Apparatus and method for detecting object to be collected

Abstract

To provide a detection device of a recovery object capable of simultaneously acquiring a shape of a surface of a deposit and a distribution of the recovery object included in the deposit.SOLUTION: The detection device includes a laser distance measuring instrument 11 and an object surface distribution creation part 20. The laser range finder 11 includes a transmitter 11a for transmitting a laser beam 12, a range measuring unit 16 having a first filter 16a and a 3D point cloud generator 16c, and a light emission measuring unit 17 having a second filter 17a and a target 3D point cloud generator 17c. The 3D point cloud generation unit 16c generates first 3D point cloud from the light reflected by the sediment 2 and transmitted through the first filter 16a. The target object 3D point cloud creation unit 17c creates second 3D point cloud from the light transmitted through the second filter 17a. The object surface profile preparing part 20 integrates the first and second 3D point cloud datasets to obtain the profile of the surfaces of the sediment 2 and the profile of the objects 1 to be collected.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an apparatus and method for detecting objects to be collected. [Background technology]

[0002] A detection device for a collection object is used to collect a collection object that exists in water or air. The detection device for a collection object can detect a collection object contained in sediment.

[0003] Examples of conventional techniques for detecting materials to be recovered are described in Patent Documents 1 and 2. In the method described in Patent Document 1, sediments containing the materials to be recovered are recovered, and the recovered sediments are irradiated with laser light at an analysis facility. The generated fluorescence or phosphorescence is analyzed using a spectrometer, and the materials to be recovered are detected based on the presence or absence of light in the wavelength band emitted by the materials to be recovered. In the method described in Patent Document 2, the materials to be recovered present in water are irradiated from above with laser light having a wavelength of 2.0 μm or more, and plasma light generated by the irradiation of the laser light in the materials to be recovered is captured above the materials to be recovered and spectroscopic analysis of the plasma light is performed, thereby identifying the materials to be recovered. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 63-26558 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-141089 Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional techniques have a problem in efficiently recovering the target material contained in the sediment.

[0006] For example, in the technology described in Patent Document 1, if the amount of the target substance contained in the sediment cannot be determined to some extent before collection, it is necessary to collect a large amount of sediment, and the work of collecting the sediment and the work of detecting the target substance from the collected sediment can take a huge amount of time and cost. However, it is often difficult to determine the amount of the target substance contained in the sediment in advance.

[0007] Furthermore, for example, in the technology described in Patent Document 2, the surface of the object to be collected is destroyed by irradiating it with laser light, and the plasma light generated from the destroyed surface of the object to be collected is detected, so it is unclear whether the material after being irradiated with laser light is the same as the material that emitted plasma. For this reason, it is still necessary to collect a large amount of deposits, which may reduce workability.

[0008] In order to efficiently recover materials contained in sediments present in water or air, it is preferable to be able to simultaneously obtain the shape of the sediment and the distribution of the materials contained in the sediment. Simultaneous acquisition of the shape of the sediment, particularly the surface shape, and the distribution of the materials contained in the sediment can improve workability and reduce the time and cost required for the work. Conventional techniques have not adequately considered this point.

[0009] An object of the present invention is to provide a detection device and a detection method for a collection object that can simultaneously obtain the surface shape of the deposit and the distribution of the collection object contained in the deposit. [Means for solving the problem]

[0010] A detection device for objects to be collected according to the present invention includes a mobile object including a camera unit capable of capturing images, a time-of-flight laser distance meter, and an attitude measurement unit; a control device including a camera image recording unit for recording the images; and a measurement device including an object surface distribution creation unit. The attitude measurement unit measures the position and attitude of the mobile object. The laser distance meter includes a laser emission unit that emits pulsed laser light toward a deposit containing objects to be collected on its surface, a first color filter, a 3D point cloud creation unit, and a distance measurement unit that measures light transmitted through the first color filter. The laser distance meter includes a second color filter, an object 3D point cloud creation unit, and an emission measurement unit that measures light transmitted through the second color filter. The center wavelength of the light transmitted through the first color filter is the same as the wavelength of the pulsed laser light. The center wavelength of the light transmitted through the second color filter is the wavelength of light emitted by the objects to be collected when irradiated with the pulsed laser light. The 3D point cloud creation unit creates first 3D point cloud data indicating the shape of the surface of the deposit from light reflected from the deposit and transmitted through the first color filter. The object 3D point cloud creation unit creates second 3D point cloud data indicating the distribution of the recovery target from light transmitted through the second color filter. The object surface distribution creation unit integrates the first 3D point cloud data and the second 3D point cloud data to determine the shape of the surface of the deposit and the distribution of the recovery target.

[0011] A method for detecting objects to be collected according to the present invention includes a laser emission step of emitting a pulsed laser beam toward a deposit containing objects to be collected on its surface; a distance measurement step of measuring the light reflected by the deposit and transmitted through a first color filter; a 3D point cloud creation step of creating first 3D point cloud data representing the surface shape of the deposit from the light transmitted through the first color filter; an emission measurement step of measuring the light transmitted through a second color filter; an object 3D point cloud creation step of creating second 3D point cloud data representing the distribution of the objects to be collected from the light transmitted through the second color filter; and an object surface distribution creation step of integrating the first 3D point cloud data and the second 3D point cloud data to determine the surface shape of the deposit and the distribution of the objects to be collected. The center wavelength of the light transmitted through the first color filter is the same as the wavelength of the pulsed laser beam. The center wavelength of the light transmitted through the second color filter is the wavelength of light emitted by the objects to be collected when irradiated with the pulsed laser beam. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a detection device and a detection method for a collection object that can simultaneously obtain the surface shape of the deposit and the distribution of the collection object contained in the deposit. [Brief explanation of the drawings]

