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1. 发明专利

JP2008296875A Underwater mobile body control system 有权
标题翻译：水下移动体控制系统
公开(公告)号：JP2008296875A
公开(公告)日：2008-12-11
申请号：JP2007148367
申请日：2007-06-04
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： KOBAYASHI RYOSUKE , OKADA SATOSHI , YAMAMOTO HIROSHI , TAKATORI YOSUKE
IPC分类号： B63C11/00
摘要： PROBLEM TO BE SOLVED: To provide an underwater mobile body control system which improves control of a position and an attitude of an underwater mobile body. SOLUTION: The underwater mobile body control system includes an underwater inspection system 9 having a thruster 28 to provide thrust force to a main body, and a controller 12 to calculate the position and the attitude of the underwater inspection system 9. The controller includes a gyroscope 17, a clinometer 18, a geomagnetism sensor 19, cameras 21a, 21b, and a depth sensor 23 which detect quantities of state related to the position and the attitude of the underwater inspection system 9, and calculates them based on inspection results. In the underwater mobile body control system, a flow rate meter 24, an acceleration sensor 25, and a detector 26 for tensile strength are provided in the underwater inspection system 9, wherein these items detect quantities of state directly related to, for example, fluid resistance, impact force and the tensile strength of a cable 10, respectively, as external force other than the thrust force of the thruster 28 exerted on the underwater inspection system 9. The controller 12 calculates the external force based on detection results of these, and controls the thruster 28 based on the position, the attitude, and the external force of the underwater inspection system 9 which are calculated. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种改善水下移动体的位置和姿态的控制的水下移动体控制系统。解决方案：水下移动体控制系统包括具有向主体提供推力的推进器28的水下检查系统9以及用于计算水下检查系统9的位置和姿态的控制器12。包括检测与水下检查系统9的位置和姿态相关的状态的数量的陀螺仪17，测量计18，地磁传感器19，照相机21a，21b和深度传感器23，并且基于检查结果来计算它们。在水下移动体控制系统中，在水下检查系统9中设置有用于拉伸强度的流量计24，加速度传感器25和检测器26，其中这些项目检测与例如流体直接相关的状态量阻力，冲击力和电缆10的拉伸强度分别作为施加在水下检查系统9上的推进器28的推力以外的外力。控制器12基于这些的检测结果来计算外力，基于计算出的水下检查系统9的位置，姿态和外力来控制推进器28。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2008209189A Position determination system for underwater moving apparatus 有权
标题翻译：水下移动装置的位置确定系统
公开(公告)号：JP2008209189A
公开(公告)日：2008-09-11
申请号：JP2007045238
申请日：2007-02-26
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAKATORI YOSUKE , HAYASHI SHOJI , NONAKA YOSHIO , FUJIMA MASAHIRO , SHINOHARA SATOSHI
IPC分类号： G21C17/003
摘要： PROBLEM TO BE SOLVED: To provide a position determination system for underwater moving apparatus which makes it possible to improve the measurement precision in the position of the underwater moving apparatus while preventing its increase in size.
SOLUTION: The system is equipped with index points A, B and C placed in the underwater moving apparatus 2; a camera 5 located separately from the apparatus 2 to image the index points A, B and C in the apparatus 2; and an image processor 10 which stores the positional range of an index domain D1 formed by index points A1, B1 and C1 in an initial image 10, stores the position of an object point M1 set in the index domain D1, computes the actual size value per pixel in the index domain D1, on the basis of the actual size values of the intervals between the index points A, B and C and, also computes the relative displacement of the object point M2 with respect to the object point M1 by the pixel number when an object point M2, set in an index domain D2 formed by index points A2, B2 and C2 in a moving picture 10 is in the positional range of the index domain D1, and converts the computed displacement to actual sizes, by using an actual size value per pixel in the index domain D1.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：解决的问题：提供一种能够提高水下移动装置的位置的测量精度同时防止其尺寸增大的水下移动装置的位置确定系统。
解决方案：系统配备放置在水下移动装置2中的索引点A，B和C; 与设备2分开设置的摄像机5，以对设备2中的索引点A，B和C进行成像; 并且存储由初始图像10中的索引点A1，B1和C1形成的索引域D1的位置范围的图像处理器10存储在索引域D1中设置的对象点M1的位置，计算实际大小值根据索引点A，B和C之间的间隔的实际大小值，在索引领域D1中的每个像素，并且还计算对象点M2相对于对象点M1的像素的相对位移当由运动图像10中的索引点A2，B2和C2形成的索引域D2中设置的对象点M2位于索引域D1的位置范围内时，通过使用指标域D1中每像素的实际大小值。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2008116421A Underwater inspection apparatus and method 有权
标题翻译：水下检查装置和方法
公开(公告)号：JP2008116421A
公开(公告)日：2008-05-22
申请号：JP2006302447
申请日：2006-11-08
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： OKADA SATOSHI , SENOO MAKOTO , FUJIMA MASAHIRO , MATSUI TETSUYA , TAKATORI YOSUKE
IPC分类号： G21C17/003 , G21C17/08
摘要： PROBLEM TO BE SOLVED: To provide an underwater inspection apparatus capable of detecting a defect even if an inspection object is located in the interior of a pipe or a narrow section underwater, and to provide an underwater inspection method.
SOLUTION: A vehicle 20 comprises a vehicle advancing system 21 positioned on the rear side and a camera 22 positioned on the front side, and a vehicle operator 14a can execute control with watching the image captured by the camera 22. An ultrasonic sensor (described later) is installed for the purpose of detecting a defect, and a scanner unit 23 for moving the sensor in the advancement direction of the vehicle 20 is fixed on turning plates 24a, 24b. The scanner unit 23 can be turned circumferentially about the advancement direction of the vehicle 20 by a scanner unit turning mechanism 25.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够检测缺陷的水下检查装置，即使检查对象位于管道内部或水下狭窄部分，并且提供水下检查方法。解决方案：车辆20包括位于后侧的车辆前进系统21和位于前侧的相机22，并且车辆操作器14a可以通过观察由照相机22拍摄的图像来执行控制。超声波传感器（稍后描述）被安装用于检测缺陷，并且用于使传感器沿车辆20的前进方向移动的扫描器单元23固定在转动板24a，24b上。扫描仪单元23可以通过扫描器单元转动机构25围绕车辆20的前进方向周向转动。版权所有：（C）2008，JPO＆INPIT

