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1. 发明授权

US08085296B2 Method and apparatus for measuring an operating position in a remote inspection 有权
标题翻译：用于测量远程检查中的操作位置的方法和装置
公开(公告)号：US08085296B2
公开(公告)日：2011-12-27
申请号：US11470108
申请日：2006-09-05
申请人： Yasuhiro Yuguchi , Koichi Soma , Takeshi Maehara , Ikuko Kameyama , Tetsuro Nakagawa , Hiroyuki Adachi
发明人： Yasuhiro Yuguchi , Koichi Soma , Takeshi Maehara , Ikuko Kameyama , Tetsuro Nakagawa , Hiroyuki Adachi
IPC分类号： H04N7/18
CPC分类号： G01B11/002 , G01S5/163
摘要： A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.
摘要翻译：预先获得基于监视器和移动体之间的相对距离计算操作位置的方法，以确定图像拍摄对象的表面上的相对距离和尺寸之间的一对一相关性。在拍摄对象和监视器之间测量相对角度。使用监视器的照相机拍摄移动体。将图像上的参考点之间的距离和尺寸与与测量的相对角度一致的相关数据进行比较。

2. 发明申请

US20110292205A1 METHOD AND APPARATUS FOR MEASURING AN OPERATING POSITION IN A REMOTE INSPECTION 有权
标题翻译：用于测量远程检查中的操作位置的方法和装置
公开(公告)号：US20110292205A1
公开(公告)日：2011-12-01
申请号：US11470108
申请日：2006-09-05
申请人： Yasuhiro Yuguchi , Koichi Soma , Takeshi Maehara , Ikuko Kameyama , Tetsuro Nakagawa , Hiroyuki Adachi
发明人： Yasuhiro Yuguchi , Koichi Soma , Takeshi Maehara , Ikuko Kameyama , Tetsuro Nakagawa , Hiroyuki Adachi
IPC分类号： H04N7/18
CPC分类号： G01B11/002 , G01S5/163
摘要： A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.
摘要翻译：预先获得基于监视器和移动体之间的相对距离计算操作位置的方法，以确定图像拍摄对象的表面上的相对距离和尺寸之间的一对一相关性。在拍摄对象和监视器之间测量相对角度。使用监视器的照相机拍摄移动体。将图像上的参考点之间的距离和尺寸与与测量的相对角度一致的相关数据进行比较。

3. 发明授权

US08325872B2 Working device and working method 有权
标题翻译：工作装置和工作方法
公开(公告)号：US08325872B2
公开(公告)日：2012-12-04
申请号：US12752783
申请日：2010-04-01
申请人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
发明人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
IPC分类号： G21C17/00
CPC分类号： G21C17/003 , B63C11/52 , G21C19/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/501 , G21Y2004/504
摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.
摘要翻译：工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

4. 发明申请

US20070253518A1 Working device and working method 有权
标题翻译：工作装置和工作方法
公开(公告)号：US20070253518A1
公开(公告)日：2007-11-01
申请号：US11270823
申请日：2005-11-10
申请人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
发明人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
IPC分类号： G21C19/00
CPC分类号： G21C17/003 , B63C11/52 , G21C19/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/501 , G21Y2004/504
摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.
摘要翻译：工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

5. 发明申请

US20100232562A1 WORKING DEVICE AND WORKING METHOD 有权
标题翻译：工作装置和工作方法
公开(公告)号：US20100232562A1
公开(公告)日：2010-09-16
申请号：US12752783
申请日：2010-04-01
申请人： Mitsuaki SHIMAMURA , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
发明人： Mitsuaki SHIMAMURA , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
IPC分类号： G21C17/00
CPC分类号： G21C17/003 , B63C11/52 , G21C19/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/501 , G21Y2004/504
摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.
摘要翻译：工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

6. 发明授权

US07720190B2 Working device and working method 有权
标题翻译：工作装置和工作方法
公开(公告)号：US07720190B2
公开(公告)日：2010-05-18
申请号：US11270823
申请日：2005-11-10
申请人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
发明人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
IPC分类号： G21C17/00
CPC分类号： G21C17/003 , B63C11/52 , G21C19/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/501 , G21Y2004/504
摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.
摘要翻译：工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

