wall, 1706...Shaft insertion hole, 1707...Shaft, 1708...Slider, 1709...Coil spring, 2101...Hole, 2102...Hole , 2103...Inner annular part, 2104...Outer annular part, 2105...Underwater ultrasonic thickness gauge, 2106...Holding part, 2107...Base part, 2108...Hole part, 2109...Protrusion part, 2110...Hole part, 2111...Protrusion part part, 2112... recessed part, 2113... shaft insertion hole, 2301... rod part, 2302... tip cap, 2303... rear end cap, 2304... holding part, 2305... rod insertion hole, 2306... tip side fastener, 2307... coil Spring, 2308... Rear end side fastener, 2700... Automatic control device, 2701... Main storage device, 2702... Auxiliary storage device, 2703... Processor, 2704... Input device, 2705... Output device, 2706... Communication control unit, 2711... Navigation control module, 2712... Photography control module, 2713... Judgment module, 2714... Cleaning control module, 2715... Inspection control module

Claims (14)

  1. 　付着物除去手段を備えた第１の無人潜水機を用いて、検査対象物に付着した付着物を除去するステップと、
    　第１のセンサをさらに備えた前記第１の無人潜水機または前記第１のセンサを備えた第２の無人潜水機を用いて、前記検査対象物の厚みを測定するか、または前記検査対象物の画像を生成するステップと
    　を有する検査方法。     removing the deposits attached to the inspection object using a first unmanned underwater vehicle equipped with a deposit removal means;
    The thickness of the object to be inspected is measured using the first unmanned underwater vehicle further including a first sensor or the second unmanned underwater vehicle including the first sensor, or the thickness of the object to be inspected is measured. An inspection method comprising the steps of: generating an image of .
  2. 　前記第１のセンサは、前記検査対象物の画像を生成するためのセンサであり、
    　前記第１のセンサにより生成された画像データに基づいて、前記検査対象物から前記付着物が除去されたか否かを判定するステップと、
    　前記検査対象物から前記付着物が除去されていない場合に、前記第１の無人潜水機を用いて前記検査対象物から前記付着物を除去するステップと
    　をさらに有することを特徴とする、請求項１に記載の検査方法。     The first sensor is a sensor for generating an image of the inspection object,
    Determining whether the deposit has been removed from the inspection object based on image data generated by the first sensor;
    Claim further comprising the step of, if the deposit has not been removed from the inspection target, using the first unmanned underwater vehicle to remove the deposit from the inspection target. The inspection method described in 1.
  3. 　前記第１のセンサは、光または音波の反射時間を利用して前記検査対象物の画像を生成するセンサであることを特徴とする、請求項２に記載の検査方法。 3. The inspection method according to claim 2, wherein the first sensor is a sensor that generates an image of the inspection object using reflection time of light or sound waves.
  4. 　前記第１のセンサは、前記検査対象物の厚みを測定するためのセンサであり、
    　前記第１の無人潜水機または前記第２の無人潜水機は、前記検査対象物の画像を生成するための第２のセンサをさらに備え、
    　前記第１のセンサにより測定された測定データと、前記第２のセンサにより生成された画像データを関連付けて記憶手段に保存するステップをさらに備えることを特徴とする、請求項１に記載の検査方法。     The first sensor is a sensor for measuring the thickness of the inspection target,
    The first unmanned underwater vehicle or the second unmanned underwater vehicle further includes a second sensor for generating an image of the inspection target,
    The inspection method according to claim 1, further comprising the step of associating the measurement data measured by the first sensor with the image data generated by the second sensor and storing them in a storage means. .
  5. 　検査対象物に付着した付着物を除去するための付着物除去手段と、
    　前記検査対象物の厚みを測定するか、または前記検査対象物の画像を生成するための第１のセンサと
    　を備える無人潜水機。     A deposit removal means for removing deposits attached to an object to be inspected;
    and a first sensor for measuring the thickness of the object to be inspected or generating an image of the object to be inspected.
  6. 　前記第１のセンサは、前記検査対象物の厚みを測定するためのセンサであり、
    　前記検査対象物の画像を生成するための第２のセンサと、
    　前記第１のセンサにより測定された測定データと、前記第２のセンサにより生成された画像データを関連付けて記憶手段に保存するための保存手段と
    　をさらに備えることを特徴とする、請求項５に記載の無人潜水機。     The first sensor is a sensor for measuring the thickness of the inspection target,
    a second sensor for generating an image of the inspection object;
    6. The apparatus according to claim 5, further comprising a storage means for storing measurement data measured by the first sensor and image data generated by the second sensor in a storage means in association with each other. The unmanned underwater vehicle described.
  7. 　前記第１のセンサは、前記検査対象物の厚みを測定するためのセンサであり、
    　筐体と、
    　前記筐体の前方に突出するように前記筐体に取り付けられ、前記検査対象物に突き当てられる一対の突き当て手段と、
    　前記筐体に取り付けられた保持手段であって、前記筐体の前方に、弾性部材で付勢された状態で前記第１のセンサを保持する保持手段と
    　をさらに備えることを特徴とする、請求項５に記載の無人潜水機。     The first sensor is a sensor for measuring the thickness of the inspection target,
    A casing and
    a pair of abutting means attached to the casing so as to protrude forward of the casing and abutting against the object to be inspected;
    A holding means attached to the casing, the holding means holding the first sensor in a state in which it is biased by an elastic member in front of the casing. The unmanned underwater vehicle described in item 5.
  8. 　前記保持手段は、前記第１のセンサを２軸周りに揺動可能なように保持することを特徴とする、請求項７に記載の無人潜水機。 The unmanned underwater vehicle according to claim 7, wherein the holding means holds the first sensor so as to be able to swing around two axes.
  9. 　前記一対の突き当て手段は、それぞれ、
    　前記検査対象物に突き当てられる棒部と、
    　前記棒部を、弾性部材で付勢された状態で保持する保持部と
    　を備えることを特徴とする、請求項７に記載の無人潜水機。     The pair of abutting means each include:
    a rod portion that abuts against the inspection target;
    The unmanned underwater vehicle according to claim 7, further comprising: a holding part that holds the rod part in a biased state with an elastic member.
  10. 　検査対象物に付着した付着物を除去するための付着物除去手段と、
    　前記検査対象物の画像を生成するための第１のセンサと
    　を備える無人潜水機と、
    　前記第１のセンサにより生成された画像データに基づいて、前記検査対象物から前記付着物が除去されたか否かを判定する判定手段と、
    　前記検査対象物から前記付着物が除去されていない場合に、前記付着物除去手段を制御して前記検査対象物から前記付着物を除去する制御手段と
    　を備える検査システム。     A deposit removal means for removing deposits attached to an object to be inspected;
    a first sensor for generating an image of the inspection object;
    determination means for determining whether or not the deposit has been removed from the inspection object based on image data generated by the first sensor;
    An inspection system comprising: control means for controlling the deposit removing means to remove the deposit from the inspection target when the deposit has not been removed from the test target.
  11. 　前記第１のセンサは、光または音波の反射時間を利用して前記検査対象物の画像を生成するセンサであることを特徴とする、請求項１０に記載の検査システム。 11. The inspection system according to claim 10, wherein the first sensor is a sensor that generates an image of the inspection object using reflection time of light or sound waves.
  12. 　無人潜水機に取り付けられる検査ユニットであって、
    　前記無人潜水機の筐体に取り付けられる、検査対象物に付着した付着物を除去するための付着物除去手段と、
    　前記筐体の前方に突出するように前記筐体に取り付けられ、前記検査対象物に突き当てられる一対の突き当て手段と、
    　前記検査対象物の厚みを測定するための第１のセンサと、
    　前記筐体に取り付けられる保持手段であって、前記筐体の前方に、弾性部材で付勢された状態で前記第１のセンサを保持する保持手段と
    　を備える検査ユニット。     An inspection unit attached to an unmanned underwater vehicle,
    A deposit removing means attached to the casing of the unmanned underwater vehicle for removing deposits attached to the object to be inspected;
    a pair of abutting means attached to the casing so as to protrude forward of the casing and abutting against the object to be inspected;
    a first sensor for measuring the thickness of the inspection target;
    An inspection unit comprising: a holding means attached to the casing, the holding means holding the first sensor in a state in which it is biased by an elastic member in front of the casing.
  13. 　前記保持手段は、前記第１のセンサを２軸周りに揺動可能なように保持することを特徴とする、請求項１２に記載の検査ユニット。 13. The inspection unit according to claim 12, wherein the holding means holds the first sensor so as to be able to swing around two axes.
  14. 　前記一対の突き当て手段は、それぞれ、
    　前記検査対象物に突き当てられる棒部と、
    　前記棒部を、弾性部材で付勢された状態で保持する保持部と
    　を備えることを特徴とする、請求項１２に記載の検査ユニット。

