Underwater sediment recovery system and underwater sediment recovery method

Abstract

To provide an underwater sediment recovery system capable of reducing the load when a robot moves pulling a hose, without the hose hindering the movement of the robot, and to provide an underwater sediment recovery method.SOLUTION: The constitution of an underwater sediment recovery system is the underwater sediment recovery system (recovery system 100a) which recovers the sediment on the floor immersed in water and collects it, and the underwater sediment recovery system includes: a robot 100 which travels on the floor immersed in water and sucks the sediment; a joint device 156 provided on the robot; a plurality of recovery holes 52 formed on the floor above the floor immersed in water; a plurality of suction hoses 28 passed through the plurality of recovery holes; a plurality of attaching / detaching joints 200 arranged at the tip of the plurality of suction hoses and connected to the joint device; and a collection hose 62 communicated with the plurality of suction hoses and for transferring the sediment to a collection place.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an underwater sediment recovery system that recovers and accumulates sediment from a flooded floor, and an underwater sediment recovery method using the same. [Background technology]

[0002] Conventionally, in order to prevent water pollution and to remove harmful substances that have settled in the water, sediments that have settled in the water have been collected. As a means for collecting sediments, for example, Patent Document 1 discloses a sludge collection device and method. The sludge collection device of Patent Document 1 includes a dredging device that is movable underwater and capable of sucking and collecting sludge from the bottom of the water, a treatment device that is movable underwater and stores the collected material in a collected material receiving tank after removing water from the sludge collected by the dredging device, and an equipment vehicle that supplies electricity, compressed air, and the like to the treatment device.

[0003] Incidentally, for example, in a nuclear power plant building, sandbags containing an adsorbent (e.g., zeolite) that adsorbs radioactive materials are sometimes placed in water to reduce the amount of radiation in the water. When recovering the contents of these sandbags, if the contents remain in the sandbags, the sludge recovery device of Patent Document 1 cannot recover the sediment.

[0004] The inventors then developed an underwater sediment recovery robot that "includes a robot body capable of moving underwater, a container attached to the robot body, a built-in pump mounted on the robot body and which sucks up sediment through the container, and a tipped saw that is pivoted vertically on the front of the lower part of the robot body and can rotate freely" (Patent Document 2).

[0005] According to the underwater sediment recovery robot of Patent Document 2, the robot body rotates left and right while pressing a tipped saw against the sandbags to break them, and the contents that spill out of the sandbags can be sucked up and recovered by the built-in pump of the robot body. Therefore, even if the contents are contained in the sandbags, the contents can be efficiently recovered, and sediment recovery work can be performed quickly. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2014-125754 A [Patent Document 2] JP 2022-147083 A Summary of the Invention [Problem to be solved by the invention]

[0007] The inventors have studied a method for recovering sediment stored in a container of the underwater sediment recovery robot (hereinafter referred to as the robot) of Patent Document 2. In detail, they have studied the following operation method: "The robot with the sediment stored in the container is moved to a collection site, and the container is removed from the robot. The sediment inside the container is then released to the collection site. After that, the robot is connected to a suction device installed at the collection site, and the zeolite inside the container is sucked up by the suction device."

[0008] Furthermore, the inventors considered an operation method in which the sediment collected by the robot is directly transported to a collection location without storing it in a container, so that various collection methods can be applied according to the local conditions. In this case, the discharge outlet of the hose connected to the robot is placed at the collection location to transport the sediment. However, because the sediment is scattered over a wide area of ​​the floor, the length of the hose can be up to 50m or more. In that case, the robot moves while pulling the hose, and there is a possibility that the hose may hinder the movement of the robot.

[0009] In view of these problems, the present invention aims to provide an underwater sediment recovery system and an underwater sediment recovery method in which the hose does not interfere with the movement of the robot and which can reduce the load placed on the robot when it moves while pulling the hose. [Means for solving the problem]

[0010] In order to solve the above problems, a representative configuration of the underwater sediment recovery system of the present invention is an underwater sediment recovery system that recovers and accumulates sediment from a flooded floor, and is characterized by comprising: a robot that travels across the flooded floor and sucks up the sediment; a joint device provided on the robot; a plurality of recovery holes formed in the floor above the flooded floor; a plurality of suction hoses passed through the plurality of recovery holes; a plurality of detachable joints that are disposed at the ends of the plurality of suction hoses and connect to the joint device; and a collecting hose that communicates with the plurality of suction hoses and transports the sediment to a collection location.