[0013] [Figure 1A] 1 is an XsYs plan view showing a moving body provided in a detection device for a collection object according to a first embodiment of the present invention, and a pile containing a collection object. [Figure 1B] FIG. 10 is a diagram showing the position of the object to be collected on the ZsXs plane. [Figure 2] 1 is a diagram showing an example of the overall configuration of a detection device for objects to be collected according to a first embodiment, and an example of equipment in which objects to be collected are present; [Figure 3] 1 is a diagram illustrating an example of a functional block of a detection device for objects to be collected according to a first embodiment. [Figure 4] 2 is a diagram showing an example of functional blocks of a laser distance measuring device and a measuring device provided in the detection device for objects to be collected according to the first embodiment; FIG. [Figure 5] 10 is a flowchart showing a procedure in which the detection device for objects to be collected detects objects to be collected and determines deposits to be collected in the first embodiment. [Figure 6A] 10 is a diagram showing an example of waveforms measured by a distance measurement unit and an emission measurement unit when no object to be collected is present at the irradiation position of the pulsed laser light in Example 1. FIG. [Figure 6B] 10 is a diagram showing an example of waveforms measured by a distance measurement unit and an emission measurement unit when a collection target is present at a position irradiated with pulsed laser light in Example 1. FIG. [Figure 7A] FIG. 2 is a diagram showing an example of the distribution of 3D point cloud data of deposits measured by a distance measuring unit of a laser distance measuring device on an XsYs plane in Example 1. [Figure 7B] FIG. 10 is a diagram showing an example of the distribution of 3D point cloud data of a collection target measured by an emission measurement unit of a laser distance measuring device on an XsYs plane in the first embodiment. [Figure 7C] FIG. 10 is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data integrated and created by the object surface distribution creation unit of the measurement device. [Figure 8A] FIG. 10 is a diagram illustrating an example of a method for determining the height of a deposit from the distribution of 3D point cloud data of the deposit on the XsYs plane in the first embodiment. [Figure 8B] FIG. 10 is a diagram showing an example of a method for determining the size of the distribution range of deposits on the ZsXs plane from the distribution of 3D point cloud data of deposits on the XsYs plane in the first embodiment. [Figure 8C] FIG. 10 is a diagram showing an example of the distribution of recovery targets contained in sediment on the XsYs plane, determined from integrated 3D point cloud data in Example 1. [Figure 9A] FIG. 10 is a diagram showing an example of data in which the three-dimensional dimensions of a deposit containing a collection target and the amount of the collection target contained in the deposit are associated with each other at each measurement point. [Figure 9B] FIG. 9B is a diagram showing an example of data obtained by associating the data shown in FIG. 9A with sediments captured in an image taken by an underwater camera. [Figure 10A]FIG. 10 is a diagram showing an example of waveforms measured by the distance measurement unit and the light emission measurement unit when no object to be collected is present at the irradiation position of the pulsed laser light in Example 2 of the present invention. [Figure 10B] FIG. 10 is a diagram showing an example of waveforms measured by the distance measurement unit and the light emission measurement unit when a collection target is present at the irradiation position of the pulsed laser light in Example 2. [Figure 11A] 10 is an XsYs plan view showing a moving body provided in the detection device for collection objects according to the second embodiment and a pile containing collection objects. FIG. [Figure 11B] FIG. 10 is a diagram showing the position of the object to be collected on the ZsXs plane. [Figure 12A] FIG. 10 is a diagram showing an example of the distribution of 3D point cloud data of deposits measured by a distance measuring unit of a laser distance measuring device on an XsYs plane in Example 2. [Figure 12B] FIG. 10 is a diagram showing an example of the distribution of 3D point cloud data of the object to be collected measured by the light emission measurement unit of the laser distance measuring device on the XsYs plane in the second embodiment. [Figure 12C] FIG. 10 is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data integrated and created by the object surface distribution creation unit of the measurement device. [Figure 13A] FIG. 10 is a diagram illustrating an example of a method for determining the height of a deposit from the distribution of 3D point cloud data of the deposit on the XsYs plane in the second embodiment. [Figure 13B] FIG. 10 is a diagram illustrating an example of a method for determining the size of the distribution range of deposits on the ZsXs plane from the distribution of 3D point cloud data of deposits on the XsYs plane in the second embodiment. [Figure 13C] FIG. 10 is a diagram showing an example of the distribution of recovery targets contained in sediment on the XsYs plane, determined from integrated 3D point cloud data in Example 2. [Figure 14A] FIG. 10 is a diagram showing an example of data in which the three-dimensional dimensions of a deposit containing a collection target and the amount of the collection target contained in the deposit are associated with each other at each measurement point. [Figure 14B] FIG. 14B is a diagram showing an example of data obtained by associating the data shown in FIG. 14A with sediments captured in an image taken by an underwater camera. [Figure 15A] This figure shows an example of the distribution of 3D point cloud data of deposits measured by the distance measurement unit of a laser distance measuring device on the XsYs plane when the objects to be collected are both uranus ions and uranyl ions. [Figure 15B] FIG. 10 is a diagram showing an example of the distribution of 3D point cloud data of a collection target measured by the light emission measurement unit of a laser distance measuring device on the XsYs plane when the collection target is both uranus ions and uranyl ions. [Figure 15C] FIG. 10 is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data integrated and created by the object surface distribution creation unit of the measurement device. [Figure 16] FIG. 10 is a diagram showing an example of the distribution of recovery targets contained in sediments on the XsYs plane, obtained from integrated 3D point cloud data, in a case where the recovery targets are both uranus ions and uranyl ions. [Figure 17A] FIG. 10 is a diagram showing an example of data in which the three-dimensional dimensions of a deposit containing a collection target and the amount of the collection target contained in the deposit are associated with each other at each measurement point. [Figure 17B] FIG. 17B is a diagram showing an example of data obtained by associating the data shown in FIG. 17A with sediments captured in an image taken by an underwater camera. [Figure 18] FIG. 10 is a diagram showing an example of the configuration of a detection device for items to be collected according to a third embodiment of the present invention. [Figure 19] FIG. 10 is a diagram showing an example of the overall configuration of a detection device for objects to be collected and an example of equipment in which objects to be collected exist in a fourth embodiment of the present invention. [Figure 20] FIG. 10 is a diagram showing an example of a functional block of a detection device for objects to be collected according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] The detection device and detection method for objects to be collected according to the present invention can simultaneously obtain the surface shape of the deposit present on the floor surface and the distribution of the objects to be collected contained in the deposit using a moving object. Therefore, by using the present invention, when collecting objects to be collected, unnecessary deposits can be removed as much as possible and only necessary objects can be collected, allowing for efficient collection of the objects to be collected.

[0015] Hereinafter, a detection device and a detection method for collection objects according to embodiments of the present invention will be described with reference to the drawings. The detection method according to the embodiments of the present invention can be performed by the detection device according to the embodiments of the present invention.

[0016] In the following description, a coordinate system based on the laser distance measuring instrument is referred to as a laser coordinate system, and the laser coordinate system is represented by the Xs-axis, Ys-axis, and Zs-axis. The Ys-axis is an axis parallel to the optical axis of the laser. The Xs-axis and Zs-axis are axes perpendicular to the optical axis of the laser and are orthogonal to each other.

[0017] In the drawings referred to in this specification, the same or corresponding components are designated by the same reference numerals, and repeated description of these components may be omitted. [Example]

[0018] A detection device and a detection method for a collection target according to a first embodiment of the present invention will be described. In this embodiment, an example will be described in which the collection target is contained in sediment present in water. That is, the collection target is present in water.

[0019] Fig. 1A is an XsYs plan view showing a moving body provided in a detection device for objects to be collected according to this embodiment and a pile containing objects to be collected. Fig. 1B is a diagram showing the position of objects to be collected in the ZsXs plane. Fig. 1B shows a ZsXs cross-sectional view of a floor 3 viewed from a laser distance measuring device (described later).

[0020] A layered deposit 2 (2D) exists on the floor surface 3 of the facility or container where water is present. On top of the layered deposit 2D, a clumped deposit 2 exists. Figure 1A shows an example in which three clumped deposits 2 (2A, 2B, 2C) exist.

[0021] Layered deposit 2D and deposits 2A and 2B contain recovery target 1 on their surfaces. In Figure 1B, the range in which recovery target 1 exists is indicated by hatching. Layered deposit 2D contains recovery target 1 between coordinates Xf and Xg in the Xs-axis direction. Deposit 2A contains recovery target 1 between coordinates Xd and Xe in the Xs-axis direction. Deposit 2B contains recovery target 1 between coordinates Xb and Xc in the Xs-axis direction. Layered deposit 2D and deposit 2A contain recovery target 1 on part of their surfaces. Deposit 2B is entirely recovery target 1.

[0022] The detection device for objects to be collected according to this embodiment includes a moving body 10. In this embodiment, the moving body 10 is an underwater moving body that moves underwater or on the water surface. The moving body 10 is located underwater near the water surface 4 and includes a laser distance measuring device 11. The laser distance measuring device 11 can irradiate a pulsed laser beam 12 toward a floor surface 3. The irradiation range of the pulsed laser beam 12 of the laser distance measuring device 11 is between coordinates Xa and Xg in the Xs-axis direction.

[0023] 2 is a diagram showing an example of the overall configuration of a detection device for an object to be recovered according to this embodiment, and an example of a facility in which the object to be recovered 1 exists. In this embodiment, as an example, the facility in which the object to be recovered 1 exists is a nuclear facility, and an example of detecting the object to be recovered 1 in a preliminary investigation for recovering fuel debris deposited on the inner bottom of a reactor containment vessel will be described. In this embodiment, the deposit 2 is fuel debris, and the object to be recovered 1 is a deposit containing a material derived from uranium.

