JPH031766A - Monitor for underwater use - Google Patents
Monitor for underwater useInfo
- Publication number
- JPH031766A JPH031766A JP1136589A JP13658989A JPH031766A JP H031766 A JPH031766 A JP H031766A JP 1136589 A JP1136589 A JP 1136589A JP 13658989 A JP13658989 A JP 13658989A JP H031766 A JPH031766 A JP H031766A
- Authority
- JP
- Japan
- Prior art keywords
- water
- tubid
- monitor
- detection element
- picture
- 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.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000000694 effects Effects 0.000 claims abstract description 7
- 239000012530 fluid Substances 0.000 claims abstract description 7
- 238000012806 monitoring device Methods 0.000 claims description 11
- 239000000835 fiber Substances 0.000 claims description 9
- 239000008213 purified water Substances 0.000 claims description 7
- 238000005286 illumination Methods 0.000 description 10
- 238000012544 monitoring process Methods 0.000 description 10
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、混濁した水中で作業ロボットを使用して作業
を行う場合、作業対象物を鮮明に捕えることが必要で、
円筒状の混濁水排除器に浄化水等を流して、その流体に
よる混濁水排除効果を利用し、混濁水排除器の中央にフ
ァイバスコープ、超小型テレビカメラ等の画像検出素子
を取り付け、混濁した水中で使用する水中用監視装置に
関するものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention provides a method for working in turbid water using a working robot, in which it is necessary to clearly capture the object to be worked on.
Purified water, etc. is flowed through a cylindrical turbid water remover, and an image detection element such as a fiber scope or an ultra-compact television camera is attached to the center of the turbid water remover to utilize the turbid water removal effect of the fluid. This invention relates to an underwater monitoring device used underwater.
（従来の技術）
従来から用いられてきた水中用監視装置は、第１図に示
すように、気中で使用する撮像素子１と口径の大きなレ
ンズ２を組合せたものを前面に防水カラス４を持つ防水
ケース３内に組込み、防水型コネクタ５と防水型ケーブ
ル６による水密性を保ち、テレビモニタ７によって作業
対象物を監視する。照明には、普通の水中ランプ８に防
水型電源ケーブル９と電源１０を使用して電・気を供給
し得る。そのため、装置が大型化するとともに、混濁し
た水中では、作業対象物に接近させても画像として捕え
ることがむずかしく、照明を当てても、乱反射によって
見えないことが多い。この方式による装置は、透明度の
高い環境を想定して作られたものであり、混濁した水中
では使用不可能である。(Prior Art) As shown in Fig. 1, a conventional underwater monitoring device has a combination of an image sensor 1 for use in the air and a lens 2 with a large aperture, and a waterproof glass 4 on the front. It is built into a waterproof case 3 with a waterproof connector 5 and a waterproof cable 6 to maintain watertightness, and a television monitor 7 monitors the object to be worked on. For lighting, an ordinary underwater lamp 8 can be supplied with electricity using a waterproof power cable 9 and a power source 10. As a result, the size of the device increases, and in turbid water, it is difficult to capture an image even when the object is approached, and even when illuminated, it is often difficult to see due to diffuse reflection. Devices using this method are designed for highly transparent environments and cannot be used in turbid water.
（発明か解決しようとする課題）
混濁した水中では、従来の水中カメラ方式で作業対象物
に近接させても画像を鮮明に捕えることはむずかしく、
窩光度の照明を用いても、水中うンプ８の位置の関係か
ら乱反射によって見えないことが多いという問題点かあ
った。(Problem to be solved by the invention) In turbid water, it is difficult to capture clear images using conventional underwater camera methods even when placed close to the work object.
Even if illumination with a luminous intensity was used, there was a problem in that it was often not visible due to diffuse reflection due to the position of the underwater pump 8.
（課題を解決するための手段）
本発明では、流体か物質を排除する力を有することに着
目し、水の流れによって混濁水を排除し、良好な透明度
を得ることによって監視を可能とした。(Means for Solving the Problems) In the present invention, focusing on the fact that fluid has the power to exclude substances, monitoring is made possible by eliminating turbid water through the flow of water and obtaining good transparency.