[0011] The suction hose may be provided with a valve for opening and closing communication with the collection hose.

[0012] In order to solve the above problems, a representative configuration of the underwater sediment recovery method of the present invention is an underwater sediment recovery method that uses the underwater sediment recovery system described above to recover and collect sediment from a flooded floor, characterized in that for each of a plurality of recovery holes, the robot moves to the location of the recovery hole, connects the joint device to a detachable joint of the suction hose, moves around the recovery hole as far as the suction hose can reach, sucking up the sediment from the flooded floor and transporting it to a collection location, and then detaches the detachable joint of the suction hose from the joint device. Effect of the Invention

[0013] According to the present invention, it is possible to provide an underwater sediment recovery system and an underwater sediment recovery method in which the hose does not hinder the movement of the robot and which can reduce the load placed on the robot when it moves while pulling the hose. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram of a nuclear power plant building. [Diagram 2] 1 is an overall perspective view of a robot according to an embodiment of the present invention; [Diagram 3] 1A to 1C are schematic diagrams illustrating how the recovery robot of the present embodiment travels underwater. [Figure 4] 1 is a schematic diagram illustrating an underwater sediment recovery system according to an embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram illustrating an underwater sediment recovery system according to a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific values ​​shown in the embodiment are merely examples for facilitating 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 repeated explanations, and elements not directly related to the present invention are not shown.

[0016] (Nuclear Power Plant Building 10) 1 is a schematic diagram of a nuclear power plant building 10. In this embodiment, the nuclear power plant building 10 is exemplified as a facility for collecting sediments, but the present invention is not limited to this. The sediment collection robot according to the present embodiment (hereinafter, referred to as robot 100) can be suitably used in other facilities as long as sediments are accumulated in water.

[0017] As shown in FIG. 1, a nuclear power plant building 10 is a building with multiple floors above ground and multiple floors underground (FIG. 1 illustrates a building with two floors above ground and two floors underground). The first floor is the entrance to the ground, and stagnant water is stored on the second basement floor, the lowest floor. To adsorb radioactive materials from the stagnant water, sandbags 12 filled with adsorbent material (e.g., zeolite) are installed on the second basement floor. The robot 100 of this embodiment collects the adsorbent material that has settled in the water as sediment.

[0018] The robot 100 is placed on the second basement floor of the nuclear power plant building 10. The robot 100 is carried into the second basement floor by an overhead crane 14 installed on the ceiling of the first floor. When the robot 100 arrives at the second basement floor, it detaches from the hook 16 and moves underwater on its own. A float cable 18 is connected to the robot 100, and power is supplied from a power supply panel 20, and image data from a camera and signals from various sensors are transmitted to a remote control device 22.

[0019] The overhead crane 14 shown in Fig. 1 carries the robot 100 into and out of the water. In particular, in this embodiment, the robot 100 is carried from the first floor to the second basement floor while suspended from the overhead crane 14. The robot 100 collects sediment while traveling underwater. After the recovery operation, the float cable 18 of the robot 100 is wound by the winding device 24, and the robot 100 is washed by the shower 26, and then the robot 100 is pulled up by the hook 16 of the crane 14 and carried out.

[0020] (Robot 100) 2 is an overall perspective view of the robot 100 of this embodiment. For ease of understanding, the robot 100 used in the underwater sediment recovery system according to this embodiment will be described first.

[0021] 2 travels on a flooded floor (the second basement floor is illustrated in this embodiment) and sucks up sediment that has settled on the floor. The robot 100 includes a robot body 110 capable of traveling underwater, a float 140, a sediment suction mechanism 150, a contact mechanism 160, a screw 190, and a robot control unit 102.

