JPH04203010A - Inspection of culvert by underwater robot - Google Patents
Inspection of culvert by underwater robotInfo
- Publication number
- JPH04203010A JPH04203010A JP2330646A JP33064690A JPH04203010A JP H04203010 A JPH04203010 A JP H04203010A JP 2330646 A JP2330646 A JP 2330646A JP 33064690 A JP33064690 A JP 33064690A JP H04203010 A JPH04203010 A JP H04203010A
- Authority
- JP
- Japan
- Prior art keywords
- cable
- opening
- culvert
- underwater robot
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000011144 upstream manufacturing Methods 0.000 claims abstract description 13
- 238000004804 winding Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Sewage (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野］
本発明は水中ロボットによる暗渠的点検方法、より詳し
くは、発電所の取・放水路等であって、かつ上流側に小
さい開口を有し、下流側に太きな開口を有し、かつ高速
水流を有する暗渠内を水中ロボットにより点検する場合
に好適な水中ロボットによる暗渠的点検方法に関するも
のである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for inspecting underground conduits using an underwater robot, and more specifically, to inspection methods for underground conduits using underwater robots. This invention relates to a method for inspecting a culvert using an underwater robot, which is suitable for inspecting the inside of a culvert that has a wide opening on the downstream side and a high-speed water flow.
近来、発電所の取・放水路等の暗渠内を点検する場合、
水中ロボットを用いることが実施されている。この水中
ロボットは通常自航式であり、テレビカメラを搭載し、
このテレビカメラからの映像をケーブルを経由して地上
のデイスプレィ上に描写するようになっている。ところ
で、この水中ロボットは小型のものでケーブルを経由し
て電力が供給される関係で航行速度は低く、数ノット程
度であり、暗渠内を流れる流速がそれ以上ある場合は押
し流されて利用できなくなる。Recently, when inspecting the inside of culverts such as intake and discharge channels of power plants,
The use of underwater robots is being implemented. This underwater robot is usually self-propelled, equipped with a television camera,
Images from this television camera are displayed on a display on the ground via a cable. By the way, this underwater robot is small and the power is supplied via a cable, so the navigation speed is low, about a few knots, and if the current flowing inside the culvert is faster than that, it will be swept away and cannot be used. .
このような事情で、水中ロボットの自航速度以上の流速
がある暗渠内を点検する場合、第４図に示す曳航方式が
採用されでいる。即ち、暗渠１に設けられたマンホール
の如き開口２に支柱３を設け、この支柱３に沿って水中
ロボット４を収容するゲージ５を昇降させるとともに水
中ロボット４にはケーブル６の先端を接続し、かつ、こ
のケーブル６をケーブルウィンチ７により巻込み、又は
繰出すことにより暗渠ｌ内を矢印Ａ−Ａ”方向へ移動さ
せるようにしたものである。Under these circumstances, when inspecting the inside of a culvert where the flow velocity is higher than the self-propelled speed of the underwater robot, the towing method shown in FIG. 4 is adopted. That is, a support 3 is provided in an opening 2 such as a manhole provided in a culvert 1, a gauge 5 housing an underwater robot 4 is raised and lowered along the support 3, and the tip of a cable 6 is connected to the underwater robot 4. The cable 6 is wound in or let out by a cable winch 7 to move the cable 6 in the direction of the arrow A-A'' within the culvert l.
ところで前記したような曳航方式には問題がある。即ち
、マンホールの如き開口２はその間口が通常１ｍ程度で
あるのに対して水中ロボット４は長さ１．８ｍ程度ある
ため、水中ロボット４を水平状態に保持したまま暗渠１
内に挿入することができない。かかることから水中ロボ
ット４を垂直状態に暗渠１内に挿入し、暗渠１内で水平
方向に姿勢を変更することも考えられるが、水中ロボッ
ト４の重量は１００ｋｇ程度とかなりな重量を有するた
め、その挿入及び反転装置に多大の費用を要することと
なる。However, there are problems with the above-mentioned towing method. That is, the opening 2 such as a manhole usually has a width of about 1 m, whereas the underwater robot 4 has a length of about 1.8 m.
cannot be inserted inside. For this reason, it is conceivable to insert the underwater robot 4 vertically into the culvert 1 and change its posture horizontally within the culvert 1, but since the underwater robot 4 has a considerable weight of about 100 kg, The insertion and reversal equipment requires considerable expense.
また、一般には暗渠１に水中ロボット４を搬入すること
ができるマンホールの如き開口２を有しない場合があり
、このような場合には点検が実質的にできなくなる場合
があった。Further, in general, there are cases in which the culvert 1 does not have an opening 2 such as a manhole through which the underwater robot 4 can be brought in, and in such a case, inspection may become substantially impossible.