即ち、本発明の水中用監視装置においては、円筒状の混
濁水排除器に浄化水を流して、その流体による混濁水排
除効果を利用し、混濁水排除器の中央にファイバスコー
プ、超小型テレビカメラ等の超小型画像検出素子を取り
付けて、混濁した水中における作業対象物を監視するこ
とにより、混濁水中でも鮮明な画像を得て確実な監視を
行うものである。That is, in the underwater monitoring device of the present invention, purified water is flowed through a cylindrical turbid water remover, and the turbid water removal effect of the fluid is utilized, and a fiber scope and a micro-sized television are installed in the center of the turbid water remover. By attaching an ultra-small image detection element such as a camera to monitor the object to be worked on in turbid water, clear images can be obtained even in turbid water for reliable monitoring.
（実施例）
本発明による水中用監視装置の一実施例を第２図に示す
。(Example) An example of an underwater monitoring device according to the present invention is shown in FIG.
第２図の構造図に示すように、小型レンズ１５を持つ超
小型の防水型画像検出素子１３と超小型の水中ランプ１
６を組合せ、それらを、一方を開放して監視窓２３とし
、他方を漏水防止のため密閉した円筒状の混濁水排除器
１１で覆い、注水管１つから浄化水２２を流し、監視窓
２３より流出する流体による混濁水排除効果を利用して
作業対象物周辺の透明度をあげて、監視窓２３より監視
する。混濁水排除器１１の中央には、整流板兼支持板１
２により超小型の防水型画像検出素子１３と超小型の水
中ランプ１６を固定する。超小型の水中ランプ１６には
、防水型電源ケーブル２１を通して電源２０から電気が
供給される。防水型画像検出素子１３からの画像信号は
、防水型信号ケーブル１４を通して画像増幅器１７に入
り、増幅された後、テレビモニタ１８で作業対象物を監
視する水中用監視装置である。As shown in the structural diagram of FIG. 2, an ultra-small waterproof image detection element 13 with a small lens 15 and an ultra-small underwater lamp 1
6 are combined, one side is opened to form a monitoring window 23, the other side is covered with a sealed cylindrical turbid water remover 11 to prevent water leakage, purified water 22 is poured from one water injection pipe, and the monitoring window 23 The transparency around the work object is increased by utilizing the effect of removing turbid water due to the fluid flowing out, and monitoring is performed through the monitoring window 23. In the center of the turbid water remover 11, there is a rectifying plate/support plate 1.
2, the ultra-small waterproof image sensing element 13 and the ultra-small underwater lamp 16 are fixed. Electricity is supplied to the ultra-small underwater lamp 16 from a power source 20 through a waterproof power cable 21. The image signal from the waterproof image detection element 13 enters the image amplifier 17 through the waterproof signal cable 14, and after being amplified, it is an underwater monitoring device that monitors the work object on a television monitor 18.
本発明による水中用監視装置の他の一実施例を第３図に
示す。Another embodiment of the underwater monitoring device according to the present invention is shown in FIG.
防水型画像検出素子２６としてファイバスコブ（直径１
０關、長さ１０ｍ、照明機能組込式）を使用し、その先
端部には、超小型レンズ２８があり、超小型しンズ２８
の周辺には照明用ファイバ３２が導かれて照明用窓３６
となる。この先端部分を混濁水排除器２４を取り付け、
防水型画像検出素子２６の周辺を短い円筒状容器で覆っ
た構造としている。混濁水排除器２４の円筒的中心部に
防水型画像検出素子２６を固定するために、整流板兼支
持板２５を使用した。混濁水排除器２４の後部には注水
管２７を取り付け、注水管２７がら透明度の高い浄１ヒ
水３４を注入し、整流板兼支持板２５で流を整えた後、
監視窓３５から流出させ作業対象物周辺の透明度をあげ
る。照明は、照明ランプ３３から照明用ファイバ３２を
通して照明用窓３６に導かれ、照明度のあがった流体を
通して作業対象物にあてられる。得られた画像は、ファ
イバケーブル３７を通してレンズ２９に導かれ、レンズ
２９で拡大されたのち、テレビカメラ３０で電気信号に
変換される。その信号はテレビモニタ３１で映像化され
、混濁した水中における作業対象物の監視を遠隔地点に
おいても可能としたものである。A fiber scob (diameter 1
0 mm, length 10 m, built-in lighting function), and there is an ultra-small lens 28 at the tip.