7. 发明授权

US07303360B2 Underwater inspecting and repairing system 有权
标题翻译：水下检修系统
公开(公告)号：US07303360B2
公开(公告)日：2007-12-04
申请号：US11674225
申请日：2007-02-13
申请人： Tetsuro Nakagawa , Yasuhiro Yuguchi , Koichi Soma , Hiroshi Iimori , Mitsuaki Shimamura
发明人： Tetsuro Nakagawa , Yasuhiro Yuguchi , Koichi Soma , Hiroshi Iimori , Mitsuaki Shimamura
IPC分类号： B63C11/10
CPC分类号： B63C11/52 , B63C11/42 , G21C17/01 , G21C17/013 , G21Y2002/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/30 , G21Y2004/501 , G21Y2004/504
摘要： Disclosed is a system that performs inspection and repair of an underwater structure, specifically core internals in a pressure vessel. An underwater vehicle is provided with a drive wheel, a contact force generating unit (e.g., thruster) that presses the drive wheel to a vertical wall of the underwater structure, an ascending force control unit (e.g., ballast) that controls the buoyancy of the vehicle, a guide roller that engages with and is pressed against an undersurface of the underwater structure by the ascending force controlled by the ascending force control unit. The underwater vehicle is appropriately positioned with respect to the vertical direction by the guide roller. The drive wheel is driven for rotation so that the underwater vehicle runs horizontally along the vertical wall to reach the inspection or repair site, where the inspection or repair is carried out by work tool mounted to the underwater vehicle.
摘要翻译：公开了一种执行水下结构的检查和修理，特别是压力容器中的核心内部件的系统。水下车辆设有驱动轮，将驱动轮按压到水下结构的垂直壁的接触力产生单元（例如，推进器），控制浮力的上升力控制单元（例如镇流器）导向辊，通过上升力控制单元控制的上升力与水下结构的下表面接合并压靠在其上。水下车辆通过导辊相对于垂直方向适当地定位。驱动轮被驱动旋转，使得水下车辆沿垂直壁水平移动，到达检查或修理现场，在那里通过安装在水下车辆上的工具进行检查或修理。

8. 发明申请

US20070140403A1 Method for inspection and maintenance of an inside of a nuclear power reactor 审中-公开
标题翻译：检查和维护核动力堆内部的方法
公开(公告)号：US20070140403A1
公开(公告)日：2007-06-21
申请号：US11504691
申请日：2006-08-16
申请人： Yasuhiro Yuguchi , Hiroyuki Adachi , Tetsuro Nakagawa , Satoshi Yamamoto , Hidefumi Amanai , Ken Okuda
发明人： Yasuhiro Yuguchi , Hiroyuki Adachi , Tetsuro Nakagawa , Satoshi Yamamoto , Hidefumi Amanai , Ken Okuda
IPC分类号： G21C17/00
CPC分类号： G21C17/01 , G21C19/02 , G21C19/207
摘要： A method for inspection and maintenance of an inside of a nuclear power reactor is provided, which can perform positioning of a remote operated vehicle relative to an inspection target surface in a nuclear power reactor in a short period of time with high accuracy, and enhance the positioning repeatability for the remote operated vehicle, thereby enabling performance of the inspection and maintenance for the inspection target surface securely and satisfactorily. For the inspection or maintenance for the inspection target surface 1a in a nuclear power reactor by using the remote operated vehicle 30, a detection mark 3 is formed in advance by providing a notching, marking, punching or engraving process to the inspection target surface 1a before performing inspection or maintenance of the inside of the nuclear power reactor by using the remote operated vehicle 30. Then, the remote operated vehicle 30 is driven to move in the nuclear power reactor filled with water. During the movement, the detection mark 3 formed in the inspection target surface 1a is detected by using the remote operated vehicle 30 so as to determine the position of the remote operated vehicle 30.
摘要翻译：提供了一种用于核电反应堆内部的检查和维护的方法，其能够在短时间内高精度地执行远程操作车辆相对于核动力反应堆中的检查目标表面的定位，并且增强对远程操作车辆的定位可重复性，从而能够可靠且令人满意地执行检查目标表面的检查和维护。为了通过使用遥控车辆30对核动力堆的检查对象面1a进行检查或维护，通过向检查对象面1设置切口，标记，冲压或雕刻处理，预先形成检测标记3 在通过使用远程操作车辆30进行核动力反应堆内部的检查或维护之前，驱动远程操作车辆30在充满水的核动力反应堆中移动。在移动期间，通过使用遥控车辆30来检测形成在检查目标表面1a中的检测标记3，以便确定远程操作车辆30的位置。