〔課題を解決するための手段］
本発明は、前記したような従来の問題点を解決するため
になされたものであって、
（１）ケーブルの先端に曳航体を着脱可能に取付け、該
曳航体を上流側の開口から暗渠内に搬入する第一の工程
と、
（２）前記曳航体を水流により流下させて下流側の開口
から引上げて該ケーブルより取外した後、水中ロボット
を該ケーブルの先端に接続する第二の工程と、
（３）水中ロボットを下流側の開口より搬入する第三の
工程と、
（４）前記ケーブルを巻込んで該水中ロボットにより暗
渠内を点検しながら前記上流側の開口部近傍まで曳航す
る第四の工程とからなる水中ロボットによる暗渠内の点
検方法。[Means for Solving the Problems] The present invention has been made to solve the conventional problems as described above, and includes: (1) A towing body is removably attached to the tip of a cable, and the towing body is detachably attached to the tip of a cable. (2) After the towed body is flown down by the water current and pulled up from the downstream opening and removed from the cable, the underwater robot is moved into the culvert through the upstream opening. (3) a third step of transporting the underwater robot through the opening on the downstream side; (4) winding up the cable and inspecting the inside of the culvert with the underwater robot; A method for inspecting the inside of a culvert using an underwater robot, which includes a fourth step of towing the robot to the vicinity of the side opening.
一般には、上流側の開口（第１の開口）は水中ロボット
を搬入するには不十分な大きさであり、下流側の開口（
第２の開口）は水中ロボ。Generally, the upstream opening (first opening) is not large enough to carry the underwater robot, and the downstream opening (
The second opening) is an underwater robot.
トを搬入することができる面積を有している。The area is large enough to carry items.
そして暗渠内を流れる水流は自航式水中ロボットの推進
能力を越えた早さを有しており、水流に逆らって移動す
ることは不可能である。The water flowing inside the culvert is faster than the self-propelled underwater robot's propulsion ability, making it impossible to move against the water flow.
上流側の開口（水中ロボットの搬入が困難な開口面積を
有する第１の開口）より下流側の大きな開口（水中ロボ
ットを搬入することができる程度の開口面積を有する第
２の開口）に向けて曳航体を連結したケーブルを流下さ
せ、大きな開口より曳航体を引上げ、ケーブルの先端に
水中ロボットを接続し、この水中ロボットを暗渠中の水
中に搬入する。そしてケーブルを操作して水中ロボット
を水流に逆らって移動させながら暗渠内壁面等を点検す
ることができる。From the upstream opening (the first opening that has an opening area that makes it difficult to carry the underwater robot) toward the larger downstream opening (the second opening that has an opening area that is large enough to allow the underwater robot to be carried in). A cable connecting the towing body is flown down, the towing body is pulled up through a large opening, an underwater robot is connected to the tip of the cable, and the underwater robot is carried into the water in the culvert. Then, by operating the cable, the underwater robot can be moved against the water flow while inspecting the inner wall surface of the culvert.
上流側に小さな開口しかない暗渠、あるいは上流側に開
口がない場合であっても、曳航体を送り込むことができ
る程度の開口を形成することができれば、暗渠内を水中
ロボットのテレビカメラ等を利用して点検することがで
きる。Even if a culvert has only a small opening on the upstream side, or even if there is no opening on the upstream side, if it is possible to create an opening large enough to send a towing object, it is possible to use an underwater robot's television camera, etc. to inspect the inside of the culvert. and can be inspected.
以ト第１図乃至第３図に基づき本発明による水中ロボッ
トによる暗渠的点検方法の一実施例を説明する。Hereinafter, an embodiment of a method for inspecting a culvert using an underwater robot according to the present invention will be described with reference to FIGS. 1 to 3.
この図において１１は暗渠であって、この暗渠１１の上
流側には小さな、即ち、少なくとも水中ロボット１３の
長さより小さな径を有する第１の開口１２が設けられる
とともに下流側には大きな、即ち、少なくとも水中ロボ
ット１３の長さより大きな径を有する第２の開口１４を
有するものであって、この暗渠ｌｌ内を流れる水流■は
少なくとも水中ロボット１３の自航速度より大なるもの
である。In this figure, reference numeral 11 denotes a culvert, and on the upstream side of this culvert 11 there is provided a small first opening 12, that is, having a diameter at least smaller than the length of the underwater robot 13, and on the downstream side there is provided a first opening 12 that is large, ie, has a diameter smaller than the length of the underwater robot 13. It has a second opening 14 having a diameter larger than at least the length of the underwater robot 13, and the water flow (2) flowing in this underdrain 11 is larger than at least the self-propelled speed of the underwater robot 13.
そして、第１の開口１２の近傍にはケーブル１５をＩＩ
させるケーブルウィンチ１６とケーブルガイド１７が設
けられ、かつ、この第１の開口１２内には下端にシーブ
１８を有する支柱１９が取付けられる。A cable 15 is placed near the first opening 12.