An illumination fiber 32 is guided around the illumination window 36.
becomes. Attach the turbid water remover 24 to this tip,
The waterproof image detection element 26 is surrounded by a short cylindrical container. In order to fix the waterproof image detection element 26 to the cylindrical center of the turbid water remover 24, a current plate/support plate 25 was used. A water injection pipe 27 is attached to the rear of the turbid water remover 24, and highly transparent purified water 34 is injected through the water injection pipe 27, and the flow is adjusted with a rectifying plate/support plate 25.
The water flows out through the monitoring window 35 to increase the transparency around the work object. Illumination is guided from the illumination lamp 33 through the illumination fiber 32 to the illumination window 36, and is applied to the workpiece through a fluid with increased illumination intensity. The obtained image is guided to a lens 29 through a fiber cable 37, magnified by the lens 29, and then converted into an electrical signal by a television camera 30. The signal is visualized on a television monitor 31, making it possible to monitor the object to be worked on in turbid water even at a remote location.
この構造の装置を使用することにより、水の流量がＯの
場合、防水型画像検出素子２６の先端を対象物に対して
２２薗まで接近させないと見えないほどの混濁水の透明
度において、流量か６．８ＸＺ、／分で３５１ＩＪＩＩ
、１０．８ＸＺ／分で５５＋＋ｕｎ、１３．６ＸＺ 、
／分では７０＋＋＋ｍまで離れての検出が可能であり、
本発明の効果が確認された。このときの照明はキモノラ
ンプによる照度３０００１Ｘ／ １００ ｍｘ＋の同軸
照明を用い−た。なお、混濁水の水面からの透明度は、
室内光（３００１ｘ ）において目視で平均４０間であ
った。By using a device with this structure, when the water flow rate is O, the water flow rate is so transparent that it cannot be seen unless the tip of the waterproof image detecting element 26 is brought as close as 22 mm to the object. 6.8XZ, 351IJII at /min
, 55++un at 10.8XZ/min, 13.6XZ,
/min, it is possible to detect at a distance of up to 70+++m,
The effects of the present invention were confirmed. The illumination at this time was coaxial illumination from a kimono lamp with an illuminance of 30001X/100 mx+. The transparency of turbid water from the water surface is
It was visually observed in room light (3001x) and averaged 40.
（発明の効果）
本発明は、混濁水排除器２４の構造が簡単かつ小型堅牢
にできることから耐久性に富み、外部から圧力が加わっ
た場合、防水型画像検出素子２６に対して保護カバーの
役割も果す、また、このような構造から水中作業ロボッ
トの手先に取り付けることかでき、水中監視が容易で、
作業性の向上が図れる水中用監視装置が簡単な精成で実
現できる。(Effects of the Invention) In the present invention, the structure of the turbid water remover 24 can be made simple, compact and robust, so it is highly durable and acts as a protective cover for the waterproof image detection element 26 when pressure is applied from the outside. In addition, this structure allows it to be attached to the hands of an underwater robot, making underwater monitoring easy.
An underwater monitoring device that improves workability can be realized with simple refinement.
第１図は、従来の水中テレビカメラを用いた水中監視装
置の図である。
第２図は、本発明による水中用監視装置の構造図である
。
第３図は、本発明による他の水中監視装置の構造図であ
る。
１・・・撮像素子、 ２・・・レンズ、３・・
・防水ケース、 ４・・・防水ガラス、５・・・
防水型コネクタ、 ６・・・防水型ケーブル、７・・
・テレビモニタ、 ８・・・水中ランプ、９・・・
防水型電源ゲーブル、 １０・・・電源、１１・・・
混濁水排除器、 １２・・・整流板兼支持板、１３
・・・超小型の防水型画像検出素子、１４・・・防水型
ケーブル、 １５・・・小型レンズ、１６・・・超小
型水中ランプ、 １７・・・画像増幅器、Ｊ８・・・テ
レビモニタ、 １９・・・注水管、２０・・・電
源、 ２１・・・防水型電源ケーブル、２２・
・・浄化水、 ２３・・・監視窓、２４・
・・混濁水排除器、 ２５・・・整流板兼支持板、６
・・・超小型の防水型画像検出素子、７・・・注水管、
２８・・・小型しンス、９・・・レンズ、
３０・・・テレビカメラ、１・・・テレビモ
ニタ、 ３２・・・照明用ファイバ、３・・・照明用
ランプ、 ３４・・・浄化水、５・・・監視窓、
３６・・・照明用窓、７・・・ファイバケーブル
。FIG. 1 is a diagram of an underwater monitoring device using a conventional underwater television camera. FIG. 2 is a structural diagram of an underwater monitoring device according to the present invention. FIG. 3 is a structural diagram of another underwater monitoring device according to the present invention. 1...Image sensor, 2...Lens, 3...