[0022] 2, the robot 100 includes a frame 120 and crawlers 130. The frame 120 is made up of an upper frame 122 that constitutes the upper part, and a lower frame 124 that constitutes the lower part. The upper frame 122 is provided with a float 140, and the robot main body 110 is formed on the lower frame 124.

[0023] The robot body 110 has a sediment suction mechanism 150 mounted on the lower frame 124. The sediment suction mechanism 150 includes a suction port 152, a suction pump 154, and a joint device 156, and collects sediment from the bottom of the water. The suction port 152 is, for example, a suction nozzle, and is disposed between the crawlers 130 below the robot body 110. The suction pump 154 ​​is connected to the suction port 152 via a connecting hose 154a. As a result, when the suction pump 154 ​​is driven, sediment from the bottom of the water is sucked into the suction port 152 and collected.

[0024] If it is desired to remove the contents of the sediment from the sandbag 12 when the contents are contained in the sandbag 12, the sandbag 12 may be trampled by the crawler 130, the sandbag 12 may be torn, and the contents may then be collected from the suction port 152. Alternatively, a cutting member such as a chip saw may be attached to the front of the lower part of the robot body 110. In this case, the sandbag 12 may be torn using the chip saw, and the contents may be collected from the suction port 152.

[0025] 2, a float 140 is disposed inside the upper frame 122. The float 140 is a hollow housing with air sealed inside. This allows the float 140 to act as a source of buoyancy, making it possible to float the robot 100 in water.

[0026] Electrical components (not shown), such as a circuit board and an imaging device, can be housed inside the float 140. In this embodiment, a robot control unit 102 that is connected to a remote control device 22 (see FIG. 1) and controls the operation of the robot 100 is housed inside the float 140. This makes it possible to effectively prevent breakdowns in the electrical components due to flooding.

[0027] In addition, the upper frame 122 is provided with a joint device 156, which connects the suction hose 28 (see FIG. 1) supported by the hose reel 30 described below to the suction pump 154. In this embodiment, the joint device 156 is disposed inside the upper frame 122, and connected to the suction pump 154 ​​by a connecting hose 158. As a result, even if the upper frame 122 moves away from (raises and lowers) the lower frame 124, the connection between the suction pump 154 ​​and the joint device 156 is maintained.

[0028] The robot body 110 and the float 140 described above are connected to each other so as to be able to be attached or detached by a detachment mechanism 160. As shown in Fig. 2, the robot 100 of this embodiment has a screw 190 that propels the robot body 110 in water. For example, a screw integrated with a motor can be suitably used as the screw 190. Fig. 2 shows an example of a configuration in which two screws 190 are arranged on the sides and two screws 190 (one is not visible) are arranged on the rear, but this is not limiting, and the number of screws 190 may be changed as necessary.

[0029] Fig. 3 is a schematic diagram illustrating the robot 100 of this embodiment running underwater. In Fig. 3, the depth of the accumulated water (from the water surface 40a to the water bottom 40b) is assumed to be about 1.5 m. In the robot 100 of this embodiment, during normal running, the attachment / detachment mechanism 160 is extended to separate the float 140 from the robot body 110 as shown in Fig. 3(a). This allows the robot 100 to run on the water bottom 40b by the crawlers 130.

[0030] When the presence of an obstacle 12a ahead is detected, the robot control unit 102 contracts the attachment / detachment mechanism 160. Then, the float 140 approaches the robot main body 110 and the floating body becomes submerged, and the entire robot 100 floats up due to the buoyancy of the float 140.

[0031] Then, with the float 140 in close proximity, the robot body 110 is propelled through the water by the screw 190, thereby climbing over the obstacle 12a as shown in Fig. 3(c) As described above, the robot 100 of this embodiment can climb over the obstacle 12a in the water by utilizing the buoyancy of the float 140, and therefore can efficiently perform the task of recovering sediments in the water.

[0032] In addition, as in the robot 100 of this embodiment, buoyancy acts on the float 140, so that even if the robot 100 tilts in position, it will not fall over and can return to the correct position. Therefore, the position of the robot 100 can be maintained in a stable state.