4. 发明专利

JP2006201036A Underwater moving device 有权
标题翻译：水下移动装置
公开(公告)号：JP2006201036A
公开(公告)日：2006-08-03
申请号：JP2005013112
申请日：2005-01-20
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAKATORI YOSUKE , SASAKI TSUKASA , MABUCHI YASUHIRO , MATSUI TETSUYA , MORI ISATO , IWASHIGE KENGO
IPC分类号： G21C17/003 , G21C17/08
摘要： PROBLEM TO BE SOLVED: To provide an underwater moving device capable of obtaining stably suction force with respect to wall face.
SOLUTION: This moving device is provided with a bottom member 1, constituting a base body of the underwater moving device, thruster units 6, 7 constituted of a pump attached to one side of the bottom member 1 to discharge sucked water from a bottom face side of the bottom member toward the upper face side, a skirt unit 17 attached to an outer circumference in the bottom face side of the bottom member 1, wheels 10, 11, 16 attached to at least three points of the bottom member 1 and for supporting movably the underwater moving device on a moving objective face thereof, and suction ducts 35, 36, attached to the other side not attached with the thruster units in the bottom member 1 and moved on the moving objective face W by the wheels 10, 11, 16 under the condition of being sucked onto the moving objective face underwater, by the thruster units 6, 7 and the skirt unit 17.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供能够获得相对于壁面的稳定的吸力的水下移动装置。解决方案：该移动装置设置有构成水下移动装置的基体的底部构件1，由附接到底部构件1的一侧的泵构成的推进器单元6,7，以从底部构件1的一侧排出吸水底部构件的底面朝向上表面侧，裙部单元17，其附接到底部构件1的底面侧的外周;轮10,11,16，其附接到底部构件1的至少三个点并且用于在其移动的物体表面上可移动地支撑水下移动装置，以及附接到另一侧的吸入管道35,36，其不与推进器单元附接在底部构件1中并且通过车轮10在移动物体表面W上移动，11,16在被推进器单元6,7和裙部单元17吸附在移动物体表面上的条件下。（C）2006年，JPO＆NCIPI

