JPH0670617B2 - Underwater inspection device - Google Patents

Description

The present invention relates to an underwater inspection device, and more particularly to an underwater inspection device suitable for use in inspection of a water tank in a nuclear power plant.

(Prior Art) Conventionally, when inspecting an underwater structure, in many cases, it depends on human hands. For example, when inspecting the inside of the water tank, after draining the water, the inspector enters the tank with the inspection device,
Inspect the coating film and welds. In addition, piers, hulls, etc.
When inspecting structures in the ocean, divers dive with underwater cameras and perform visual inspections.

In order to mechanize and automate the inspection, the underwater inspection device A by remote control shown in FIG. 9 has been put into practical use in comparison with the above inspection method.

The underwater inspection apparatus A shown in FIG. 9 includes a waterproof spherical apparatus body 1, a TV camera 2 installed in the apparatus body 1, and underwater lighting devices 3a and 3b. A screw 4 is provided on the rear side of the apparatus body 1, and two screws 5 (one of which is not shown) are provided on both sides of the apparatus body 1.

Further, below the device body 1, the control device 6 and the device body 1 are provided.
A position display light 7 is attached above the. Reference numeral 8 is a cable.

When an underwater structure is inspected using such an underwater inspection apparatus A, it is performed as follows. Underwater inspection device A
Is submerged in water and the screw 4 is moved to move to the inspection point. In this case, the position of the underwater inspection device A is displayed on a monitor provided in a ground station (not shown) using the TV camera 2 and the underwater lighting devices 3a and 3b while measuring the water depth with the depth sensor 9. Understand based on the video. When the underwater inspection device A moves to the vicinity of the inspection location, the position adjustment is performed while using the two screws 5 provided in the device body 1 together while watching the monitor. After guiding the underwater inspection apparatus A to the inspection location in this manner, the visual inspection of the inspection location is performed using the TV camera 2 and the underwater illumination devices 3a and 3b. This visual inspection is performed based on an image displayed on a monitor television provided in a ground station (not shown). The underwater inspection apparatus A is moved by using a controller provided in a ground station (not shown).

(Problems to be Solved by the Invention) In the conventional underwater inspection apparatus A, since the TV camera 2 is facing forward, only the traveling direction of the underwater inspection apparatus A can be inspected, and the inspection area per time is Small. In addition, when using the underwater inspection device A to inspect the inside of the water tank,
Since the inspection device for inspecting the coating film in the water tank and the structural material of the wall surface in the water tank is not installed, there is an inconvenience that the soundness of the water tank cannot be confirmed.

The present invention has been made in consideration of such a point, and provides an underwater inspection device that can downsize the device, secure a wide inspection area, and easily confirm the soundness of a water tank. With the goal.

[Structure of Invention]

(Means for Solving the Problem) As a means for achieving the above object, the present invention provides a device main body having a bottom portion provided with a caster for traveling on a wall surface to be inspected of a water tank, and the device main body. A first screw for traveling and two second units provided on both sides of the device body obliquely upward to press the device body toward the wall surface to be inspected and adjust the orientation of the device body. A screw and a TV camera that is installed inside the device body and captures the front of the device body as an image, and is turned backward by the drive of the camera rotation mechanism, and is installed behind this TV camera and the optical axis of the TV camera is set. A reflecting mirror for refracting toward the wall surface to be inspected; a foreign matter removing brush which is provided at the bottom of the apparatus body and slides on the wall surface to be inspected to remove foreign matter as the apparatus body travels; It is characterized in that an underwater illumination device provided on the main body and an ultrasonic inspection device provided on the bottom of the device main body are provided respectively.

(Operation) In the underwater inspection apparatus according to the present invention, the front side of the apparatus body is captured as an image by the TV camera assembled in the apparatus body, and the wall surface to be inspected is reflected by the TV camera facing backward. It is possible to inspect a wide range by capturing an image through a mirror.

In addition, when the device body travels on the wall surface to be inspected, the second
Since it is pressed against the wall surface to be inspected by the screw, it is possible to prevent the ultrasonic inspection device from shaking during inspection of the wall structural material by the ultrasonic inspection device.