[0033] (Underwater Sediment Collection System) 4 is a schematic diagram illustrating an underwater sediment recovery system according to this embodiment (hereinafter, referred to as recovery system 100a). In this embodiment, the recovery system 100a will be described in detail, and an underwater sediment recovery method using the same will also be described.

[0034] 4 collects sediment from a flooded floor (second basement floor) and accumulates it at an accumulation location P. The collection system 100a of this embodiment includes the above-mentioned robot 100, a joint device 156 mounted on the robot 100, a plurality of collection holes 52 (collection holes 52a, 52b, 52c), a plurality of suction hoses 28 (suction hoses 28a, 28b, 28c), a plurality of detachable joints 200, and a collection hose 62.

[0035] Explanation of the robot 100 and the joint device 156 will be omitted. When recovery holes 52a, 52b, and 52c are not particularly distinguished, they will be referred to as recovery holes 52, and when suction hoses 28a, 28b, and 28c are not particularly distinguished, they will be referred to as suction hoses 28. Furthermore, the numbers of recovery holes 52 and suction hoses 28 shown in Fig. 4 are merely examples and can be changed as necessary.

[0036] A plurality of recovery holes 52 are formed in a floor 50 on the floor (first basement floor) above the flooded floor (second basement floor), and a plurality of suction hoses 28 are inserted into each of the recovery holes 52. A hose reel 30 is disposed near the plurality of recovery holes 52, and the plurality of suction hoses 28 are supported by the hose reel 30, respectively.

[0037] The ends of the multiple suction hoses 28 (the ends inserted into the recovery hole 52) are each provided with a detachable joint 200 that connects to the joint device 156 of the robot 100. The other ends of the multiple suction hoses 28 are connected to a collecting hose 62 that is inserted into a transfer hole 60 formed in the floor 50. This places the multiple suction hoses 28 and the collecting hose 62 in communication, and the sediment sucked into the suction hose 28 is transferred to the accumulation location P through the collecting hose 62.

[0038] In the present embodiment, the configuration in which the sediment collected by the robot 100 is transferred to the accumulation site P has been exemplified, but the present invention is not limited to this. For example, an accumulation container or the like may be prepared inside or outside the nuclear power plant building 10, and the sediment may be transferred thereto.

[0039] 5 is a diagram illustrating an underwater sediment recovery system of a comparative example (hereinafter, referred to as recovery system 80). Note that common elements between the recovery system 100a of this embodiment and the recovery system 80 of the comparative example are denoted by the same reference numerals, and description thereof will be omitted.

[0040] 5, in the recovery system 80 of the comparative example, one recovery hole 52 and one transfer hole 60 are formed in the floor 50, and one suction hose 32 supported by the hose reel 30 is inserted through them. One end of the suction hose 32 is directly connected to the joint device 156 of the robot (see FIG. 1), and the other end is disposed in the accumulation location P.

[0041] In the recovery system 80 of the comparative example shown in Fig. 5, the robot 100 travels over the entire flooded floor to recover sediment, and at the same time, transfers the sediment to a collection location P through the suction hose 32. The suction hose 32 needs to reach the entire flooded floor. For this reason, the length of the suction hose 32 may be up to 50 m or more, depending on the size of the floor. This places a heavy load on the robot 100 when it moves while pulling the suction hose 32, and there is a risk that the suction hose 32 may impede the movement of the robot 100.

[0042] Therefore, in the recovery system 100a of this embodiment, multiple recovery holes 52 are formed on the floor above the flooded floor, and multiple suction hoses 28 are inserted into the holes to recover sediment on the floor. In detail, as shown in Fig. 4, the robot 100 moves to any one of the multiple recovery holes 52a-52c, for example, to the position of the recovery hole 52a, and connects the joint device 156 to the detachable joint 200 of the suction hose 28a inserted into the recovery hole 52a.

[0043] Next, the robot 100 moves around the recovery hole 52a as far as the suction hose 28a can reach, sucking up the sediment on the flooded floor and transporting it to the collection location P. Because the suction hose 28a is connected to the collecting hose 62, the sediment sucked up by the robot 100 is transported to the collection location P via the suction hose 28a and the collecting hose 62.

