WO2024048072A1 - Procédé d'inspection faisant appel à un véhicule sous-marin sans pilote - Google Patents

Procédé d'inspection faisant appel à un véhicule sous-marin sans pilote 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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WIPO (PCT)
Prior art keywords
sensor
inspection
inspected
rov
underwater vehicle
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PCT/JP2023/025073
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English (en)
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/fr

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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...

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Abstract

L'invention concerne un mécanisme pour supprimer une diminution de la précision d'inspection provoquée par un objet fixé à une cible d'inspection.　L'invention concerne un procédé d'inspection comprenant une étape d'utilisation d'un premier véhicule sous-marin sans pilote comprenant un moyen de retrait d'objet fixé pour retirer un objet fixé à une cible d'inspection et une étape d'utilisation du premier véhicule sous-marin sans pilote comprenant en outre un premier capteur ou un second véhicule sous-marin sans pilote comprenant le premier capteur pour mesurer l'épaisseur de la cible d'inspection ou pour générer une image de la cible d'inspection.
PCT/JP2023/025073 2022-08-29 2023-07-06 Procédé d'inspection faisant appel à un véhicule sous-marin sans pilote WO2024048072A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012042449A (ja) * 2010-07-20 2012-03-01 Univ Of Electro-Communications 超音波伝搬時間計測方法及び超音波伝搬時間計測装置
JP2019531477A (ja) * 2016-09-15 2019-10-31 サウジ アラビアン オイル カンパニー 一体式超音波試験及び陰極防食測定プローブ
JP2019533599A (ja) * 2016-09-20 2019-11-21 サウジ アラビアン オイル カンパニー 水中艇及び検査方法
JP2020105726A (ja) * 2018-12-26 2020-07-09 阪神高速技術株式会社 水際構造物点検システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012042449A (ja) * 2010-07-20 2012-03-01 Univ Of Electro-Communications 超音波伝搬時間計測方法及び超音波伝搬時間計測装置
JP2019531477A (ja) * 2016-09-15 2019-10-31 サウジ アラビアン オイル カンパニー 一体式超音波試験及び陰極防食測定プローブ
JP2019533599A (ja) * 2016-09-20 2019-11-21 サウジ アラビアン オイル カンパニー 水中艇及び検査方法
JP2020105726A (ja) * 2018-12-26 2020-07-09 阪神高速技術株式会社 水際構造物点検システム

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