[0024] The nuclear facility generally comprises a reactor building 5 and a containment vessel 6 located inside the reactor building 5. Water has accumulated at the bottom of the containment vessel 6, and sediment 2 including materials to be recovered 1 exists on the floor 3. A mobile body 10 (underwater mobile body) is dropped into the water at the bottom of the containment vessel 6 through a penetration hole 6a that the containment vessel 6 has.

[0025] The detection device for objects to be recovered according to this embodiment includes a control device 14 and a measuring device 15 connected to a mobile object 10 by a cable 13. The control device 14 and the measuring device 15 are installed in a room outside the containment vessel 6. The cable 13 passes through the through-hole 6a and connects the mobile object 10 to the control device 14 and the measuring device 15.

[0026] Fig. 3 is a diagram showing an example of a functional block of the detection device for objects to be collected according to this embodiment. Fig. 4 is a diagram showing an example of a functional block of the laser distance measuring device 11 and the measuring device 15 provided in the detection device for objects to be collected according to this embodiment.

[0027] As described above, the detection device for objects to be collected according to this embodiment includes the mobile object 10, the control device 14, and the measurement device 15, and the mobile object 10 includes the laser distance measuring device 11. The laser distance measuring device 11 is a time-of-flight distance measuring device.

[0028] As shown in Figure 3, the moving body 10 further includes a moving mechanism 10a, a camera unit 10b, and an attitude measurement unit 10c. The moving mechanism 10a is a mechanism for moving the moving body 10. The camera unit 10b includes an aerial camera and an underwater camera, and is capable of capturing images in the air and underwater. The attitude measurement unit 10c measures and determines the position and attitude of the moving body 10.

[0029] By calibrating the optical systems of the aerial camera and underwater camera in the camera unit 10b and calibrating the position when the moving body 10 is installed underwater, the position and path of the moving body 10 can be measured with high accuracy.

[0030] As shown in Fig. 3, the control device 14 includes a camera image recording unit 14a and a movement mechanism control unit 14b. The camera image recording unit 14a records images captured by the camera unit 10b of the moving object 10. The camera image recording unit 14a is connected to one or more monitors 14c, and displays the recorded images on the monitors 14c. The movement mechanism control unit 14b controls the moving object 10 by controlling the movement mechanism 10a and attitude measurement unit 10c of the moving object 10.

[0031] As shown in Fig. 4, the laser distance measuring device 11 includes a laser emitting unit 11a, a laser control unit 11b, a beam splitter 11c, a distance measuring unit 16, and an emission measuring unit 17. The laser emitting unit 11a emits pulsed laser light 12 toward the deposit 2 including the object to be collected 1. The laser control unit 11b controls the laser emitting unit 11a. The beam splitter 11c splits the received light into light for two directions.

[0032] In this embodiment, the pulsed laser light 12 emitted by the laser emitting unit 11a has a wavelength (for example, about 250 nm to 450 nm) that can emit light from the collection target 1. From the viewpoint of distance measurement and time resolution, the pulsed laser light 12 preferably has a pulse width on the order of ps.

[0033] The distance measurement unit 16 measures one of the beams split by the beam splitter 11c, and measures the distance between the laser distance measurement device 11 and the reflection surface of the pulsed laser beam 12 (in this embodiment, the surface of the deposit 2). The distance measurement unit 16 includes a color filter 16a, a distance measurement light receiving unit 16b, and a 3D point cloud creation unit 16c, and measures the light that has passed through the color filter 16a.

[0034] The center wavelength of the light transmitted by color filter 16a is the same as the center wavelength of pulsed laser light 12 transmitted by laser transmission unit 11a. In other words, color filter 16a transmits pulsed laser light 12 reflected by deposit 2.

[0035] The distance measurement light receiving section 16b receives the light that has passed through the color filter 16a.

[0036] The 3D point cloud creation unit 16c creates 3D point cloud data indicating the distance between the laser distance measuring device 11 and the surface of the deposit 2, i.e., 3D point cloud data indicating the shape of the surface of the deposit 2, from the light that has passed through the color filter 16a.

[0037] The luminescence measurement unit 17 measures the other light split by the beam splitter 11c, and measures the luminescence of the collection target 1. The luminescence measurement unit 17 includes a color filter 17a, a target detection light receiving unit 17b, and a target 3D point cloud creation unit 17c, and measures the light transmitted through the color filter 17a.

[0038] The central wavelength of the light transmitted by the color filter 17a is the central wavelength of the light emitted by the collection target 1 when irradiated with the pulsed laser light 12.

[0039] The object detection light receiving section 17b receives the light that has passed through the color filter 17a.

[0040] The object 3D point cloud creating unit 17c creates 3D point cloud data indicating the positions where the collection object 1 emits light from the light transmitted through the color filter 17a, that is, 3D point cloud data indicating the distribution of the collection object 1.

[0041] As shown in FIG. 4, the measurement device 15 includes a 3D point cloud data recording unit 18, an object 3D point cloud data recording unit 19, an object surface distribution creating unit 20, and a recovered deposit determining unit 21.

[0042] The 3D point cloud data recording unit 18 records the 3D point cloud data transmitted from the distance measurement unit 16 of the laser distance measuring device 11. This 3D point cloud data indicates the distance between the laser distance measuring device 11 and the surface of the deposit 2, i.e., the shape of the surface of the deposit 2.

[0043] The object 3D point cloud data recording unit 19 records the 3D point cloud data transmitted from the light emission measurement unit 17 of the laser distance measuring device 11. This 3D point cloud data indicates the positions where the collection object 1 emitted light, i.e., the distribution of the collection object 1.

[0044] The object surface distribution creation unit 20 integrates the 3D point cloud data transmitted from the distance measurement unit 16 and the 3D point cloud data transmitted from the luminescence measurement unit 17 to determine the surface shape of the deposit 2 and the distribution of the objects 1 to be recovered contained in the deposit 2.

[0045] The recovery deposit determination unit 21 calculates the three-dimensional dimensions of the deposit 2 including the recovery target 1 from the surface shape of the deposit 2 and the distribution of the recovery target 1 contained in the deposit 2 obtained by the target object surface distribution creation unit 20, and determines the deposit 2 to be recovered. The recovery target 1 is recovered together with the deposit 2 including itself.

[0046] FIG. 5 is a flowchart showing the procedure in this embodiment in which the detection device for collection objects detects the collection objects 1 and determines the deposits 2 to be collected (that is, determines the collection objects 1 to be collected).

[0047] In S51, the moving object 10 moves to one of the predetermined detection positions. Fig. 1A shows the moving object 10 moved to the detection position.

[0048] In S52, when the moving object 10 moves to the detection position, the images taken in the air and underwater by the camera unit 10b are recorded as images of the detection position. The images may be recorded from the moment the moving object 10 is immersed in water. In this case, it is preferable to record the images of the moving object 10 while it is moving separately from the images taken after the moving object 10 arrives at the detection position.

[0049] In S53, when the mobile body 10 finishes recording the detection position, it starts detecting the deposit 2 and the object 1 to be collected in order to determine the surface shape of the deposit 2 and the distribution of the object 1 to be collected contained in the deposit 2. The laser distance measuring device 11 of the mobile body 10 irradiates the pulsed laser light 12 toward the floor surface 3 and starts measuring the deposit 2 and the object 1 to be collected.

