JPH087151B2 - Unmanned submersible system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Industrial field of application) The present invention relates to an unmanned submersible system suitable for conducting a seabed or riverbed survey, a soundness survey inside a storage tank of a chemical plant facility, and the like. .

(Prior Art) An unmanned submersible is used in consideration of workability and safety in order to investigate the soundness of the seabed, riverbed, and the inside of a storage tank. Thus, the conventional unmanned submersible is equipped with an underwater TV camera, and the video signal of this camera is transmitted to the ground to be visualized, and the operator monitors it to determine whether there is an abnormality. ing.

(Problems to be Solved by the Invention) In the above-described investigation by the conventional unmanned submersible, the operator must constantly monitor the TV monitor installed on the ground. Also, in locations where there is a strong current such as the seabed or where there is a flow of pipes, etc., the unmanned submersible can change its position every moment due to external force. It is difficult to identify the position.

The present invention has been made under the above circumstances, and an object thereof is to obtain an unmanned submersible system in which the operator does not have to constantly monitor a TV monitor and the position of an abnormal portion can be easily identified.

[Structure of the Invention] (Means for Solving Problems) An unmanned submersible system according to the present invention comprises a hull, working equipment such as an underwater TV camera provided at its tip, and electric propellers provided on both sides of the hull. And a storage line device installed at the rear end of the hull that sends and receives various signals between hull ground bases as the hull moves, an accelerometer attached to the hull, and an accelerometer attached to the hull as well. With the gyro compass
Underwater transmitted by a cable provided at the above-mentioned ground base
An image recording device that temporarily stores the image signal of the TV camera before imaging, and an image processing device that regards the content stored in this image recording device as a still image and digitizes it.
A position calculation device that obtains the position captured by the underwater TV camera by the accelerometer, the gyro compass, the direction of the underwater TV camera, the zoom ratio, etc. for each digitalized image, and associates the position with the image. , A determination device that determines whether there is an abnormality by comparing the image in the case of no abnormality with the image recorded by calling from the image recording device, an image of the abnormal portion when the abnormality is detected, And a display device for displaying a position or the like and generating an alarm.

(Operation) In the unmanned submersible boat system of the present invention having the above configuration, the position captured by the underwater TV camera is obtained by the position calculation device, and the obtained position and the image are associated with each other, and this image and the image recording device are preliminarily recorded. Compared with the image when there is no abnormality stored in, the presence or absence of abnormality is determined by the determination device,
If there is an abnormality, the image, position, etc. of the abnormal portion are displayed on the display device. Therefore, even if the submersible is being moved by an external force, the position of the abnormal portion can be easily identified. Further, the burden on the operator is reduced.

(Example) FIG. 1 is a schematic perspective view showing a state in use in a wide area such as the sea according to an example of the present invention, and FIG. 2 is a schematic front view showing a state in use in a pipe, FIG. Is a block diagram of the ground base facility. In FIG. 1, a dome 3 made of a transparent material is provided at the tip of the body 2 of the hull 1,
Working devices such as an underwater TV camera 4 are mounted in the dome 3. Further, electric propellers 5 are provided on both sides of the hull 2, respectively, and a storage line device 8 for taking a cable 7 connecting the hull 2 and the ground base 6 in and out of the hull 2 as the hull 2 advances.
Is provided. In the figure, 9a indicates an accelerometer provided on the hull 2, and 9b indicates a gyro compass. Further, P in FIG. 2 indicates a pipe.

At the ground station 6, an image processing device 10 for converting the image signal transmitted by the cable 7 into an image as shown in FIG. 3, and an image obtained by this image processing device is stored in the image recording device 11 at a normal time. Device 12 for determining the presence / absence of abnormality by comparing with the image of FIG. 1, a position calculation device 13 for calculating the position of the hull 2 by its speed, external force, etc., and a control device 14 for remotely controlling the hull 2 An image of an abnormal portion by an underwater camera, a display device 15 for displaying the position by coordinates, a graphic display, etc. are provided.

In the unmanned submersible boat system of the present invention having the above-described structure, the ground base 6 operates as follows. First, the image of the underwater TV camera, which changes from time to time due to tidal current or other external force, is temporarily stored in the image recording device 11 such as a VTR or a still image file before being input to the image processing device 10.

An image processing apparatus that regards this recorded content as a still image
Type in 10 and digitize the image here. For each image, information such as the accelerometer 9a attached to the hull 2, the signal from the gyro compass 9b, the direction of the underwater TV camera 4, and the zoom ratio is combined, and the position calculation device 13 is used to display the underwater TV.
The position captured by the camera 4 is obtained and associated with the image.

After performing the above-mentioned association, the image in the case of no abnormality is called from the image recording device 11, both of these images are input to the determination device, respectively, where the two images are compared, and it is determined whether or not there is an abnormality. Determine the presence or absence.

If an abnormality is detected as a result of this determination, an alarm is issued at the ground base 6 and the operator is notified.
At the same time, an image of the abnormal portion by the underwater TV camera is displayed on the display device 15, and the position is displayed by coordinates or a graphic display.

EFFECTS OF THE INVENTION As is clear from the above, in the unmanned submersible boat system of the present invention, the position of the hull is associated with the image, so that the position of the abnormal portion can be easily identified in the case of abnormality detection. . Further, when an abnormality is detected, an alarm is issued and the image of the abnormal portion, its position, etc. are displayed, so that the operator does not need to constantly monitor the monitor, and the burden on the operator can be reduced. Further, in the system of the present invention, since image data can be recorded in association with a position, it is possible to search for a long-term change over time.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a usage state in a wide place of an embodiment of the present invention, FIG. 2 is a schematic front view showing a usage state in a pipe of the embodiment, and FIG. 3 is a view of the embodiment. A block diagram of equipment at the ground base is available. 1 ... Hull, 2 ... Body, 3 ... Dome, 4 ... Underwater TV
Camera, 5 ... Conduction propeller, 6 ... Ground base, 7 ...
Cable 8 Storage line device 9a Accelerometer 9b Gyro compass 10 Image processing device 11 Image recording device 12 Determination device 13 Position calculation device 14 ...... Control device, 15 …… Display device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display part H04N 7/18 K

Claims (1)

[Claims] 1. Transmission of various signals between a hull, working equipment such as an underwater TV camera provided at its tip, electric propellers provided on both sides of the hull, and a hull ground terminal provided at the rear end of the hull. A storage line device that puts in and out the cable that performs the movement as the hull moves,
An accelerometer attached to the hull, a gyro compass likewise attached to the hull, and an image recording device for temporarily storing the image signal of an underwater TV camera transmitted by a cable, which is provided at the ground base, before imaging. And an image processing device that regards the contents stored in the image recording device as a still image and digitizes the still image, and the accelerometer, gyro compass, and underwater TV for each digitalized image.
A position calculation device that finds the position captured by the underwater TV camera based on the direction of the camera, zoom ratio, etc. and associates it with the image, and an image in the case of no abnormality is called from the image recording device and the association is performed. An unmanned person characterized by having a judging device for judging whether or not there is an abnormality by comparing with the finished image, and a display device for displaying an image, a position, etc. of the abnormal portion when an abnormality is detected and for issuing an alarm. Submersible system.