JP7529626B2 - Floating Device - Google Patents

Description

The present invention relates to a floating device that can be inspected while floating through a waterway.

Waterways at power plants and other facilities need to be inspected regularly for defects such as cracks and fouling. For example, Patent Document 1 discloses a waterway inspection device as an apparatus for inspecting waterways. The waterway inspection device in Patent Document 1 includes a parachute-shaped water flow receiving member that receives the water flow, a support frame connected to the member, and a waterproof underwater video camera that is attached to the support frame.

According to Patent Document 1, the water flow receiving member receives a propulsive force from the water flow flowing through the waterway, and while moving within the waterway, the inner wall of the waterway is photographed by the imaging means, and the waterway can be inspected based on the image captured by the imaging means. However, the waterway inspection device of Patent Document 1 moves while being in contact with the tunnel floor of the waterway by means of wheels, and is therefore susceptible to the effects of unevenness in the tunnel floor caused by scouring.

Therefore, in Patent Document 2, the applicant proposes a floating body device that includes a floating body that floats on the water surface of a waterway, a parachute that is connected to the floating body and receives greater resistance from the water than the floating body, and one or more sensor devices that are mounted on the floating body.

The floating device described in Patent Document 2 can control its posture and float in the direction of the waterway, roughly in the center of the waterway, making it possible to inspect the entire walls, top, and bottom surfaces of the air or underwater sections.

JP 2009-013643 A JP 2020-002756 A

However, the floating device described in Patent Document 1 is premised on moving by floating on the water surface. Therefore, while there is no problem if there is sufficient space above the water surface, if the waterway is a watertight pipe or culvert, the floating device may rub against the ceiling, making it difficult to move. For example, if the waterway is an inverted siphon that passes under a river or road, the inside of the waterway will almost certainly be watertight.

The present invention aims to provide a floating device that can move even in a watertight waterway such as an inverted siphon, can flow in the direction of the waterway while controlling its posture in the direction of the waterway approximately in the center, and can inspect the entire walls, top, and bottom surfaces of the air or underwater parts.

To solve the above problems, a typical configuration of the present invention is a floating device that performs inspections while floating in a waterway, and is characterized by comprising a float that floats on the water surface of the waterway, a parachute connected to the float and that experiences greater resistance from the water than the float, one or more sensor devices mounted on the float, and a sliding member that is positioned above the sensor devices and slides along the ceiling of the waterway.

The above configuration makes it possible to provide a floating device that can move even in a watertight waterway such as an inverted siphon, flow in the direction of the waterway while controlling its posture in approximately the center of the waterway, and inspect the entire walls, top, and bottom surfaces of the air or underwater sections.

It is preferable that a resilient arch-shaped frame is provided on the upper side of the float, and the sliding member is attached to the arch-shaped frame. This acts as a buffer when there are steps or unevenness on the upper surface of the waterway, making it possible to travel and film stably.

The underside of the float is also preferably equipped with one or more sensor devices, an elastic arch-shaped frame, and a sliding member attached to the lower arch-shaped frame and positioned lower than the lower sensor devices. This makes it possible to photograph the underside of the float, and allows it to move even when the water is not deep enough for it to float, and allows it to travel and photograph stably even when there are steps or unevenness on the bottom of the waterway.

The present invention provides a floating device that can move even in a watertight waterway such as an inverted siphon, can control its posture and flow in the direction of the waterway at approximately the center of the waterway, and can inspect the entire walls, top, and bottom surfaces of the air or underwater parts.

FIG. 2 is a perspective view of the floating body device according to the present embodiment. 1 is a plan view and a side view of a floating body device. FIG. FIG. 1 is a diagram showing an observation of a floating device in a waterway. FIG. 1 is a diagram illustrating an example of a water passage of a reverse siphon. FIG. 1 is a diagram illustrating an example of use of the floating body device.

The preferred embodiment of the present invention will be described in detail below with reference to the attached drawings. The dimensions, materials, and other specific values shown in the embodiment are merely examples to facilitate understanding of the invention, and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid duplicated explanations, and elements not directly related to the present invention are not illustrated.

Figure 1 is a perspective view of a floating body device 100 according to this embodiment, where Figure 1(a) is a perspective view seen from diagonally above the front, and Figure 1(b) is a perspective view seen from diagonally below the rear. Figure 2(a) is a plan view of the floating body device 100, and Figure 2(b) is a side view of the floating body device 100.