Further, since the apparatus main body is provided with the foreign matter removing brush, even if foreign matter such as a clad adheres to the wall surface to be inspected, it is possible to remove it and perform a good visual inspection.

(Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 8.

FIGS. 1 to 3 show an example of an underwater inspection device according to the present invention. In this underwater inspection device B, a caster 12 rolling on the wall surface 10 to be inspected has an elliptic hemispherical shape and a bottom portion. The device main body 11 is provided, and the device main body 11 is
Housing jig 13 made of transparent material in a waterproof structure
And a buoyancy member 14 provided on the outer surface of the housing 13.

As shown in FIGS. 1 and 3, the rear portion of the main body 11 of the apparatus has a first screw for moving the underwater inspection apparatus B forward and backward.
15 is installed, and recesses 16 are provided on both sides of the apparatus main body 11.
As shown in FIG. 2, the two second
Screws 17a and 17b are provided respectively. The main body 11 of the apparatus is controlled in its direction while being pressed against the wall surface 10 to be inspected by controlling the start, stop, and strength of these two second screws 17a, 17b.

On the other hand, inside the housing 13 of the apparatus main body 11, as shown in FIGS. 1 to 3, a TV camera 18, a camera rotation mechanism 19, and a control device 20 for visual inspection are provided, and the rear side of the TV camera 18 is provided. A reflecting mirror 21 is installed at the position. As shown in FIG. 1 and FIG. 3, the TV camera 18 can normally capture the range of the visual field 22 in front of the apparatus main body 11 as an inspection area in the image, and is driven backward by driving the camera rotation mechanism 19. In that case, the optical axis is refracted by the reflecting mirror 21, and the visual field 23 below the device body 11 is captured as an inspection area in the image.

As shown in FIGS. 1 to 3, an underwater lighting device 24 and a depth sensor 25 for illuminating the front of the device body 11 are provided on the upper part of the device body 11, respectively.
As shown in FIG. 1 to FIG. 3, the bottom of the underside of the underwater lighting device 26, the ultrasonic sensor 27, and the main body 11 of the device slide on the inspected wall surface 10 and slide on the inspected wall surface 10. A front foreign matter removing brush 28 and a rear foreign matter removing brush 29 for removing foreign matter such as clad are provided respectively.

The front foreign matter removing brush 28 is made of metal and also serves as the head of the pinhole sensor. The front foreign matter removing brush 28 has an outer peripheral portion as shown in FIGS. 2 and 3. A partition cylinder 30 is provided whose lower end is close to the wall surface 10 to be inspected and which partitions the inside and the outside. To the partition cylinder 30, one ends of drainage pipes 31a and 31b are connected as shown in FIGS. 2 to 4. The other end of each of these drain pipes 31a, 31b passes through a cable 32 drawn out from the apparatus main body 11 and a water tank 33 described later.
It is connected to the compressor 34 installed outside. By guiding the pressure air from the compressor 34 into the partition tube 30, the partition tube 30 is drained and the pinhole inspection can be performed even in the water.

As shown in FIG. 5, the compressor 34 includes a controller 3 having monitors 36 and 37 outside a water tank 33 filled with water 35.
8 is installed together with the water tank 33. Inside the water tank 33, the underwater inspection device B
However, a cable drum 39 and a camera 40 for monitoring the water are installed in the space above the water 35, respectively.

In FIG. 5, reference numeral 41 is a tank internal structure, reference numeral 42.
Is a ladder and 43 is a manhole.

Next, the operation of this embodiment will be described.

For underwater inspection, first place the underwater inspection device B in the manhole.
While being inserted into the water tank 33 from 43, the cable drum 39 and the camera 40 for monitoring the water are carried into the water tank 33 from the manhole 43 and installed in the space above the water 35. After that, the manhole 43 is closed. FIG. 5 shows this state.

Next, the image captured by the TV camera 18 of the underwater inspection device B and the image captured by the camera 40 that monitors the water are displayed on the monitors 36 and 37 of the control device 38 shown in FIG. The underwater inspection device B is guided to the inspection point while observing the displays on the monitors 36, 37, and visual inspection, ultrasonic plate thickness inspection, and pinhole inspection are performed.

Next, a visual inspection method will be described.