[0050] In S54, when the laser distance measuring instrument 11 has finished measuring the predetermined range, it stops irradiating the pulsed laser light 12 and ends measuring the deposit 2 and the object 1 to be collected.

[0051] In S55, the object surface distribution creation unit 20 of the measuring device 15 integrates the 3D point cloud data transmitted from the distance measurement unit 16 and the 3D point cloud data transmitted from the luminescence measurement unit 17 to determine the surface shape of the deposit 2 and the distribution of the recovery object 1 contained in the deposit 2.

[0052] In S56, the recovery deposit determination unit 21 of the measuring device 15 determines the deposit to be recovered based on the surface shape of the deposit 2 and the distribution of the recovery target objects 1 contained in the deposit 2.

[0053] In S57, the moving object 10 moves to the next detection position among the predetermined detection positions.

[0054] As described above, in this embodiment, the deposit 2 is fuel debris, and the object to be recovered 1 is a substance that contains uranium-derived material and that has deposited on the bottom of the containment vessel 6.

[0055] The uranium-derived substances contained in the fuel debris include tetravalent uranium ions (U 4+ ) and hexavalent uranyl ions (UO2 2+ In this example, an example will be described in which the object to be collected 1 is uranyl ions.

[0056] Uranyl ions phosphoresce when irradiated with light, and there are two central wavelengths at which phosphorescence occurs: the first peak corresponds to the ultraviolet wavelength, and the second peak corresponds to the blue wavelength. Therefore, the central wavelength of the pulsed laser beam 12 emitted by the laser emitting unit 11a is preferably within the range of 280 nm to 420 nm. As described above, the central wavelength of the light transmitted by the color filter 16a of the distance measuring unit 16 is preferably the same as the central wavelength of the pulsed laser beam 12 emitted by the laser emitting unit 11a. This allows the distance measuring unit 16 to measure the distance to the surface of the deposit 2 based on the pulsed laser beam 12 reflected by the surface of the deposit 2.

[0057] It is also known that uranyl ions emit light with a green center wavelength as uranium phosphorescence. Therefore, the center wavelength of the light transmitted by color filter 17a of luminescence measurement unit 17 is preferably a green light wavelength, for example, a wavelength of 500 nm to 550 nm. This allows luminescence measurement unit 17 to detect the phosphorescence of uranyl ions, which are the object 1 to be collected.

[0058] The color filter 16a of the distance measurement unit 16 and the color filter 17a of the luminescence measurement unit 17 have different central wavelengths of light that are transmitted, so the distance measurement unit 16 can measure the distance to the surface of the deposit 2 without detecting the phosphorescence of the uranyl ions, and the luminescence measurement unit 17 can measure only the phosphorescence of the uranyl ions.

[0059] 6A is a diagram showing an example of waveforms measured by the distance measurement unit 16 and the light emission measurement unit 17 in the present embodiment when the object to be collected 1 is not present at the irradiation position of the pulsed laser beam 12. The irradiation position of the pulsed laser beam 12 is, for example, the position of the coordinate Xa shown in FIG. 1A.

[0060] 6B is a diagram showing an example of waveforms measured by the distance measurement unit 16 and the light emission measurement unit 17 in the present embodiment when the object to be collected 1 is present at the irradiation position of the pulsed laser beam 12. The irradiation position of the pulsed laser beam 12 is, for example, the position of the coordinate Xc shown in FIG. 1A.

[0061] When the laser distance measuring instrument 11 (Figure 4) emits pulsed laser light 12 from the laser emission unit 11a in response to a command from the laser control unit 11b, the laser control unit 11b simultaneously transmits a pulsed trigger signal (trigger pulse) to the distance measuring unit 16 and the light emission measuring unit 17 (time t=0), as shown in Figures 6A and 6B.

[0062] If the water depth is approximately 1 m to 2 m and the scanning range of the pulsed laser light 12 is ±45° in both the horizontal direction (Xs direction and Zs direction) and the vertical direction (Ys direction), the propagation time of the pulsed laser light 12 is approximately 6.7 ns to 26.7 ns.

[0063] On the other hand, the time it takes for uranyl ion phosphorescence to produce light is said to be several tens of microseconds around 30 microseconds after irradiation with pulsed laser beam 12, so in this example, the detection range for uranyl ion phosphorescence is set to a range of 10 microseconds to 50 microseconds after irradiation with pulsed laser beam 12. The measurement time for one point is set to about twice the detection range for phosphorescence, which is 100 microseconds in this example.

[0064] 6A, when uranyl ions, which are the objects to be recovered 1, are not present at the irradiation position of the pulsed laser light 12, the laser distance measuring device 11 receives only the light reflected from the deposit 2. Therefore, only the distance measuring unit 16 measures the reflected light at time t1, and the luminescence measuring unit 17 does not measure anything.

[0065] 6B, when uranyl ions, which are the object to be recovered 1, are present at the irradiation position of pulsed laser light 12, laser distance measuring device 11 receives reflected light from deposit 2 and phosphorescence from uranyl ions. Therefore, distance measuring unit 16 measures the reflected light at time t1, and luminescence measuring unit 17 measures the green light of phosphorescence at time t2 when it receives the phosphorescence from uranyl ions.

[0066] 6A and 6B, an example has been described in which the irradiation position of the pulsed laser beam 12 is one point, and reflected light and phosphorescence from this one point are measured. The irradiation position (measurement point) of the pulsed laser beam 12 can be multiple points. For example, the irradiation position (measurement point) of the pulsed laser beam 12 can be multiple points on the ZsXs plane shown in FIG. 1B.

[0067] In the following, an example will be described in which the irradiation positions (measurement points) of the pulsed laser beam 12 are a plurality of points on the ZsXs plane shown in FIG. 1B.

[0068] 7A is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data of the deposit 2 measured by the distance measurement unit 16 of the laser distance measurement device 11 in this embodiment. This 3D point cloud data is created by the 3D point cloud creation unit 16c of the distance measurement unit 16.

[0069] The 3D point cloud data created by the distance measurement unit 16 is point cloud data indicating the distance between the laser distance measurement device 11 and the surface of the deposit 2, and represents the shape of the surface of the deposit 2. In Fig. 7A, the shape of the surface of the deposit 2 is represented by the point cloud indicated by black squares.

[0070] 7B is a diagram showing an example of the distribution on the XsYs plane of the 3D point cloud data of the collection target 1 measured by the light emission measurement unit 17 of the laser distance measuring device 11 in this embodiment. This 3D point cloud data is created by the target 3D point cloud creation unit 17c of the light emission measurement unit 17.

[0071] When the object 3D point cloud creation unit 17c receives the phosphorescence of the uranyl ions, which are the object to be recovered 1, it creates 3D point cloud data by recording the distance measured by the distance measurement unit 16 at the same time as the phosphorescence was received (i.e., the distance between the laser distance measuring device 11 and the surface of the deposit 2) as data of the object to be recovered 1.

[0072] The 3D point cloud data created by the luminescence measurement unit 17 is data indicating the positions where the collection target 1 emitted light (i.e., the positions of the uranyl ions that caused phosphorescence) and represents the distribution of the collection target 1. In FIG. 7B, the distribution of the collection target 1 is represented by a point cloud indicated by white circles. As shown in FIG. 1A, the uranyl ions, which are the collection target 1, exist in the ranges between coordinates Xb and Xc, between coordinates Xd and Xe, and between coordinates Xf and Xg.

[0073] FIG. 7C is a diagram showing an example of the distribution of the 3D point cloud data integrated and created by the object surface distribution creation unit 20 of the measurement device 15 on the XsYs plane.