9. 发明授权

US08607401B2 Cleaning apparatus 有权
标题翻译：清洁装置
公开(公告)号：US08607401B2
公开(公告)日：2013-12-17
申请号：US12707120
申请日：2010-02-17
申请人： Hisashi Hozumi , Mitsuaki Shimamura , Yutaka Togasawa , Naruhiko Mukai , Shinji Toki , Yasuhiro Yuguchi , Koichi Soma
发明人： Hisashi Hozumi , Mitsuaki Shimamura , Yutaka Togasawa , Naruhiko Mukai , Shinji Toki , Yasuhiro Yuguchi , Koichi Soma
IPC分类号： A47L7/00 , B08B5/00
CPC分类号： B08B9/08 , B08B5/04 , G21C19/207
摘要： A cleaning apparatus is generally composed of a suction unit provided with a suction source, a suction nozzle equipped with a suction port adapted to suck dust or like from a surface to be cleaned, a suction hose connected at one end to the suction nozzle and connected at another end to the suction unit, a low-center-of-gravity support member provided for the suction hose so as to serve as a fulcrum when the suction hose is bent and deformed, a wire member supported at a distal end by the suction nozzle and arranged along the suction hose, and a control unit used to bend and deform the suction hose by manipulating the wire member with the low-center-of-gravity support member serving as a fulcrum. This cleaning apparatus is specifically usable for a bottom surface of a reactor pressure vessel.
摘要翻译：清洁装置通常由设置有抽吸源的抽吸单元，具有适于从要清洁的表面吸入灰尘等的吸入口的吸嘴构成，吸入软管的一端连接到吸嘴并连接在抽吸单元的另一端，设置有用于抽吸软管的低重心支撑构件，以便当抽吸软管弯曲和变形时用作支点;线构件，其通过抽吸支撑在远端喷嘴并沿抽吸软管布置;以及控制单元，其用于通过以低重心支撑构件作为支点操纵线构件来弯曲和变形抽吸软管。该清洁装置特别可用于反应堆压力容器的底面。

10. 发明申请

US20100205770A1 CLEANING APPARATUS 有权
标题翻译：清洁装置
公开(公告)号：US20100205770A1
公开(公告)日：2010-08-19
申请号：US12707120
申请日：2010-02-17
申请人： Hisashi HOZUMI , Mitsuaki Shimamura , Yutaka Togasawa , Naruhiko Mukai , Shinji Toki , Yasuhiro Yuguchi , Koichi Soma
发明人： Hisashi HOZUMI , Mitsuaki Shimamura , Yutaka Togasawa , Naruhiko Mukai , Shinji Toki , Yasuhiro Yuguchi , Koichi Soma
IPC分类号： A47L9/02
CPC分类号： B08B9/08 , B08B5/04 , G21C19/207
摘要： A cleaning apparatus is generally composed of a suction unit provided with a suction source, a suction nozzle equipped with a suction port adapted to suck dust or like from a surface to be cleaned, a suction hose connected at one end to the suction nozzle and connected at another end to the suction unit, a low-center-of-gravity support member provided for the suction hose so as to serve as a fulcrum when the suction hose is bent and deformed, a wire member supported at a distal end by the suction nozzle and arranged along the suction hose, and a control unit used to bend and deform the suction hose by manipulating the wire member with the low-center-of-gravity support member serving as a fulcrum. This cleaning apparatus is specifically usable for a bottom surface of a reactor pressure vessel.
摘要翻译：清洁装置通常由设置有抽吸源的抽吸单元，具有适于从要清洁的表面吸入灰尘等的吸入口的吸嘴构成，吸入软管的一端连接到吸嘴并连接在抽吸单元的另一端，设置有用于抽吸软管的低重心支撑构件，以便当抽吸软管弯曲和变形时用作支点;线构件，其通过抽吸支撑在远端喷嘴并沿抽吸软管布置;以及控制单元，其用于通过以低重心支撑构件作为支点操纵线构件来弯曲和变形抽吸软管。该清洁装置特别可用于反应堆压力容器的底面。

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