First, when performing a visual inspection of the front of the device body 11, the TV camera 18 is turned to the front with the underwater lighting devices 24 and 26 turned on. As a result, as shown in FIGS. 1 and 3, the range of the visual field 22 is captured by the TV camera 18 as an inspection area and displayed on the monitor 36.

On the other hand, when performing a visual inspection of the wall surface 10 to be inspected, the TV camera 18 is turned rearward by driving the camera rotation mechanism 19.
Then, the optical axis of the TV camera 18 is refracted by the reflecting mirror 21, and the visual field 23
The range of is captured by the TV camera 18 as the inspection area and is monitored.
Displayed on 36. At this time, since the reflecting mirror 21 is used,
Even if the size of the underwater inspection device B is reduced, the distance between the TV camera 18 and the inspection region becomes equivalently long, which allows a wide inspection region to be captured as an image. Further, the foreign matter removing brushes 28, 29 enable visual inspection without foreign matter.

Next, a method of ultrasonic plate thickness inspection will be described.

This ultrasonic plate thickness inspection is performed to confirm the soundness of the base material of the water tank 33, and is performed using the ultrasonic sensor 27.

In this ultrasonic plate thickness inspection, when the underwater inspection device B shakes in water, the reliability of the inspection decreases, so that the two second screws 17a and 17b are driven simultaneously. Then, the underwater inspection device B is moved to the inspected wall surface 10 by the thrust of both the second screws 17a and 17b.
It is pressed to the side, the shaking of the underwater inspection device B is prevented, and highly reliable inspection results are obtained. The running of the underwater inspection device B in this state is performed by the first screw 15, and the orientation of the underwater inspection device B is adjusted by both the second screws 17.
It is performed by adjusting the thrust of a and 17b.

Next, a pinhole inspection method will be described.

This pinhole inspection is an inspection method for the coating film on the surface of the wall surface 10 to be inspected, and is performed to detect minute defects that cannot be detected by visual inspection.

Generally, in the pinhole inspection, as shown in FIG. 6, a pinhole sensor 50 having a metal brush-shaped head 51, a pinhole tester main body 52 having an ammeter 53, and a cable 54 are used.
And the head 51 is placed on the coating film 56 of the base material 55 and the deflection of the needle of the ammeter 53 is observed. That is, when the head 51 is on the non-defective portion 57 of the coating film 56, the coating film 56 has a high withstand voltage, so that no discharge occurs and the ammeter 53 does not move. Meanwhile, the head
When 51 is on the defective portion 58 of the coating film 56, it is understood that discharge occurs between the base materials 55 and the needle of the ammeter 53 swings to cause a defect.

The pinhole inspection in this embodiment is also basically the same as the pinhole inspection, and the front foreign matter removing brush 28 is used as the head of the pinhole sensor.

However, because the pinhole inspection uses discharge,
When the pinhole sensor 50 is in water, the needle of the ammeter 53 constantly shakes because of the low electric resistance of water, making it impossible to detect defects.

Therefore, in this embodiment, the front foreign matter removing brush 28 is attached to the partition cylinder 30.
It is arranged inside and the compressed air from the compressor 34 is introduced into the partition tube 30 so that the partition tube 30 is drained. This allows pinhole inspection even in water.

Next, a method of positioning the underwater inspection device B will be described.

The water depth of the underwater inspection device B is measured by receiving a signal from the depth sensor 25 provided in the device main body 11 by the control device 38 via the cable 32, and on the plane in the water tank 33 of the underwater inspection device B. The position of is detected by the underwater lighting device above the device body 11.
The irradiation light from 24 is captured by a camera 40 that monitors the underwater, and this is corrected by the method shown in FIGS. 7 and 8.

That is, FIG. 7 shows the positional relationship between the camera 40 for monitoring underwater and the underwater inspection apparatus B, and FIG. 8 shows an image captured by the camera 40 for monitoring underwater and displayed on the monitor 37. In FIG. 8, the coordinate axes X and Y are based on the camera 40 that monitors underwater (origin).