[0074] The object surface distribution creation unit 20 integrates the 3D point cloud data created by the distance measurement unit 16 with the 3D point cloud data created by the luminescence measurement unit 17 to determine the surface shape of the deposit 2 and the distribution of the objects 1 to be recovered contained in the deposit 2. In Figure 7C, the surface shape of the deposit 2 is represented by the point cloud indicated by black squares, and the distribution of the objects 1 to be recovered contained in the deposit 2 is represented by the point cloud indicated by white circles.

[0075] As described above, the detection device for objects to be collected according to this embodiment integrates the 3D point cloud data created by the distance measurement unit 16 and the 3D point cloud data created by the light emission measurement unit 17 within the scanning range of the pulsed laser light 12, and can simultaneously determine the shape of the surface of the deposit 2 existing on the floor surface 3 and the distribution of objects to be collected 1 contained in the deposit 2. For example, the detection device for objects to be collected according to this embodiment can simultaneously determine the shape of the surface of fuel debris and the distribution of uranyl ions contained in the fuel debris.

[0076] In the detection device for objects to be collected according to this embodiment, when random noise such as random light emission due to reflected light or phosphorescence from substances floating in the water occurs, the distance measurement unit 16 and the light emission measurement unit 17 perform measurements multiple times and perform signal processing such as averaging on the multiple waveforms obtained by the measurements, thereby improving measurement accuracy. Furthermore, the distance measurement unit 16 may remove point clouds that are clearly located underwater rather than on the floor 3 and that exceed a set threshold. Furthermore, by referring to an image of the measurement point captured by an underwater camera, if it is determined that the obtained point cloud is noise, this point cloud may be removed.

[0077] The object surface distribution creation unit 20 of the measurement device 15 transmits the determined surface shape of the deposit 2 and the distribution of the recovery objects 1 contained in the deposit 2 to the recovery deposit determination unit 21 .

[0078] The recovery deposit determination unit 21 calculates the three-dimensional dimensions of the deposit 2 containing the recovery target 1 from the surface shape of the deposit 2 and the distribution of the recovery target 1 contained in the deposit 2, and determines the deposit 2 to be recovered. The recovery target 1 is recovered together with the deposit 2 containing it.

[0079] In this embodiment, it is assumed that lump deposits 2 (2A, 2B) are to be collected. The deposits 2A and 2B include the object 1 to be collected.

[0080] FIG. 8A is a diagram showing an example of a method for determining the height of the deposit 2 from the distribution of the 3D point cloud data of the deposit 2 on the XsYs plane in this embodiment.

[0081] 8A, it can be seen that in the Xs-axis direction, deposit 2A is located between coordinates Xh and Xi, and deposit 2B is located between coordinates Xb and Xc. Furthermore, it can be seen from this 3D point cloud data that the height of deposit 2A from layered deposit 2D on the XsYs plane is ΔY1, and the height of deposit 2B is ΔY2.

[0082] FIG. 8B is a diagram showing an example of a method for determining the size of the distribution range of the deposit 2 on the ZsXs plane from the distribution of the 3D point cloud data of the deposit 2 on the ZsXs plane in this embodiment.

[0083] From the 3D point cloud data shown in FIG. 8B, it can be seen that on the ZsXs plane, deposit 2A exists in the range of ΔX1×ΔZ1, and deposit 2B exists in the range of ΔX2×ΔZ2.

[0084] In this way, the recovered deposit determination unit 21 can calculate that the three-dimensional dimensions (width, depth, height) of deposit 2A are ΔX1×ΔZ1×ΔY1, and the three-dimensional dimensions of deposit 2B are ΔX2×ΔZ2×ΔY2.

[0085] 8C is a diagram showing an example of the distribution of the collection target 1 contained in the deposits 2A and 2B on the XsYs plane, obtained from the integrated 3D point cloud data in this example. The distribution of the deposits 2A and 2B is represented by the point cloud indicated by black squares. The distribution of the collection target 1 is represented by the point cloud indicated by white circles.

[0086] The recovered deposit determination unit 21 can display the distribution of the point cloud as shown in Fig. 8C on a display device provided in the measuring device 15. The recovered deposit determination unit 21 can also display the point cloud representing the deposit 2 and the point cloud representing the recovery target 1 on the display device in different shapes and colors, and indicate the size of the recovery target 1.

[0087] The recovered deposit determination unit 21 can determine the amount (proportion) of the recovery target 1 in each of the deposits 2A and 2B from the distribution of the point cloud. For example, the recovered deposit determination unit 21 has a function of determining the number of points representing the recovery target 1 in the distribution of the point cloud, and can determine the amount (proportion) of the recovery target 1 from this number of points.

[0088] The recovery deposit determination unit 21 can further determine the deposit 2 to be recovered based on the three-dimensional dimensions of the deposit 2 and the distribution of the objects 1 to be recovered contained in the deposit 2. For example, the recovery deposit determination unit 21 determines how much of the deposit 2 to recover and where it is located based on the size of the recoverable deposit 2 (e.g., the amount of deposit 2 that the mobile body 10 can carry) and the distribution of the objects 1 to be recovered.

[0089] The recovered deposit determination unit 21 can store the three-dimensional dimensions of the deposit 2 including the recovery target 1 and the amount of the recovery target 1 contained in the deposit 2 in a database provided in the measuring device 15, correlating them with each other.

[0090] 9A is a diagram showing an example of data in which the three-dimensional dimensions of a deposit 2 containing a collection target 1 are associated with the amount of the collection target 1 contained in the deposit 2 at each measurement point. Deposit 2A has deposit number 1, and deposit 2B has deposit number 2.

[0091] In FIG. 9A, the "number of object point clouds" is the number of points representing the objects 1 to be recovered, which is determined by the recovery deposit determination unit 21, and indicates the amount of the objects 1 to be recovered.

[0092] The recovered sediment determination unit 21 can also associate the data shown in Figure 9A with the sediment 2 shown in the image captured by the underwater camera. The control device 14 can transmit the image captured by the underwater camera to the recovered sediment determination unit 21.

[0093] Fig. 9B is a diagram showing an example of data in which the data shown in Fig. 9A is associated with a deposit 2 shown in a video captured by an underwater camera. The data shown in Fig. 9B records, for an image cut out as a still image from the video captured by the underwater camera, the time of capture of the image and the deposit number of the deposit 2 shown in the image.

[0094] When the recovered deposit determining unit 21 has such a configuration, it is possible to recover a large amount of deposits 2 including recovery objects 1 in a small number of times using as small an apparatus as possible (for example, the moving body 10 or recovery device).

[0095] As described above, the detection device for recovery objects according to this embodiment can simultaneously obtain the surface shape of the deposit 2 and the distribution of the recovery objects 1 contained in the deposit 2, thereby improving workability and reducing the time and cost required for the work. [Example]

[0096] A detection device and a detection method for objects to be collected according to a second embodiment of the present invention will be described below. The following mainly describes the differences between the detection device and the detection method for objects to be collected according to this embodiment and those according to the first embodiment. In this embodiment, the moving body 10 is also an underwater moving body.

[0097] In this example, an example will be described in which the object to be recovered 1 is tetravalent uranus ions. Tests have confirmed that when uranus ions are irradiated with ultrashort pulses of sapphire-titanium laser light with a wavelength of 394 nm and a pulse width of approximately 100 femtoseconds, they emit white phosphorescence approximately 18 ns after irradiation.

[0098] Therefore, the central wavelength of the pulsed laser beam 12 emitted by the laser emission unit 11a is assumed to be within the range of 320 nm to 400 nm. The central wavelength of the light transmitted by the color filter 16a of the distance measurement unit 16 is the same as the central wavelength of the pulsed laser beam 12. The central wavelength of the light transmitted by the color filter 17a of the luminescence measurement unit 17 is assumed to be 500 nm to 550 nm, as in Example 1. Note that, because uranus ions emit white phosphorescence, other wavelengths within the visible light range may be used as the central wavelength of the light transmitted by the color filter 17a of the luminescence measurement unit 17.