5. 发明专利

JP2008298478A Eddy current flaw detection probe 有权
标题翻译： EDDY电流检测探头
公开(公告)号：JP2008298478A
公开(公告)日：2008-12-11
申请号：JP2007142428
申请日：2007-05-29
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： NISHIMIZU AKIRA , OUCHI HIROFUMI , NONAKA YOSHIO , TAKATORI YOSUKE , TAKI AKIHIRO , SENOO MAKOTO
IPC分类号： G01N27/90
CPC分类号： G01N27/9033
摘要： PROBLEM TO BE SOLVED: To provide an eddy current flaw detection probe capable of pressing a probe onto an inspection object that has changeable curvature.
SOLUTION: A flaw detection sensor 1 is constituted with a plurality of coils 2 fixed on a flexible substrate 7 facing an inspection object surface. A first elastic body 3 is arranged on the side opposite to inspection object to the flaw detection sensor 1, formed by laminating two or more planar elastic bodies, and is subjected to elastic module changes in the longitudinal direction. A second elastic body 5 is formed of a porous body, arranged between the flexible substrate 7 and the elastic body 3. A pressing means 6 for pressing the elastic body 3 to the inspection object side is provided.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供能够将探头按压到具有可变曲率的检查对象上的涡流探伤探针。解决方案：探伤传感器1由固定在面向检查对象面的柔性基板7上的多个线圈2构成。第一弹性体3设置在与检查对象物相对的一侧上，通过层叠两个或更多个平面弹性体而形成，并且沿纵向方向进行弹性模块变化。第二弹性体5由柔性基板7和弹性体3之间的多孔体形成。提供将弹性体3按压到检查对象侧的按压装置6。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2008008693A Underwater moving apparatus 有权
标题翻译：水下移动装置
公开(公告)号：JP2008008693A
公开(公告)日：2008-01-17
申请号：JP2006177482
申请日：2006-06-28
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： FUJIMA MASAHIRO , HAYASHI SHOJI , MORI ISATO , TAKATORI YOSUKE
IPC分类号： G21C17/003
摘要： PROBLEM TO BE SOLVED: To alleviate the limit on the accessible area of an underwater moving apparatus.
SOLUTION: A spongy material is used for a stream sealing structure 2 mounted in the underwater moving apparatus 1. The stream sealing structure 2 is located between the underwater moving apparatus 1 and a plane 10 to subject to movement and drains water from inside the stream sealing structure 2 to outside it through the rotary drive of a thruster fan 3 of the underwater moving apparatus 1 to efficiently generate the force allowing the underwater moving apparatus 1 to adhere to the plane 10 subject to movement. The underwater moving apparatus 1 is run while adhering to the plane 10 subject to movement by rotatively driving a running wheel 4. In a destination reached by the apparatus 1, intended work is carried out by a working tool 5 connected to the underwater moving apparatus 1, and such defects as cracks on the plane 10 subject to movement and in its inside structures, are detected by an ultrasonic sensor 7 and an overcurrent sensor 8.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：减轻水下移动装置的可触及区域的限制。解决方案：海绵状材料用于安装在水下移动装置1中的流动密封结构2.流密封结构2位于水下移动装置1和平面10之间，以便运动并从内部排出水流体密封结构2通过水下移动装置1的推进器风扇3的旋转驱动而在外部，以有效地产生允许水下移动装置1粘附到运动的平面10的力。水下移动装置1通过旋转驱动行驶轮4而附着在运动中的平面10上行驶。在设备1到达的目的地中，通过连接到水下移动装置1的作业工具5进行预期的作业，并且通过超声波传感器7和过电流传感器8检测出在运动平面10上及其内部结构中的裂纹等缺陷。（C）2008，JPO＆INPIT

