JPH08136240A - Device for detecting position of underwater inspection robot - Google Patents
Device for detecting position of underwater inspection robotInfo
- Publication number
- JPH08136240A JPH08136240A JP29886894A JP29886894A JPH08136240A JP H08136240 A JPH08136240 A JP H08136240A JP 29886894 A JP29886894 A JP 29886894A JP 29886894 A JP29886894 A JP 29886894A JP H08136240 A JPH08136240 A JP H08136240A
- Authority
- JP
- Japan
- Prior art keywords
- underwater
- ultrasonic wave
- inspection robot
- wave receiver
- 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.)
- Withdrawn
Links
Landscapes
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Cleaning In General (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば石油貯蔵船のよ
うな船体１の水中部外板の検査・点検等を行なう水中ロ
ボットの位置検知装置に関し、特に超音波式位置検知装
置用の水中検査ロボットの位置検知装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater robot position detecting device for inspecting and inspecting the underwater outer skin of a hull 1 such as an oil storage ship, and more particularly to an underwater position detecting device for ultrasonic type. The present invention relates to a position detection device for an inspection robot.
【０００２】[0002]
【従来の技術】石油貯蔵船のような船体の水中部外板の
検知・点検は、従来ダイバーにより行なわれて来たが、
貯蔵船の大型化にともないダイバーによる検査は困難と
なり、水中ロボットによる検査・点検方式が採用されつ
つある。この場合、貯蔵船のどの位置の検査・点検を実
施したかを記録することは重要なことなので、水中ロボ
ットの位置を検知する必要がある。従来の水中ロボット
の位置検知は、図２に示すように、水中ロボット６に搭
載した超音波発音器５と石油貯蔵船１周辺の海底に互い
に離れて敷設された複数の超音波受波器２とを利用する
ことで行なわれているが、下記のような欠点がある。2. Description of the Related Art Conventionally, divers have been used to detect and inspect the underwater skins of hulls such as oil storage ships.
Due to the increasing size of storage vessels, inspection by divers has become difficult, and inspection / inspection methods by underwater robots are being adopted. In this case, since it is important to record which position of the storage ship is inspected / inspected, it is necessary to detect the position of the underwater robot. As shown in FIG. 2, the conventional position detection of an underwater robot is performed by an ultrasonic sound generator 5 mounted on the underwater robot 6 and a plurality of ultrasonic wave receivers 2 laid apart from each other on the seabed around the oil storage ship 1. This is done by using and, but it has the following drawbacks.
【０００３】すなわち石油貯蔵船１の水中部外板１Ａ
（船側部）、１Ｂ（船底部）の位置を計測するのに、石
油貯蔵船１以外の物体を基準とするので精度が低い。ま
た、石油貯蔵船は図示しない係留装置で係留されている
とはいえ、ある範囲内を自由に移動するので石油貯蔵船
１以外を基準としての位置計測は、精度が落ちる。That is, the underwater outer plate 1A of the oil storage ship 1
(Ship side part) 1B (bottom part) position is measured with reference to an object other than the oil storage ship 1, so accuracy is low. Further, although the oil storage ship is moored by a mooring device (not shown), since it freely moves within a certain range, position measurement with reference to other than the oil storage ship 1 is inaccurate.
【０００４】そこで、上記欠点を改善するため、図３
（船側部検査時）および図４（船底部検査時）に示すよ
うに、石油貯蔵船１の水中部外板（船側部）１Ａよりケ
ーブル７を介して超音波受波器２を吊り下げる方式が提
案されているが、環境外乱により超音波受波器２が振れ
まわるので精度が低下する。また、船側部検査時と船底
部検査時とでは超音波受波器の配置がえを要する（船側
部検査時２回，船底部検査時１回，合計３回の配置がえ
が必要）という不具合がある。Therefore, in order to improve the above-mentioned drawback, FIG.
As shown in (inspection of ship side part) and FIG. 4 (in inspection of ship bottom part), the ultrasonic wave receiver 2 is hung from the underwater outer plate (side part) 1A of the oil storage ship 1 via the cable 7. However, the accuracy is lowered because the ultrasonic wave receiver 2 swings around due to environmental disturbance. In addition, it is necessary to dispose the ultrasonic wave receiver between the ship side inspection and the ship bottom inspection (two times for the ship side inspection, one for the ship bottom inspection, a total of three times). There is a defect.