[0099] 10A is a diagram showing an example of waveforms measured by the distance measurement unit 16 and the light emission measurement unit 17 in the present embodiment when the object to be collected 1 is not present at the irradiation position of the pulsed laser beam 12. The irradiation position of the pulsed laser beam 12 is, for example, the position of the coordinate Xa shown in FIG. 1A.

[0100] 10B is a diagram showing an example of waveforms measured by the distance measurement unit 16 and the light emission measurement unit 17 in the present embodiment when the object to be collected 1 is present at the irradiation position of the pulsed laser beam 12. The irradiation position of the pulsed laser beam 12 is, for example, the position of the coordinate Xp shown in FIG. 11A, which will be described later.

[0101] When the laser distance measuring instrument 11 (Figure 4) emits pulsed laser light 12 from the laser emission unit 11a in response to a command from the laser control unit 11b, the laser control unit 11b simultaneously transmits a pulsed trigger signal (trigger pulse) to the distance measuring unit 16 and the light emission measuring unit 17 (time t=0), as shown in Figures 10A and 10B.

[0102] If the water depth is approximately 1 m to 2 m and the scanning range of the pulsed laser light 12 is ±45° in both the horizontal direction (Xs direction and Zs direction) and the vertical direction (Ys direction), the propagation time of the pulsed laser light 12 is approximately 6.7 ns to 26.7 ns.

[0103] On the other hand, the time it takes for light to be emitted by phosphorescence of uranus ions is approximately 18 ns after irradiation with pulsed laser beam 12, and so in this embodiment, the detection range for phosphorescence of uranus ions is set to a time range including time t2', which is 18 ns after irradiation with pulsed laser beam 12. This detection range is included in the time range measured by distance measurement unit 16. Also in this embodiment, the measurement time for one point is set to approximately twice the detection range for phosphorescence, which is approximately 36 ns in this embodiment.

[0104] 10A, when uranus ions, which are the object to be collected 1, are not present at the irradiation position of the pulsed laser light 12, the laser distance measuring device 11 receives only the light reflected from the deposit 2. Therefore, only the distance measuring unit 16 measures the reflected light at time t1, and the luminescence measuring unit 17 does not measure anything.

[0105] 10B, when uranus ions, which are the object to be recovered 1, are present at the irradiation position of the pulsed laser beam 12, the laser distance measuring device 11 receives the light reflected from the deposit 2 and the phosphorescence of the uranus ions. Therefore, the distance measuring unit 16 measures the reflected light at time t1 and the phosphorescence at time t2, and the luminescence measuring unit 17 measures the phosphorescence at time t2'. Because the phosphorescence of uranus ions is white, the distance measuring unit 16 measures the light of the color that has passed through the color filter 16a of the phosphorescence at time t2, and the luminescence measuring unit 17 measures the light of the color that has passed through the color filter 17a of the phosphorescence at time t2'.

[0106] The 3D point cloud creation unit 16c of the distance measurement unit 16 creates 3D point cloud data of the deposit 2 from the light data measured by the distance measurement unit 16. At this time, as shown in FIG. 10B , when the distance measurement unit 16 measures two waveforms (reflected light at time t1 and phosphorescence at time t2), the 3D point cloud creation unit 16c records, as 3D point cloud data of the deposit 2, a point cloud created from a waveform at a time that is significantly different from time t2′ when the luminescence measurement unit 17 measured the phosphorescence. The waveform at a time that is significantly different from time t2′ is a waveform that is considered to be reflected light rather than phosphorescence. Note that, when the distance measurement unit 16 measures two waveforms at approximately the same time, the 3D point cloud creation unit 16c records the waveform at this time as a point cloud due to phosphorescence.

[0107] 10B, the time difference Δt1 is larger than the time difference Δt2 (=t2'-t2). Therefore, the 3D point cloud creation unit 16c records the point cloud created from the waveform at time t1 that gives the time difference Δt1 as 3D point cloud data of the deposit 2.

[0108] When the object 3D point cloud creation unit 17c of the luminescence measurement unit 17 receives the phosphorescence of the uranyl ion, which is the object to be recovered 1, it creates 3D point cloud data by recording the distance measured by the distance measurement unit 16 at the same time as the phosphorescence was received (i.e., the distance between the laser distance measuring device 11 and the surface of the deposit 2) as data of the object to be recovered 1.

[0109] 10A and 10B, an example has been described in which the irradiation position of the pulsed laser beam 12 is one point and the reflected light from this one point is measured. The irradiation position (measurement point) of the pulsed laser beam 12 can be multiple points. For example, the irradiation position (measurement point) of the pulsed laser beam 12 can be multiple points on the ZsXs plane.

[0110] Fig. 11A is an XsYs plane view showing a moving body 10 provided in the detection device for collection objects according to this embodiment and a pile 2 including collection objects 1. Fig. 11B is a diagram showing the position of collection objects 1 in the ZsXs plane. Figs. 11A and 11B correspond to Figs. 1A and 1B, respectively.

[0111] In the Xs axis direction, the deposit 2A contains uranus ions, which are the object to be collected 1, between the coordinates Xp and Xq.

[0112] In the following, an example will be described in which the irradiation positions (measurement points) of the pulsed laser beam 12 are a plurality of points on the ZsXs plane shown in FIG. 11B.

[0113] 12A is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data of the deposit 2 measured by the distance measurement unit 16 of the laser distance measurement device 11 in this embodiment. This 3D point cloud data is created by the 3D point cloud creation unit 16c of the distance measurement unit 16. In FIG. 12A, the shape of the surface of the deposit 2 is represented by a point cloud indicated by black squares.

[0114] 12B is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data of the collection target 1 measured by the light emission measurement unit 17 of the laser distance measuring device 11 in this embodiment. This 3D point cloud data is created by the object 3D point cloud creation unit 17c of the light emission measurement unit 17. In FIG. 12B, the distribution of the collection target 1 is represented by a point cloud indicated by white triangles. As shown in FIG. 11A, uranus ions, which are the collection target 1, exist in the range between coordinates Xp and Xq.

[0115] FIG. 12C is a diagram showing an example of the distribution of the 3D point cloud data integrated and created by the object surface distribution creation unit 20 of the measurement device 15 on the XsYs plane.

[0116] The object surface distribution creation unit 20 integrates the 3D point cloud data created by the distance measurement unit 16 with the 3D point cloud data created by the luminescence measurement unit 17 to determine the surface shape of the deposit 2 and the distribution of the objects to be recovered 1 contained in the deposit 2. In Figure 12C, the surface shape of the deposit 2 is represented by the point cloud indicated by black squares, and the distribution of the objects to be recovered 1 contained in the deposit 2 is represented by the point cloud indicated by white triangles.

[0117] As described above, the detection device for objects to be collected according to this embodiment integrates the 3D point cloud data created by the distance measurement unit 16 and the 3D point cloud data created by the light emission measurement unit 17 within the scanning range of the pulsed laser light 12, and can simultaneously determine the surface shape of the deposit 2 present on the floor surface 3 and the distribution of objects to be collected 1 contained in the deposit 2. For example, the detection device for objects to be collected according to this embodiment can determine the surface shape of fuel debris and the distribution of uranus ions contained in the fuel debris.