The floating device 100 of this embodiment shown in Figure 1 is a device that moves while being carried through a waterway 10 and inspects the inner surface (wall surface, top surface, and bottom surface) of the waterway 10 (see Figure 3). As shown in Figure 1, the floating device 100 of this embodiment is broadly composed of a device body 110 and a parachute 120.

As shown in Figures 1(a) and (b), the device body 110 is configured with equipment and members symmetrically arranged on the upper and lower surfaces of a plate-shaped floating body 112. There is no distinction between top and bottom when in use, and either side can be on top. Therefore, in this embodiment, the same symbols will be used to describe the equipment and members on the top and bottom.

The float 112 is a plate-like member with a specific gravity lighter than water, and can be made of, for example, foamed resin. In the center of the float 112, as examples of sensor equipment, there is a celestial camera 140 (360-degree camera) that photographs the top or bottom surface of the waterway, and three cameras 142 that photograph the walls of the waterway on both sides and in the up and down directions. The float 112 also has three lights 150 that shine light toward the top or bottom surface of the waterway and both sides.

Two arch-shaped frames 160 are attached to the floating body 112 on either side of the equipment such as the cameras 140, 142 and the light 150 so as to surround them. The arch-shaped frames 160 are made of a material having elasticity such as ABS resin or spring steel. Wheels 170 are attached to the arch-shaped frames 160 as an example of a sliding member. Two wheels 170 are attached to each arch-shaped frame 160 in the front-rear direction, and since the arch-shaped frames 160 are arranged on both the left and right sides, four wheels 170 are arranged on each side, and eight wheels 170 are arranged on both the top and bottom sides. The sliding members are not limited to the wheels 170, and may be sleds.

The arch-shaped frame 160 is elastic, so it functions as a suspension (shock absorber) when traveling on the wheels 170. Therefore, it acts as a shock absorber even if there are steps or unevenness on the top or bottom surface of the waterway 10, making it possible to travel and shoot stably.

The parachute 120 may be flexible or rigid. The parachute 120 has an area such that the resistance it receives from water is greater than that of the device body 110.

Figure 3 shows the floating device observed in a waterway, with Figure 3(a) being a plan view, Figure 3(b) being a front view showing the water surface, and Figure 3(c) being a front view showing the watertight state.

As described above, the parachute 120 is calibrated to have greater water resistance than the device body 110. Therefore, the parachute 120 pulls the device body 110 downstream. This prevents the device body 110 from tilting relative to the direction of the water flow or rotating in a plane, and allows the device body 110 to maintain an appropriate posture, making it possible to perform inspections using the sensor devices, the cameras 140 and 142, in an optimal manner.

Also, as shown in FIG. 3(a), the flow speed in the waterway 10 generally increases toward the center in the width direction. Therefore, when the floating device 100 moves through the waterway 10, the parachute 120 is carried by the water current to the center in the width direction of the waterway 10. As a result, the device body 110 is also pulled by the parachute 120 and moves to the center in the width direction of the waterway 10. Therefore, it is possible to suppress the movement of the device body 110 in the width direction of the waterway 10, and to maintain an approximately equal distance between the floating device 100 and the left and right walls of the waterway 10.

As shown in FIG. 3(b), when there is a water surface in the waterway 10 (pressureless pipe), the device main body 110 moves while floating on the water surface S. At this time, the celestial camera 140 on the upper side of the float 112 can take pictures of 360° above the water surface S, and the three upper cameras 142 can take pictures of the ceiling and the left and right walls above the water surface S. In addition, the celestial camera 140 on the lower side of the float 112 can take pictures of 360° below the water surface S, and the three lower cameras 142 can take pictures of the bottom surface and the left and right walls below the water surface S. In this embodiment, a configuration in which four sensors (cameras 140, 142) are mounted on the top and bottom of the float 112 is exemplified, but the present invention is not limited to this, and the number of sensor devices can be changed as appropriate.

In this embodiment, a configuration in which cameras 140 and 142 are mounted as sensor devices has been exemplified, but this is not limiting. Other sensor devices include, for example, a laser sensor, an ultrasonic sensor, and an IC tag reader (not shown). By mounting a laser sensor as a sensor device, it is possible to grasp the cross-sectional shape and changes within the waterway 10. By mounting an IC tag reader as a sensor device, it is possible to accurately grasp the position of the floating device 100, changes in crack width, and deformation of the tunnel by reading an IC tag (not shown) attached to the wall surface of the waterway 10.