7. 发明专利

JP2005106655A Underwater moving device 有权
标题翻译：水下移动装置
公开(公告)号：JP2005106655A
公开(公告)日：2005-04-21
申请号：JP2003340782
申请日：2003-09-30
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： MORI ISATO , IWASHIGE KENGO , NONAKA YOSHIO , MATSUI TETSUYA , SENOO MAKOTO , MABUCHI YASUHIRO , TAKATORI YOSUKE
IPC分类号： G21C17/08 , B63C11/00 , G21C17/003
摘要： PROBLEM TO BE SOLVED: To provide an underwater moving device capable of acquiring stably an adsorbing force by a thrust fan and a skirt.
SOLUTION: This underwater moving device is equipped with thruster units 6, 7 on one side of a bottom plate part 1 of a body structure part, and a skirt member 17 on the other side respectively. The device is provided with suction ducts 70-73 in the water, and stuck to an inspection object wall surface W in the water, and moves it by a rear wheel tire 8 and front wheel tires 13, 14. In the device, the suction ducts 70-73 are provided on the bottom plate part 1, and taking of suction water by the thruster units 6, 7 is performed from the suction ducts 70-73, and hereby a water flow F is generated in a space S divided by the skirt member 17, and the adsorbing force to the inspection object wall surface W is generated by the water flow F.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够通过推力风扇和裙部稳定地获得吸附力的水下移动装置。解决方案：该水下移动装置在主体结构部分的底板部分1的一侧上分别配备有推进器单元6,7，另一侧设有裙部件17。该装置在水中设置有吸入管道70-73，并且粘附在水中的检查对象壁面W上，并且通过后轮轮胎8和前轮胎13,14移动。在该装置中，抽吸导管70-73设置在底板部1上，并且由吸引管70-73进行由推进器单元6,7取出的吸入水，因此在空间S中除以水流F 裙部构件17，并且通过水流F产生对检查对象壁面W的吸附力。版权所有（C）2005，JPO＆NCIPI

8. 发明专利

JP2009019909A Method and device for discriminating defect 有权
标题翻译：用于辨别缺陷的方法和装置
公开(公告)号：JP2009019909A
公开(公告)日：2009-01-29
申请号：JP2007181107
申请日：2007-07-10
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： OUCHI HIROFUMI , NISHIMIZU AKIRA , NONAKA YOSHIO , TAKATORI YOSUKE , TAKI AKIHIRO
IPC分类号： G01N27/90
摘要： PROBLEM TO BE SOLVED: To provide a defect discrimination method capable of discriminating between a detected flaw signal and a noise signal generated from a complicated shape of an inspection object spot, when performing eddy current flaw detection of the inspection object spot on a complicated shape part having a shape changing three-dimensionally.
SOLUTION: In the defect discrimination method for discriminating between a flaw signal and a noise signal by using a detection signal acquired by a multiprobe for eddy current flaw detection formed by arranging a detection coil and an excitation coil side by side, an X-scan signal detected by arranging the excitation coil and the detection coil in one direction of the multiprobe and a Y-scan signal detected by arranging the excitation coil and the detection coil in another direction are operated to acquire a phase angle, and the operated phase angle is plotted on a graph on which an X-scan phase angle is set on the abscissa, and a Y-scan phase angle is set on the ordinate, and the flaw signal is discriminated from the noise signal by a characteristic difference of each detection signal distribution on the graph.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种能够区分检测到的缺陷信号和由检查对象点的复杂形状产生的噪声信号的缺陷识别方法，当对检查对象点进行涡流探伤时，复杂的形状部分具有三维地改变的形状。解决方案：在通过使用通过用于并联检测线圈和励磁线圈布置形成的用于涡流探伤的多探头获取的检测信号来区分缺陷信号和噪声信号的缺陷识别方法中，X 通过在多探头的一个方向上布置激励线圈和检测线圈而检测到的扫描信号和通过将励磁线圈和检测线圈布置在另一个方向上而检测到的Y扫描信号来获取相位角，并且操作相位将角度绘制在横坐标上设置X扫描相位角的曲线图上，并且在纵坐标上设置Y扫描相位角，并且通过每次检测的特征差异将该缺陷信号与噪声信号区分开信号分布在图上。版权所有（C）2009，JPO＆INPIT