[0118] In the detection device for objects to be collected according to this embodiment, similar to the first embodiment, when random noise occurs, the distance measurement unit 16 and the light emission measurement unit 17 can improve measurement accuracy by performing signal processing such as averaging on the measured waveform. Furthermore, the distance measurement unit 16 may remove point clouds that are clearly found to be located underwater rather than on the floor surface 3 and that exceed a set threshold value. Furthermore, by referring to an image of the measurement point captured by an underwater camera, if it is determined that the obtained point cloud is noise, this point cloud may be removed.

[0119] The object surface distribution creation unit 20 of the measurement device 15 transmits the determined surface shape of the deposit 2 and the distribution of the recovery objects 1 contained in the deposit 2 to the recovery deposit determination unit 21 .

[0120] The recovery deposit determination unit 21 calculates the three-dimensional dimensions of the deposit 2 containing the recovery target 1 from the surface shape of the deposit 2 and the distribution of the recovery target 1 contained in the deposit 2, and determines the deposit 2 to be recovered. The recovery target 1 is recovered together with the deposit 2 containing it.

[0121] In this embodiment, it is assumed that a lump-shaped deposit 2 (2A) is to be collected. The deposit 2A includes the object 1 to be collected.

[0122] FIG. 13A is a diagram showing an example of a method for determining the height of the deposit 2 from the distribution of the 3D point cloud data of the deposit 2 on the XsYs plane in this embodiment.

[0123] 13A, it can be seen that the deposit 2A exists between the coordinates Xh and Xi in the Xs-axis direction. Furthermore, it can be seen from this 3D point cloud data that the height of the deposit 2A from the layered deposit 2D on the XsYs plane is ΔY1.

[0124] FIG. 13B is a diagram showing an example of a method for determining the size of the distribution range of the deposit 2 on the ZsXs plane from the distribution of the 3D point cloud data of the deposit 2 on the ZsXs plane in this embodiment.

[0125] From the 3D point cloud data shown in FIG. 13B, it can be seen that the deposit 2A exists in the range of ΔX1 × ΔZ1 on the ZsXs plane.

[0126] In this way, the recovered deposit determination unit 21 can calculate that the three-dimensional dimensions (width, depth, height) of the deposit 2A are ΔX1×ΔZ1×ΔY1.

[0127] 13C is a diagram showing an example of the distribution of collection targets 1 contained in deposit 2A on the XsYs plane, determined from the integrated 3D point cloud data in this example. The distribution of deposit 2A is represented by the point cloud indicated by black squares. The distribution of collection targets 1 is represented by the point cloud indicated by white triangles.

[0128] The recovered deposit determination unit 21 can display the distribution of the point cloud as shown in Fig. 13C on a display device provided in the measuring device 15. The recovered deposit determination unit 21 can also display the point cloud representing the deposit 2 and the point cloud representing the recovery target 1 on the display device in different shapes and colors, and indicate the size of the recovery target 1.

[0129] The recovered deposit determination unit 21 can determine the amount (proportion) of the recovery target 1 in the deposit 2A from the distribution of the point cloud, as in Example 1. For example, the recovered deposit determination unit 21 has a function of determining the number of points representing the recovery target 1 in the distribution of the point cloud, and can determine the amount (proportion) of the recovery target 1 from this number of points.

[0130] The recovery deposit determination unit 21 can further determine the deposit 2 to be recovered based on the three-dimensional dimensions of the deposit 2 and the distribution of the recovery target objects 1 contained in the deposit 2.

[0131] As in Example 1, the recovered deposit determination unit 21 can associate the three-dimensional dimensions of the deposit 2 including the recovery target 1 with the amount of the recovery target 1 contained in the deposit 2 and store them in a database provided in the measuring device 15.

[0132] 14A is a diagram showing an example of data in which the three-dimensional dimensions of a deposit 2 including a collection target 1 are associated with the amount of the collection target 1 contained in the deposit 2 at each measurement point. Deposit 2A has the deposit number 1.

[0133] 14A with the deposits 2 shown in the image captured by the underwater camera. The control device 14 can transmit the image captured by the underwater camera to the recovered deposit determination unit 21.

[0134] Fig. 14B is a diagram showing an example of data in which the data shown in Fig. 14A is associated with deposit 2 shown in video captured by an underwater camera. The data shown in Fig. 14B records the time of capture of an image cut out as a still image from the video captured by the underwater camera, and the deposit number of deposit 2 shown in the image.

[0135] In the detection device for collection objects according to this embodiment, when the collection object 1 emits multiple types of light that have different times between when it is irradiated with the pulsed laser light 12 and when it emits light, the distance measurement unit 16 and the light emission measurement unit 17 can measure the multiple types of light emitted by the collection object 1. The measurement times are set in the distance measurement unit 16 and the light emission measurement unit 17 so that they can measure such multiple types of light. Note that the distance measurement unit 16 may also measure the light emitted by the collection object 1, as shown in FIG. 10B.

[0136] In the following, a case where the object to be recovered 1 contains both tetravalent uranus ions and hexavalent uranyl ions will be described.

[0137] In the example shown in Fig. 10B, the measurement time for one point by the distance measurement unit 16 and the luminescence measurement unit 17 is set to 100 us, as in Example 1. This allows the luminescence measurement unit 17 to measure both tetravalent uranus ions and hexavalent uranyl ions (see, for example, Fig. 10B and Fig. 6B).

[0138] Figure 15A shows an example of the distribution of 3D point cloud data of deposit 2 measured by distance measurement unit 16 of laser distance measuring instrument 11 on the XsYs plane when the object to be recovered 1 is both uranus ions and uranyl ions.

[0139] 15B is a diagram showing an example of the distribution on the XsYs plane of 3D point cloud data of the collection object 1 measured by the light emission measurement unit 17 of the laser distance measuring device 11 when the collection object 1 is both uranus ions and uranyl ions. In Fig. 15B, the distribution of the uranyl ions, which are the collection object 1, is represented by the point cloud indicated by white circles, and the distribution of the uranus ions, which are the collection object 1, is represented by the point cloud indicated by white triangles.

[0140] Fig. 15C is a diagram showing an example of the distribution on the XsYs plane of the 3D point cloud data created by the object surface distribution creation unit 20 of the measurement device 15. In Fig. 15C, the surface shape of the deposit 2 is represented by a point cloud indicated by black squares, the distribution of uranyl ions among the recovery objects 1 contained in the deposit 2 is represented by a point cloud indicated by white circles, and the distribution of uranus ions is represented by a point cloud indicated by white triangles.

[0141] 16 is a diagram showing an example of the distribution of the collection target 1 contained in the sediment 2 on the XsYs plane, obtained from the integrated 3D point cloud data, when the collection target 1 is both uranus ions and uranyl ions. The distribution of the sediment 2 is represented by the point cloud indicated by black squares. Among the collection target 1, the distribution of uranyl ions is represented by the point cloud indicated by white circles, and the distribution of uranus ions is represented by the point cloud indicated by white triangles.

[0142] The recovered deposit determination unit 21 can display the distribution of the point cloud as shown in Fig. 16 on a display device provided in the measuring device 15. The recovered deposit determination unit 21 can also display the point cloud representing the deposit 2 and the point cloud representing the recovery target 1 on the display device in different shapes and colors, and indicate the size of the recovery target 1.

[0143] As in Example 1, the recovered deposit determination unit 21 can associate the three-dimensional dimensions of the deposit 2 including the recovery target 1 with the amount of the recovery target 1 contained in the deposit 2 and store them in a database provided in the measuring device 15.

[0144] 17A is a diagram showing an example of data in which the three-dimensional dimensions of a deposit 2 containing a collection target 1 are associated with the amount of the collection target 1 contained in the deposit 2 at each measurement point. Deposit 2A has deposit number 1, and deposit 2B has deposit number 2.