【０００５】[0005]
【発明が解決しようとする課題】本発明は、従来技術に
おけるこれらの問題点の解決をはかろうとするもので、
超音波受波器１回の配置で船側部および船底部における
水中検査ロボットの位置検知を可能とするとともに、取
付治具の使用により超音波受波器の振れまわりを防止
し、さらに簡単に船体へ取付けられるようにした水中検
査ロボットの位置検知装置を提供することを目的とす
る。SUMMARY OF THE INVENTION The present invention is intended to solve these problems in the prior art.
The position of the underwater inspection robot on the side of the ship and the bottom of the ship can be detected with a single arrangement of the ultrasonic wave receiver, and the use of a mounting jig prevents whirling of the ultrasonic wave receiver, further simplifying the hull. An object of the present invention is to provide a position detection device for an underwater inspection robot that can be attached to the.
【０００６】[0006]
【課題を解決するための手段】上述の目的を達成するた
め、請求項１に記載の水中検査ロボットの位置検知装置
は、船体の水中部外板の検査・点検を行なう水中検査ロ
ボットの位置を検知すべく同ロボットから送られてくる
超音波を受ける超音波受波器と、同超音波受波器を上記
船体の船底ビルジ部より外方斜め下方に張り出して設置
するために先端部に上記超音波受波器を取付けられた取
付治具とをそなえ、上記の超音波受波器および取付治具
の合計水中重量がほぼ零となるよう浮力調整されている
ことを特徴としている。In order to achieve the above object, the position detecting device for an underwater inspection robot according to claim 1 determines the position of the underwater inspection robot for inspecting and inspecting the underwater outer skin of the hull. An ultrasonic wave receiver that receives ultrasonic waves sent from the robot to be detected, and the ultrasonic wave receiver is installed at the tip of the hull in order to project the ultrasonic wave from the bottom bilge section of the hull outward and obliquely downward. The ultrasonic wave receiver is equipped with a mounting jig, and the buoyancy is adjusted so that the total underwater weight of the ultrasonic wave receiver and the mounting jig becomes substantially zero.
【０００７】また請求項２に記載の水中検査ロボットの
位置検知装置は、請求項１に記載の水中検査ロボットの
位置検知装置において、上記取付治具の基端部に、同基
端部を上記船体の水中部外板へ固着するためのスイッチ
付磁石が設けられていることを特徴としている。A position detecting device for an underwater inspection robot according to a second aspect is the position detecting device for an underwater inspection robot according to the first aspect, wherein the base end portion of the mounting jig is the base end portion of the mounting jig. It is characterized in that a magnet with a switch is provided for fixing to the underwater outer plate of the hull.
【０００８】[0008]
【作用】上述の本発明の水中検査ロボットの位置検知装
置では、船体の船底ビルジ部から外方斜め下方に張り出
して設置された超音波受波器により、１回の超音波受波
器の配置で船体の左右舷の船側部と船底部とにおける水
中検査ロボットの位置検知が可能となる。また取付治具
が超音波受波器の振れまわりを阻止するよう作用する。
超音波受波器とその取付治具との合計水中重量がほぼ零
であることにより、水中での取扱いが容易になる。さら
にスイッチ付磁石により取付治具の水中部外板に対する
取付け取外しが容易となる。In the position detecting device for the underwater inspection robot according to the present invention described above, the ultrasonic wave receiver is installed one time by the ultrasonic wave receiver projecting obliquely outward and downward from the bottom bilge portion of the hull. With this, it becomes possible to detect the position of the underwater inspection robot on the side and the bottom of the ship on the left and right sides of the hull. Also, the mounting jig acts to prevent whirling of the ultrasonic wave receiver.
Since the total underwater weight of the ultrasonic wave receiver and its mounting jig is almost zero, handling in water becomes easy. Furthermore, the magnet with a switch makes it easy to attach and detach the attachment jig to the underwater outer plate.