[0044] When suction of sediment within the reach of suction hose 28a is completed, robot 100 detaches detachable joint 200 of suction hose 28a from connecting hose 158, and moves to other recovery holes 52b, 52c. Then, robot 100 connects detachable joint 200 and joint device 156 at each of the destination recovery holes 52b, 52c, and sucks up sediment around the destination recovery holes 52b, 52c.

[0045] As described above, according to the recovery system 100a of this embodiment, by forming a plurality of recovery holes 52 in the floor 50 of the upper floor and using a plurality of suction hoses 28 inserted into the recovery holes 52, the length of each suction hose 28 can be shortened. This reduces the load of the suction hose 28 on the robot 100, and the suction hose 28 does not impede the movement of the robot 100. This allows the robot 100 to move suitably across the floors, enabling efficient recovery of sediment.

[0046] 4, in the collection system 100a of this embodiment, each of the suction hoses 28 is provided with a valve 64 that opens and closes communication with the collective hose 62. With this configuration, communication and non-communication between the multiple suction hoses 28 and the collective hose 62 can be controlled by opening and closing the valve 64. This makes it possible to preferably prevent problems such as sediment sucked up by the robot 100 flowing back onto the floor from other suction hoses 28.

[0047] In the recovery system 100a of this embodiment, the valve 64 is provided for each of the suction hoses 28, but the present invention is not limited to this. For example, instead of the suction hose 28, a header may be provided between the collective hose 62 and the multiple suction hoses 28, or a check valve may be provided for each of the multiple suction hoses 28, to obtain the above-mentioned effects. Alternatively, another known backflow prevention device may be provided.

[0048] Although the preferred embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above-described embodiment. It is clear that a person skilled in the art can think of various modifications or alterations within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present invention. [Industrial Applicability]

[0049] INDUSTRIAL APPLICABILITY The present invention can be utilized as an underwater sediment recovery system that recovers and accumulates sediment from a flooded floor, and as an underwater sediment recovery method using the same. [Explanation of symbols]

[0050] 10...nuclear power plant building, 12...sandbag, 12a...obstacle, 14...overhead crane, 16...hook, 18...float cable, 20...power panel, 22...remote control device, 24...winding device, 26...shower, 28...suction hose, 28a...suction hose, 28b...suction hose, 28c...suction hose, 30...hose reel, 32...suction hose, 40a...water surface, 40b...water bottom, 50...floor, 52...recovery hole, 52a...recovery hole, 52b...recovery hole, 52c...recovery hole, 60...transfer hole, 62...collection hose , 64... valve, 80... recovery system, 100... robot, 100a... recovery system, 102... robot control unit, 110... robot body, 120... frame, 122... upper frame, 124... lower frame, 130... crawler, 140... float, 150... sediment suction mechanism, 152... suction port, 154... suction pump, 154a... connecting hose, 156... joint device, 158... connecting hose, 160... detachment mechanism, 190... screw, 200... detachable joint, P... accumulation location

Claims

1. 1. An underwater sediment collection system for collecting and accumulating sediment from a flooded floor, comprising: a robot that travels on the flooded floor and sucks up the sediment; A joint device provided on the robot; A plurality of recovery holes formed in a floor above the flooded floor; A plurality of suction hoses passing through the plurality of recovery holes; a plurality of detachable joints disposed at the ends of the plurality of suction hoses and connected to the joint device; a collecting hose communicating with the plurality of suction hoses and transporting the sediment to a collection location; An underwater sediment recovery system comprising:

2. 2. The underwater sediment recovery system according to claim 1, wherein the suction hose is provided with a valve for opening and closing communication with the collecting hose.

3. 13. An underwater sediment recovery method for recovering and accumulating sediment from a flooded floor using the underwater sediment recovery system according to claim 1, comprising: The robot, for each of the plurality of recovery holes, Move to the location of the recovery hole, Connecting the joint device to a detachable joint of the suction hose; The suction hose moves around the recovery hole as far as it can reach, sucking up sediment from the flooded floor and transporting it to the collection area; A method for recovering underwater sediment, comprising removing a detachable joint of the suction hose from the joint device.

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