A cable winch 16 and a cable guide 17 are provided, and a support column 19 having a sheave 18 at its lower end is installed in the first opening 12.
２０は曳航体（水中ロボット連結部材で好ましくはテレ
ビカメラが装備されている。）で、この曳航体２０はテ
レビカメラを装備するとともに保護枠が設けられ、かつ
浮力体により水中での浮力が零になるよう調整されてい
る。一方、水中ロボット１３はあらかしめ第２の開口１
４近傍に配備されている。Reference numeral 20 denotes a towing body (a connecting member for an underwater robot, preferably equipped with a television camera), which is equipped with a television camera, is provided with a protective frame, and has zero buoyancy in the water due to the buoyancy body. It has been adjusted to be. On the other hand, the underwater robot 13 opens the second opening 1.
4 are located nearby.
かかる構成において、先ず、ケーブル１５の先端に曳航
体２０を着脱可能に取付けるとともに第１の開口１２か
ら曳航体２０を暗渠１１内に挿入する。In this configuration, first, the towing body 20 is detachably attached to the tip of the cable 15, and the towing body 20 is inserted into the culvert 11 through the first opening 12.
このときケーブル１５を支柱１９の下端に設けられたシ
ーブ１８に巻廻させる。そしてケーブルウィンチ１６を
操作してケーブル１５を繰出すと曳航体２０は水流■に
より流下して第２の開口１４に達する。この過程におい
て曳航体２０に設けられたテレビカメラにより暗渠１１
内の概略が図示しないデイスプレィに描写される。At this time, the cable 15 is wound around a sheave 18 provided at the lower end of the column 19. Then, when the cable winch 16 is operated to let out the cable 15, the towing body 20 is flown down by the water stream (2) and reaches the second opening 14. During this process, a TV camera installed on the towing body 20 shows the culvert 11.
An outline of the contents is depicted on a display (not shown).
このようにして曳航体２０が水流Ｖに乗って流下して第
２の開口１４に達すると、引上げられてケーブル１５か
ら取外され、代ってこのケーブル１５の先端には第２図
に示すように水中ロボット１３が取外し可能な如く取付
けられる。In this way, when the towing body 20 flows down on the water stream V and reaches the second opening 14, it is pulled up and removed from the cable 15, and instead, the tip of the cable 15 is attached as shown in FIG. The underwater robot 13 is removably attached.
（第三の工程）
そして、この水中ロボット１３は第２の開口１４から暗
渠１１内に搬入される。(Third Step) Then, this underwater robot 13 is carried into the culvert 11 through the second opening 14.
第３図に示す如く、水中ロボット１３が暗渠工１内に搬
入された後、ケーブルウィンチ１６を操作してケーブル
１６を巻込むことにより、水中ロボット１３は暗渠１１
中を上流側へ、即ち、第１の開口１２方向へ移動させる
が、このとき暗渠ｌｌ内を詳細にテレビカメラで撮影し
、その映像はケーブル１５を通じて図示しないデイスプ
レィ上に映される。As shown in FIG. 3, after the underwater robot 13 is carried into the culvert 1, the underwater robot 13 is moved into the culvert 11 by operating the cable winch 16 and winding the cable 16.
The inside of the culvert is moved upstream, that is, in the direction of the first opening 12. At this time, the inside of the culvert 11 is photographed in detail with a television camera, and the image is shown on a display (not shown) through a cable 15.
そして、第１の開口１２と第２の開口１４の間の暗渠１
１の内壁面の状態等の点検を行う。その後、ケーブル１
５を再び繰出し水中ロボット１３を第２の開口１４に位
置させ、これより引上げ、再び曳航体２０をケーブル１
５の先端に取付ける。A culvert 1 between the first opening 12 and the second opening 14
1. Inspect the condition of the inner wall surface, etc. Then cable 1
5 again, position the underwater robot 13 in the second opening 14, pull it up from there, and again move the towing body 20 onto the cable 1.
Attach it to the tip of 5.
然る後、ケーブルウィンチ１６によりケーブル１５を巻
取り、曳航体２０を第１の開口１３に位置させてこれよ
り回収するのである。Thereafter, the cable 15 is wound up by the cable winch 16, and the towing body 20 is positioned in the first opening 13 and recovered therefrom.
前記工程において、第２の開口１４は暗Ｓ１１に設けら
れたものでもよく、又海域等への導通口であってもよい
。In the step, the second opening 14 may be provided in the dark S11, or may be a communication port to the sea area or the like.