【０００９】[0009]
【実施例】以下、図面により本発明の一実施例としての
水中検査ロボットの位置検知装置について説明すると、
図１はその側面図である。なお図１中、図２〜４と同じ
符号はほぼ同一の部材を示している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A position detecting device for an underwater inspection robot as an embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a side view thereof. In FIG. 1, the same reference numerals as those in FIGS. 2 to 4 indicate almost the same members.
【００１０】図１において、符号２は水中ロボットから
送られてくる超音波を受けるための超音波受波器を示し
ており、この超音波受波器２は取付治具３Ａの先端部に
取付けられている。なお取付治具３Ａには補強材３Ｂが
固着されている。取付治具３Ａおよび補強材３Ｂの各基
端部には、スイッチ付磁石４が固着されている。ここ
で、超音波受波器２，取付治具３Ａおよび補強材３Ｂの
合計水中重量が零となるように、超音波受波器２，取付
治具３Ａおよび補強材３Ｂを適当な材料により形成した
り、あるいは浮力材を取付けたりして、これらの合計水
中重量がほぼ零に設定されている。In FIG. 1, reference numeral 2 indicates an ultrasonic wave receiver for receiving ultrasonic waves sent from an underwater robot. The ultrasonic wave receiver 2 is attached to the tip of a mounting jig 3A. Has been. A reinforcing material 3B is fixed to the mounting jig 3A. A magnet 4 with a switch is fixed to each base end of the mounting jig 3A and the reinforcing member 3B. Here, the ultrasonic wave receiver 2, the mounting jig 3A and the reinforcing material 3B are made of an appropriate material so that the total underwater weight of the ultrasonic wave receiver 2, the mounting jig 3A and the reinforcing material 3B becomes zero. Or by attaching buoyancy material, these total underwater weights are set to almost zero.
【００１１】取付治具３Ａのスイッチ付磁石４を石油貯
蔵船１の船底部１Ｂのビルジ部に当てはめてスイッチを
ＯＮにすると取付治具３の基端部が船底部のビルジ部に
固着される。同様に、補強材３Ｂのスイッチ付磁石４を
石油貯蔵船１の船側部１Ａに当ててスイッチをＯＮにす
ると補強材３Ｂが貯蔵船の船側部に固着される。以上に
より、超音波受波器２を、図１に示すように石油貯蔵船
１の船底ビルジ部から外方斜め下方に突き出して設置す
ることができる。なお同様の装置が計測精度を考慮し
て、石油貯蔵船１の両船側部１Ａに複数個配置されてい
る。When the switch magnet 4 of the mounting jig 3A is applied to the bilge portion of the bottom 1B of the oil storage ship 1 to turn on the switch, the base end of the mounting jig 3 is fixed to the bilge portion of the bottom of the ship. . Similarly, when the switch magnet 4 of the reinforcing material 3B is applied to the side portion 1A of the oil storage ship 1 to turn on the switch, the reinforcing material 3B is fixed to the side portion of the storage ship. As described above, the ultrasonic wave receiver 2 can be installed so as to project obliquely outward and downward from the bottom bilge portion of the oil storage ship 1 as shown in FIG. A plurality of similar devices are arranged on both sides 1A of the oil storage ship 1 in consideration of measurement accuracy.
【００１２】上述の構成において、超音波受波器２は石
油貯蔵船１の船底ビルジ部から外方斜め下方へ突き出し
て配置したことにより、水中の検査・点検を行なう水中
ロボットが船側部１Ａを検査・点検をする場合、あるい
は船底部１Ｂの検査・点検を行なう場合においても、超
音波受波器２を配置がえすることなく、水中ロボットか
らの超音波を受けられるようになって、水中ロボットの
位置検知が可能となる。すなわち、超音波受波器２を一
度配置すると石油貯蔵船１の水中部全体の位置検知が可
能となり、能率向上とコストダウンが達成される。In the above-mentioned structure, the ultrasonic wave receiver 2 is arranged so as to project outward and obliquely downward from the bottom bilge portion of the oil storage ship 1, so that the underwater robot for inspecting / inspecting the underwater side part 1A of the ship. Even when inspecting / inspecting or inspecting / inspecting the bottom 1B of a ship, it becomes possible to receive ultrasonic waves from an underwater robot without repositioning the ultrasonic receiver 2. The position of the robot can be detected. That is, once the ultrasonic wave receiver 2 is arranged, the position of the entire underwater portion of the oil storage ship 1 can be detected, and efficiency improvement and cost reduction can be achieved.