As shown in FIG. 3(c), if the waterway 10 is a watertight pipe such as an inverted siphon, the floating device 100 rises up in the waterway 10. Then, the wheels 170 located on the upper side of the float 112 come into contact with the upper surface (ceiling) of the waterway 10. The floating device 100 is then towed by the parachute 120, allowing it to travel on the upper surface of the waterway 10. At this time, the cameras 140, 142 can capture the entire walls, top, and bottom of the waterway 10, just as when there is a water surface.

Figure 4 is a diagram illustrating an example of a reverse siphon water passage 10. The water passage 10 is a pipe that crosses a river 20, and water flows from the upstream tank 12 to the downstream tank 14. The water passage 10 descends to a lower position from the upstream tank 12, crosses the river 20, and then ascends to the downstream tank 14. Because the downstream tank 14 is at a height equal to or lower than the upstream tank 12, the water passage 10 can flow from the upstream tank 12 to the downstream tank 14. A pipe that descends to a lower position like this is called a reverse siphon.

Figure 5 is a diagram explaining an example of how the floating device 100 is used. In this embodiment, an emergency recovery device is also explained.

In the example of Figure 5, photographs are taken while the floating device 100 is moved along the waterway 10 from the upstream water tank 12 to the downstream water tank 14. Worker W1 is stationed in the upstream water tank 12, and worker W2 is stationed in the downstream water tank 14.

As shown in FIG. 5(a), worker W1 removes the parachute 120 from the device body 110 and attaches the fishing line 210. Next, worker W1 throws the parachute 120 into the upstream water tank 12 and releases the fishing line 210 from the electric reel 220 to let the parachute 120 flow downstream. W2, who is waiting in the downstream water tank 14, pulls up the parachute 120 when it arrives.

As shown in FIG. 5(b), worker W2 connects another fishing line 240 to the end of fishing line 210 using a metal fitting 230 such as a carabiner. Then, while letting out the downstream fishing line 240 using an electric reel 250, worker W2 winds up the fishing line 210 using the upstream electric reel 220.

As shown in FIG. 5(c), worker W1 attaches fishing line 210 to the rear of device body 110, parachute 120 to the front, and downstream fishing line 240 to the front of parachute 120, and then throws it into the upstream water tank 12. At this time, because cameras 140, 142 and wheels 170 are positioned on both the top and bottom of float 112, either side can face up. Therefore, it can be easily thrown in without having to worry about the position of device body 110.

When the floating device 100 is dropped into the water, the parachute 120 encounters resistance from the water current, causing the floating device 100 to move toward the downstream water tank 14. The fishing line 210 is let out from the upstream electric reel 220 so as not to impede the movement of the floating device 100. The fishing line 240 on the downstream side is slack, so it is reeled in appropriately by the electric reel 250.

As shown in FIG. 5(d), when the floating device 100 reaches the downstream water tank 14, W2 pulls up the floating device 100. In this way, the floating device 100 can move even in a watertight waterway such as an inverted siphon.

If the floating device 100 gets caught in the waterway 10, it is possible to retrieve the floating device 100 by pulling the upstream fishing line 210 or the downstream fishing line 240. This ensures the safety of the work.

Although the preferred embodiment of the present invention has been described above with reference to the attached drawings, it goes without saying that the present invention is not limited to the examples described. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

The present invention can be used as a floating device that can be used to carry out inspections while floating through a waterway.

W1...worker, W2...worker, 10...waterway, 12...upstream tank, 14...downstream tank, 20...river, 100...floating device, 110...device body, 112...floating body, 120...parachute, 140...sphere camera, 142...camera, 150...light, 160...arched frame, 170...wheel, 210...fishing line, 220...electric reel, 230...metal fittings, 240...fishing line, 250...electric reel, S...water surface

Claims (3)

A floating device that performs inspection while floating in a waterway,
A float floating on the water surface of the waterway;
a parachute connected to the float and receiving greater resistance from water than the float;
One or more sensor devices mounted on the floating body;
A sliding member that is disposed above the sensor device and slides on the ceiling of the water passage;
A floating body device comprising: An elastic arch-shaped frame is provided on the upper side of the floating body,
2. The floating body device according to claim 1, wherein said sliding members are attached to said arched frame. The underside of the float is also
one or more sensor devices;
An elastic arch-shaped frame;
The floating body device according to claim 1 or 2, further comprising a sliding member attached to the lower arch-shaped frame and positioned lower than the lower sensor equipment.

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