Ｃ発明の効果〕
以上の説明から明らかなように、本発明による水中ロボ
ットによる暗渠内点検方法によれば、水流に沿って設け
られた複数の開口の内、上流側の開口よりケーブルを接
続した曳航体を流下させ、下流側の開口よりこの曳航体
を引上げ、ケーブルに水中ロボットを接続してこのケー
ブルを引きながら水中ロボットを水流に抗して移動させ
ながら暗渠内を点検するので、上流側に水中ロボットを
搬入できない開口がある場合であっても暗渠内に水中ロ
ボットを搬入することができる。C. Effects of the Invention] As is clear from the above explanation, according to the method for inspecting the inside of a culvert using an underwater robot according to the present invention, the cable is connected from the upstream opening among the plurality of openings provided along the water flow. The tow body is flown down, the tow body is pulled up from the opening on the downstream side, an underwater robot is connected to the cable, and while pulling the cable, the underwater robot is moved against the water flow while inspecting the inside of the culvert. Underwater robots can be brought into the culvert even if there is an opening that prevents the introduction of underwater robots.
また、暗渠内に高速の流れがあってもこれに逆らって水
中ロボットを移動させることができるので、自航式、非
自航式のロボットに関係なく暗渠内を点検することがで
きる。Furthermore, even if there is a high-speed current in the culvert, the underwater robot can be moved against the current, so the interior of the culvert can be inspected regardless of whether the robot is self-propelled or non-self-propelled.
第１図乃至第３図は本発明による水中ロボットによる暗
渠内点検方法の実施例の各工程を示す説明図であり、第
４図は従来の点検方法の説明図である。
１．１１・・・暗渠 １２・・・第１の開
口２・・・開口 １４・・・第２の開
口３．１９・・・支柱 １７・・・ガイ１
４．１３・・・水中ロボット １８・・・シーブ５
・・・ケージ ２０・・・曳航体。
６．１５・・・ケーブル
７．１６・・・ケーブルウィンチ
代理人 弁理士 小 川 信 −1 to 3 are explanatory diagrams showing each step of an embodiment of the method for inspecting the inside of a culvert using an underwater robot according to the present invention, and FIG. 4 is an explanatory diagram of a conventional inspection method. 1.11...Culvert 12...First opening 2...Opening 14...Second opening 3.19...Strut 17...Guy 1
4.13... Underwater robot 18... Sheave 5
...Cage 20...Tow body. 6.15...Cable 7.16...Cable Winch Agent Patent Attorney Nobuo Ogawa -
Claims (1)
を上流側の開口から暗渠内に搬入する第一の工程と、前
記曳航体を水流により流下させて下流側の開口から引上
げて該ケーブルより取外した後、水中ロボットを該ケー
ブルの先端に接続する第二の工程と、水中ロボットを下
流側の開口より搬入する第三の工程と、前記ケーブルを
巻込んで該水中ロボットにより暗渠内を点検しながら前
記上流側の開口部近傍まで曳航する第四の工程とからな
る水中ロボットによる暗渠内の点検方法。A first step of removably attaching a towing body to the tip of the cable and transporting the towing body into the culvert through an opening on the upstream side; and a step of causing the towing body to flow down with a water current and pulling it up from the opening on the downstream side to remove the cable. After removing the cable, there is a second step of connecting the underwater robot to the tip of the cable, a third step of transporting the underwater robot through the opening on the downstream side, and a step of winding up the cable and using the underwater robot to move inside the culvert. A method for inspecting the inside of a culvert by using an underwater robot, which comprises a fourth step of towing the robot to the vicinity of the opening on the upstream side while inspecting it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2330646A JPH0776447B2 (en) | 1990-11-30 | 1990-11-30 | Inspection method in underdrain by underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2330646A JPH0776447B2 (en) | 1990-11-30 | 1990-11-30 | Inspection method in underdrain by underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04203010A true JPH04203010A (en) | 1992-07-23 |
| JPH0776447B2 JPH0776447B2 (en) | 1995-08-16 |
Family
ID=18235001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2330646A Expired - Fee Related JPH0776447B2 (en) | 1990-11-30 | 1990-11-30 | Inspection method in underdrain by underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0776447B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10221257A (en) * | 1997-02-05 | 1998-08-21 | Kubota Corp | In-pipe inspection equipment |
| CN111103236A (en) * | 2020-01-09 | 2020-05-05 | 中国电建集团华东勘测设计研究院有限公司 | A method of inspecting municipal drainage pipes and hidden culverts with a transparent camera ball |
-
1990
- 1990-11-30 JP JP2330646A patent/JPH0776447B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10221257A (en) * | 1997-02-05 | 1998-08-21 | Kubota Corp | In-pipe inspection equipment |
| CN111103236A (en) * | 2020-01-09 | 2020-05-05 | 中国电建集团华东勘测设计研究院有限公司 | A method of inspecting municipal drainage pipes and hidden culverts with a transparent camera ball |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0776447B2 (en) | 1995-08-16 |
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