【００１３】また取付治具３Ａを用いたことにより、超
音波受波器２の外乱による振れまわりがなくなり、精度
が維持できる。さらに超音波受波器２と取付治具３Ａお
よび補強材３Ｂの合計水中重量をほぼ零にしたこと、な
らびに石油貯蔵船１への取付にスイッチ付磁石４を用い
たことにより、取付け取外し作業が簡単に行なえる。特
に超音波受波器２，取付治具３Ａおよび補強材３Ｂの合
計水中重量をほぼ零にしたことにより、磁石の固着力が
保証される。また水中での重量がほぼ零なため水中での
取扱いが極めて容易である。Further, by using the mounting jig 3A, the whirling of the ultrasonic wave receiver 2 due to the disturbance is eliminated, and the accuracy can be maintained. Furthermore, the total underwater weight of the ultrasonic wave receiver 2, the mounting jig 3A, and the reinforcing material 3B is set to almost zero, and the switch magnet 4 is used for mounting on the oil storage ship 1, so that the mounting and dismounting work can be performed. Easy to do. In particular, since the total underwater weight of the ultrasonic wave receiver 2, the mounting jig 3A and the reinforcing member 3B is set to substantially zero, the magnet fixing force is guaranteed. Moreover, since the weight in water is almost zero, handling in water is extremely easy.
【００１４】なおスイッチ付磁石による固着に代え、ピ
ン結合による固着にすることも可能であるが、この場
合、上述のスイッチ付磁石による作用効果は期待できな
い。It should be noted that it is possible to use pinning instead of fixing with the switch magnet, but in this case, the above-described action and effect of the switch magnet cannot be expected.
【００１５】[0015]
【発明の効果】以上詳述したように、本発明の水中検査
ロボットの位置検知装置によれば、次のような効果ない
し利点が得られる。 (1) 水中ロボットからの超音波を受ける超音波受波器を
その取付治具を介して船体の船底ビルジ部から外方斜め
下方に張り出して設置することにより、１回の超音波受
波器の配置で、つまり超音波受波器を位置がえすること
なく水中ロボットの船体の左右舷の船側部と船底部とに
おける位置検知が可能となる。 (2) 超音波受波器をその取付治具に取付け、且つ、取付
治具を船体に固着する構成なので、超音波受波器の振れ
まわりがなくなり良好な精度が維持できる。 (3) 超音波受波器とその取付治具との合計水中重量をほ
ぼ零に設定することにより、水中での取扱いが容易にな
る。また、船体への固着をスイッチ付磁石で行なうこと
により、取付け取外しが容易である。As described in detail above, according to the position detecting device for the underwater inspection robot of the present invention, the following effects and advantages can be obtained. (1) An ultrasonic wave receiver that receives ultrasonic waves from an underwater robot is installed by projecting it obliquely downward from the bottom bilge section of the hull through its mounting jig. With this arrangement, that is, it is possible to detect the positions of the underwater robot on the left and right sides of the hull of the underwater robot and on the bottom of the ship without changing the position of the ultrasonic receiver. (2) Since the ultrasonic wave receiver is attached to the mounting jig and the mounting jig is fixed to the hull, the ultrasonic wave receiver is free from whirling and good accuracy can be maintained. (3) By setting the total underwater weight of the ultrasonic wave receiver and its mounting jig to almost zero, handling underwater becomes easy. In addition, since the magnet with a switch is used for fixing to the hull, it is easy to attach and detach.
【図１】本発明の一実施例としての水中検査ロボットの
位置検知装置の側面図。FIG. 1 is a side view of a position detection device of an underwater inspection robot according to an embodiment of the present invention.
【図２】従来の水中検査ロボットの位置検知装置の模式
斜視図。FIG. 2 is a schematic perspective view of a conventional position detecting device for an underwater inspection robot.