          The pair of abutting means each include:
    a rod portion that abuts against the inspection target;
    The inspection unit according to claim 12, further comprising: a holding section that holds the rod section in a biased state with an elastic member.
PCT/JP2023/025073 2022-08-29 2023-07-06 Inspection method using unmanned underwater vehicle WO2024048072A1 (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2012042449A (en) * 2010-07-20 2012-03-01 Univ Of Electro-Communications Ultrasonic wave propagation time measuring method and ultrasonic wave propagation time measuring apparatus
JP2019531477A (en) * 2016-09-15 2019-10-31 サウジ アラビアン オイル カンパニー Integrated ultrasonic test and cathodic protection test probe
JP2019533599A (en) * 2016-09-20 2019-11-21 サウジ アラビアン オイル カンパニー Underwater boat and inspection method
JP2020105726A (en) * 2018-12-26 2020-07-09 阪神高速技術株式会社 Waterside structure inspection system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012042449A (en) * 2010-07-20 2012-03-01 Univ Of Electro-Communications Ultrasonic wave propagation time measuring method and ultrasonic wave propagation time measuring apparatus
JP2019531477A (en) * 2016-09-15 2019-10-31 サウジ アラビアン オイル カンパニー Integrated ultrasonic test and cathodic protection test probe
JP2019533599A (en) * 2016-09-20 2019-11-21 サウジ アラビアン オイル カンパニー Underwater boat and inspection method
JP2020105726A (en) * 2018-12-26 2020-07-09 阪神高速技術株式会社 Waterside structure inspection system

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