9. 发明专利

JP2008298747A Underwater inspecting device 有权
标题翻译：水下检查装置
公开(公告)号：JP2008298747A
公开(公告)日：2008-12-11
申请号：JP2007148370
申请日：2007-06-04
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： OKADA SATOSHI , HOSODA YUJI , YAMAMOTO HIROSHI , ONO YUKIHIKO , SENOO MAKOTO , TAKATORI YOSUKE , KOBAYASHI RYOSUKE
IPC分类号： G21C17/003
摘要： PROBLEM TO BE SOLVED: To provide an underwater inspecting device capable of traveling in all horizontal directions, while keeping posture of a vehicle, as it is.
SOLUTION: In the underwater inspecting device provided with an ROV (remotely operated vehicle) 11 for inspection, capable of traveling under water, an ROV 13 for support connected with this ROV 11 for inspection via a secondary cable 12 capable of traveling under water, a control device 15 connected to the vehicle 13 for support via a primary cable 14 for controlling the ROV 11 for inspection and the ROV 13 for support, the ROV 13 for support has lifting thrusters 34a, 34b for providing a propelling force in a vertical direction and three horizontal thrusters 38a, 38b, 38c, provided in horizontally the same position as a main body for providing propelling forces in mutually different horizontal directions. The control device 15 controls the rotation directions and rotation numbers of the horizontal thrusters 38a, 38b, 38c so that a total propelling force in an arbitral horizontal direction can be obtained, while making the rotation moment of the ROV 13 for support zero.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种在保持车辆姿势的同时能够在所有水平方向上行进的水下检查装置。
解决方案：在具有ROV（远程操作车辆）11的水下检查装置中，能够在水下行驶的ROV 13，用于与该ROV 11连接的用于通过能够在下方行驶的二次电缆12进行检查的支撑的ROV 13 水，连接到车辆13的控制装置15，用于经由用于控制用于检查的ROV 11的主电缆14和用于支撑的ROV 13支撑，用于支撑的ROV 13具有提升推进器34a，34b，用于在垂直方向和三个水平推进器38a，38b，38c，其设置在水平方向上与主体相同的位置，用于在相互不同的水平方向上提供推进力。控制装置15控制水平推进器38a，38b，38c的旋转方向和旋转数，使得可以获得在仲裁水平方向上的总推力，同时使支撑零点的ROV 13的旋转力矩为零。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2008122078A Detection device of position in pipe 有权
标题翻译：管道中位置的检测装置
公开(公告)号：JP2008122078A
公开(公告)日：2008-05-29
申请号：JP2006302608
申请日：2006-11-08
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： OKADA SATOSHI , SENOO MAKOTO , NAGASHIMA YOSHIAKI , KOBAYASHI RYOSUKE , TAKATORI YOSUKE
IPC分类号： G01B17/00 , G01N29/00 , G01N29/26
摘要： PROBLEM TO BE SOLVED: To provide a detection device of a position in a pipe capable of determining sound speed accurately even without information on transmission and reception positions of the sound in the pipe filled with water, and resultantly detecting accurately the position of an inspection device.
SOLUTION: The underwater sound 47 emitted from a sound wave transmitter 32 loaded on ROV 11 for inspection is propagated in the water in a PLR pipe 7, and can be received by a sound wave receiver 39 loaded on ROV 13 for support. Each route distance in the PLR pipe 7 of the ROV 11 for inspection and the ROV 13 for support, namely, a relative distance between the ROV 13 for support and the ROV 11 for inspection, is calculated from a difference of each transmission and reception timing of the underwater sound 47 and the underwater sound speed.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：即使没有关于充满水的管道中的声音的发送和接收位置的信息，也能够精确地确定声速的管道中的位置的检测装置，并且因此精确地检测位置检查装置。解决方案：从安装在ROV 11上的声波发射器32发出的用于检查的水声47在PLR管7的水中传播，并且可以被装载在ROV 13上的声波接收器39接收用于支撑。用于检查的ROV 11的PLR管道7中的每个路线距离和用于支持的ROV 13，即用于支持的ROV 13和用于检查的ROV 11之间的相对距离，根据每个发送和接收定时的水下声音47和水下声速。版权所有（C）2008，JPO＆INPIT

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