【図３】従来の他の水中検査ロボットの位置検知装置の
船側部検査時の側面図。FIG. 3 is a side view of the position detecting device of another conventional underwater inspection robot at the time of inspecting a ship side portion.
【図４】同船底部検査時の模式側面図。FIG. 4 is a schematic side view at the time of inspecting the bottom of the ship.
１ 船体としての石油貯蔵船 １Ａ 船体の水中部外板（側面部） １Ｂ 船体の水中部外板（船底部） ２ 超音波受波器 ３Ａ 取付治具 ３Ｂ 補強材 ４ スイッチ付磁石 ５ 超音波発音器 ６ 水中ロボット ７ ケーブル 1 Oil storage vessel as a hull 1A Underwater skin of the hull (side) 1B Underwater skin of the hull (bottom) 2 Ultrasonic receiver 3A Mounting jig 3B Reinforcing material 4 Switch magnet 5 Ultrasonic sound Vessel 6 underwater robot 7 cable
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 // Ｂ０８Ｂ 13/00 ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Office reference number FI technical display location // B08B 13/00
Claims (2)
水中検査ロボットの位置を検知するための超音波式位置
検知装置において、 水中ロボットから送られてくる超音波を受けるための超
音波受波器と、同超音波受波器を上記船体の船底ビルジ
部より外方斜め下方に張り出して設置するために先端部
に上記超音波受波器を取付けられた取付治具とをそな
え、 上記の超音波受波器および取付治具の合計水中重量がほ
ぼ零となるよう浮力調整されていることを特徴とする、
水中検査ロボットの位置検知装置。1. An ultrasonic type position detection device for detecting the position of an underwater inspection robot that inspects and inspects the underwater outer panel of a ship, the ultrasonic wave for receiving ultrasonic waves sent from the underwater robot. The wave receiver and the ultrasonic wave receiver are provided with a mounting jig to which the ultrasonic wave receiver is attached at the tip in order to install the ultrasonic wave receiver so as to project outward obliquely downward from the bottom bilge portion of the hull, The buoyancy is adjusted so that the total underwater weight of the ultrasonic receiver and the mounting jig is almost zero.
Position detection device for underwater inspection robot.
置検知装置において、上記取付治具の基端部に、同基端
部を上記船体の水中部外板へ固着するためのスイッチ付
磁石が設けられていることを特徴とする、水中検査ロボ
ットの位置検知装置。2. A position detecting device for an underwater inspection robot according to claim 1, wherein a magnet with a switch is provided at a base end portion of the mounting jig for fixing the base end portion to an underwater outer plate of the hull. A position detecting device for an underwater inspection robot, characterized by being provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29886894A JPH08136240A (en) | 1994-11-08 | 1994-11-08 | Device for detecting position of underwater inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29886894A JPH08136240A (en) | 1994-11-08 | 1994-11-08 | Device for detecting position of underwater inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08136240A true JPH08136240A (en) | 1996-05-31 |
Family
ID=17865233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29886894A Withdrawn JPH08136240A (en) | 1994-11-08 | 1994-11-08 | Device for detecting position of underwater inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08136240A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001089921A1 (en) * | 2000-05-24 | 2001-11-29 | Tapiren Survey System Ab | Method and arrangement relating to inspection |
| US7044074B2 (en) | 2000-05-24 | 2006-05-16 | Tapiren Survey System Ab | Method and arrangement for inspection of an object |
| WO2013012218A1 (en) * | 2011-07-15 | 2013-01-24 | 삼성중공업 주식회사 | Device for measuring location of underwater vehicle and method thereof |
-
1994
- 1994-11-08 JP JP29886894A patent/JPH08136240A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001089921A1 (en) * | 2000-05-24 | 2001-11-29 | Tapiren Survey System Ab | Method and arrangement relating to inspection |
| US6712017B2 (en) | 2000-05-24 | 2004-03-30 | Tapiren Survey System Ab | Method and arrangement relating to inspection |
| US7044074B2 (en) | 2000-05-24 | 2006-05-16 | Tapiren Survey System Ab | Method and arrangement for inspection of an object |
| WO2013012218A1 (en) * | 2011-07-15 | 2013-01-24 | 삼성중공업 주식회사 | Device for measuring location of underwater vehicle and method thereof |
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