・Waterproof case, 4...Waterproof glass, 5...
Waterproof connector, 6... Waterproof cable, 7...
・TV monitor, 8... Underwater lamp, 9...
Waterproof power supply cable, 10...power supply, 11...
Turbid water remover, 12... rectifying plate and support plate, 13
... Ultra-small waterproof image detection element, 14... Waterproof cable, 15... Small lens, 16... Ultra-small underwater lamp, 17... Image amplifier, J8... Television monitor, 19... Water injection pipe, 20... Power source, 21... Waterproof power cable, 22...
・・Purified water, 23・・Monitoring window, 24・
... Turbid water remover, 25 ... Rectifier plate and support plate, 6
...Ultra-small waterproof image detection element, 7...Water injection pipe,
28...Small lens, 9...Lens,
30...TV camera, 1...TV monitor, 32...Lighting fiber, 3...Lighting lamp, 34...Purified water, 5...Monitoring window,
36...Lighting window, 7...Fiber cable.
Claims (1)
る混濁水排除効果を利用し、混濁水排除器の中央にファ
イバスコープ、超小型テレビカメラ等の超小型画像検出
素子を取り付けて、混濁した水中における作業対象物を
監視する水中用監視装置。Purified water is flowed through a cylindrical turbid water remover, and an ultra-compact image detection element such as a fiber scope or an ultra-compact television camera is attached to the center of the turbid water remover, making use of the turbid water removal effect of the fluid. An underwater monitoring device that monitors work objects in turbid water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1136589A JPH031766A (en) | 1989-05-30 | 1989-05-30 | Monitor for underwater use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1136589A JPH031766A (en) | 1989-05-30 | 1989-05-30 | Monitor for underwater use |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH031766A true JPH031766A (en) | 1991-01-08 |
Family
ID=15178822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1136589A Pending JPH031766A (en) | 1989-05-30 | 1989-05-30 | Monitor for underwater use |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH031766A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5603575A (en) * | 1994-10-20 | 1997-02-18 | Nsk Ltd. | Rolling bearing unit with rotating speed detector |
| JP2001157969A (en) * | 1999-09-20 | 2001-06-12 | Kyocera Corp | Grinding tool, and grinding using same |
| JP4781358B2 (en) * | 2005-06-27 | 2011-09-28 | 株式会社アライドマテリアル | Diamond rotary dresser for gears and truing and dressing method of gear grinding wheel using the same |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS537975A (en) * | 1976-07-08 | 1978-01-24 | Kubota Ltd | Device for monitoring inside of turbid water |
| JPS5321520A (en) * | 1976-08-12 | 1978-02-28 | Uotaman Kk | Underwater fluoroscopic device |
-
1989
- 1989-05-30 JP JP1136589A patent/JPH031766A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS537975A (en) * | 1976-07-08 | 1978-01-24 | Kubota Ltd | Device for monitoring inside of turbid water |
| JPS5321520A (en) * | 1976-08-12 | 1978-02-28 | Uotaman Kk | Underwater fluoroscopic device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5603575A (en) * | 1994-10-20 | 1997-02-18 | Nsk Ltd. | Rolling bearing unit with rotating speed detector |
| US5722777A (en) * | 1994-10-20 | 1998-03-03 | Nsk, Ltd. | Rolling bearing unit with rotating speed detector |
| JP2001157969A (en) * | 1999-09-20 | 2001-06-12 | Kyocera Corp | Grinding tool, and grinding using same |
| JP4781358B2 (en) * | 2005-06-27 | 2011-09-28 | 株式会社アライドマテリアル | Diamond rotary dresser for gears and truing and dressing method of gear grinding wheel using the same |
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