The image captured by the camera 40 that monitors the underwater is the illumination light from the underwater illumination device 24, which is displayed on the monitor 37 as a virtual image 60. Therefore, by calculating the position of the virtual image 60 by a calculator (not shown) and matching it with the output of the depth sensor 25, the position of the underwater inspection device B can be obtained in the three-dimensional coordinates on the monitor 37. The inspection range can be fixed. The virtual image 60 is generated due to the difference in refractive index between water and air.
By performing the correction on 37, the real image 61 of the underwater illumination 24 can be obtained.

〔The invention's effect〕

As described above, according to the present invention, the TV camera, the camera rotation mechanism, and the reflecting mirror can inspect not only the front side of the apparatus main body but also the lower side, so that the inspection range can be expanded and the lower side of the apparatus main body can be inspected. Since the image of is captured by the TV camera through the reflecting mirror, a wide range can be captured as an inspection area even if the apparatus body is small.

Further, since the device body is pressed against the wall surface to be inspected by the second screw, the device body does not shake in water, and the reliability of ultrasonic inspection can be improved.

In addition, the device body is equipped with a foreign substance removal brush that slides on the wall surface to be inspected when running, so even if foreign matter such as clad adheres to the wall surface to be inspected, it is removed and visually inspected. Can be performed satisfactorily.

Furthermore, the inspection position can be indicated by three-dimensional coordinates, the inspection range can be quantitatively grasped, and efficient inspection can be performed. Further, when a flaw or abnormality is found, the flaw can be easily identified by repairing after draining the water in the tank.

[Brief description of drawings]

FIG. 1 is a perspective view including a partial fracture surface of an underwater inspection apparatus showing an embodiment of the present invention, FIG. 2 is an enlarged sectional view taken along line II-II of FIG. 1, and FIG. 3 is III- of FIG. III line enlarged sectional view, FIG. 4 is a view corresponding to FIG. 3 showing the configuration of the pinhole inspection part, FIG. 5 is an explanatory view showing the usage state of the underwater inspection device, and FIG. 6 is a general view of the pinhole inspection FIG. 7 is an explanatory view showing a positioning method of the underwater inspection device, FIG. 8 is an explanatory view showing how to obtain a real image on a monitor, and FIG. 9 is a perspective view showing a conventional underwater inspection device. It is a figure. 10 …… Inspected wall surface, 11 …… Device body, 12 …… Caster,
15 …… First screw, 17a, 17b …… Second screw, 1
8 …… TV camera, 19 …… Camera rotating mechanism, 21 …… Reflecting mirror, 24,26 …… Underwater lighting device, 27 …… Ultrasonic sensor, 28
…… Front foreign matter removal brush, 29 …… Rear foreign matter removal brush,
30 …… partition tube, 31a, 31b …… drain pipe, 33 …… water tank, 3
4 ... Compressor, 36, 37 ... Monitor, 38 ... Control device, 40 ... Camera for monitoring underwater, B ... Underwater inspection device.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Michio Sato 1-1-1 Shibaura, Minato-ku, Tokyo Inside Toshiba Head Office (56) Reference JP-A-58-111744 (JP, A)

Claims (2)

[Claims] 1. A device main body provided with a caster at the bottom for traveling on a wall surface to be inspected of a water tank, a first screw for traveling provided on the device main body, and diagonally provided on both sides of the device main body. Two second screws, which are provided respectively upward and press the device body toward the wall surface to be inspected and adjust the orientation of the device body, are assembled in the device body, and are installed in front of the device body. And a TV camera that is turned rearward by driving the camera rotation mechanism, and a reflector that is installed behind this TV camera and refracts the optical axis of the TV camera toward the wall surface to be inspected, and the device main body. A foreign matter removing brush that is provided on the bottom and slides on the wall surface to be inspected to remove foreign matter as the apparatus body runs, an underwater lighting device provided on the apparatus body, and a bottom portion of the apparatus body. An underwater inspection device comprising: an ultrasonic inspection device provided. 2. An underwater lighting device provided on an upper part of a device body of the underwater inspection device, an underwater monitoring camera installed on an upper part of a water tank for capturing illumination light from the underwater lighting device, and the device body. A depth sensor provided, an arithmetic means for calculating the position of the main body of the device based on the image signal of the illumination light of the underwater lighting device captured by the camera that monitors the underwater, and the output signal from the depth sensor. Positioning device for underwater inspection equipment.