[0145] 14A with the deposits 2 shown in the image captured by the underwater camera. The control device 14 can transmit the image captured by the underwater camera to the recovered deposit determination unit 21.

[0146] Fig. 17B is a diagram showing an example of data in which the data shown in Fig. 17A is associated with deposit 2 shown in video captured by an underwater camera. The data shown in Fig. 17B records the time of capture of an image cut out as a still image from the video captured by the underwater camera, and the deposit number of deposit 2 shown in the image.

[0147] In addition to the effects described in Example 1, the detection device for recovery objects according to this example can simultaneously obtain the surface shape of the deposit 2 and the distribution of the recovery objects 1 contained in the deposit 2, even when the recovery object 1 is uranus ions or when the recovery object 1 is both uranus ions and uranyl ions, thereby improving workability and reducing the time and cost required for the work. [Example]

[0148] A detection device and a detection method for collection objects according to a third embodiment of the present invention will be described below. The following mainly describes the differences between the detection device and the detection method for collection objects according to this embodiment and the first and second embodiments.

[0149] 18 is a diagram showing an example of the configuration of a detection device for objects to be collected according to this embodiment. In the detection device for objects to be collected according to this embodiment, a moving body 10 is an underwater moving body and is provided with a transparent container 31 filled with water.

[0150] When the sediment 2 is present in turbid water, the pulsed laser light 12 has difficulty reaching the sediment 2 due to scattering by the turbid water, and the distance measurement unit 16 and the light emission measurement unit 17 may have difficulty measuring the reflected light from the sediment 2 or the phosphorescence of the object 1 to be recovered.

[0151] In this embodiment, the mobile object 10, which is an underwater mobile object, is provided with a laser distance measuring device 11 on its bottom surface, and a transparent container 31 filled with water is provided between the laser distance measuring device 11 and the sediment 2. The container 31 is located underwater on the path of the pulsed laser beam 12 from the laser transmitter 11a to the sediment 2. The presence of the container 31 between the laser distance measuring device 11 and the sediment 2 shortens the distance that the pulsed laser beam 12, the reflected light, and the phosphorescence travel through the turbid water. Therefore, in this embodiment, even when the sediment 2 is present in turbid water, the distance measuring unit 16 and the luminescence measuring unit 17 can measure the reflected light from the sediment 2 and the phosphorescence of the collection target 1. [Example]

[0152] A detection device and a detection method for collection objects according to a third embodiment of the present invention will be described below. The following mainly describes the differences between the detection device and the detection method for collection objects according to this embodiment and the first and second embodiments.

[0153] 19 is a diagram showing an example of the overall configuration of a detection device for a recovery object in this embodiment, and an example of a facility in which a recovery object 1 exists. The facility in which a recovery object 1 exists is a nuclear facility similar to that shown in FIG. 2, but there is no water at the bottom of the containment vessel 6.

[0154] In the detection device for objects to be collected according to this embodiment, the moving body 10 is an aerial moving body that moves in the air, and moves on the floor surface 3 at the bottom of the containment vessel 6. Deposits 2 exist on the floor surface 3.

[0155] In the detection device and detection method for objects to be collected according to this embodiment, similarly to the detection device and detection method for objects to be collected according to embodiments 1 and 2, the object surface distribution creation unit 20 can simultaneously obtain the surface shape of the deposit 2 and the distribution of objects to be collected 1 contained in the deposit 2. Then, the collected deposit determination unit 21 can calculate the three-dimensional dimensions of the deposit 2 containing the objects to be collected 1 and determine the deposit 2 to be collected. [Example]

[0156] A detection device and a detection method for collection objects according to a fifth embodiment of the present invention will be described below. The following mainly describes the differences between the detection device and the detection method for collection objects according to this embodiment and the first and second embodiments.

[0157] 20 is a diagram showing an example of functional blocks of the detection device for collection objects according to this embodiment. In the detection device for collection objects according to this embodiment, the control device 14 is provided with a position recognition and map creation unit 43 in the detection device for collection objects according to embodiment 1 (FIGS. 3 and 4).

[0158] The position recognition and map creation unit 43 recognizes the position of the moving body 10 during movement and the position during measurement, using the point when the moving body 10 starts moving as the initial value, and creates a map of the environment in which the moving body 10 moves, including the deposit 2 containing the object to be collected 1. This map includes objects present within the measurement range of the moving body 10 and the environment surrounding these objects, and is created as the moving body 10 moves.

[0159] Specifically, the position recognition and map creation unit 43 receives from the mobile object 10 the 3D point cloud data determined by the laser distance measuring device 11 and the position and attitude data of the mobile object 10 determined by the attitude measurement unit 10c. Based on this received data, the position recognition and map creation unit 43 recognizes the position (self-position) of the mobile object 10 and creates a map using Lidar (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) technology. The position recognition and map creation unit 43 transmits the created map data to the recovered deposit determination unit 21 of the measurement device 15.

[0160] The position recognition and map creation unit 43 also receives the image of the camera unit 10b of the moving object 10 transmitted to the camera image recording unit 14a of the control device 14, and the position and attitude data of the moving object 10 determined by the attitude measurement unit 10c of the moving object 10. Based on this received data, the position recognition and map creation unit 43 recognizes the position (self-position) of the moving object 10 and creates a map of the object photographed by the camera unit 10b using image SLAM (Visual Simultaneous Localization and Mapping) technology. The position recognition and map creation unit 43 transmits the created map data to the recovered deposit determination unit 21 of the measurement device 15.

[0161] The recovery deposit determination unit 21 integrates the distribution of the recovery target objects 1 contained in the deposit 2 into the map created by the position recognition and map creation unit 43, and obtains the distribution of the recovery target objects 1 throughout the entire measurement range of the mobile body 10.

[0162] In the detection device for objects to be collected according to this embodiment, the underwater moving body 10 may be equipped with an aerial laser range finder 41, and the control device 14 may be equipped with an aerial laser point cloud recording unit 42. The aerial laser range finder 41 is a device for measuring the shape of objects around the moving body 10 that exist in the air. The aerial laser point cloud recording unit 42 records the data obtained by measurement by the aerial laser range finder 41.

[0163] The position recognition and map creation unit 43 of the control device 14 receives from the moving body 10 data measured by the aerial laser rangefinder 41 and data on the position and attitude of the moving body 10 determined by the attitude measurement unit 10c. Based on this received data, the position recognition and map creation unit 43 recognizes the position (self-position) of the moving body 10 and creates a map using Lidar SLAM technology. The position recognition and map creation unit 43 transmits the created map data to the recovered deposit determination unit 21 of the measurement device 15.

[0164] When the moving body 10 is equipped with an airborne laser rangefinder 41, the position recognition and map creation unit 43 determines the position (self-position) of the moving body 10 and creates a map, reflecting the presence of objects not only in water but also in the air, so that the position and map of the moving body 10 can be obtained with higher accuracy.

[0165] The present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to embodiments including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to delete part of the configuration of each embodiment, or to add or replace other configurations. [Explanation of symbols]

[0166] 1...object to be recovered, 2, 2A, 2B, 2C, 2D...deposits, 3...floor, 4...water surface, 5...reactor building, 6...containment vessel, 6a...penetration hole, 10...mobile body, 10a...mobile mechanism, 10b...camera unit, 10c...attitude measurement unit, 11...laser distance measuring device, 11a...laser emission unit, 11b...laser control unit, 11c...beam splitter, 12...pulse laser light, 13...cable, 14...control device, 14a...camera image recording unit, 14b...mobile mechanism control unit, 14c...monitor, 15 ...Measuring device, 16...distance measurement unit, 16a...color filter, 16b...light receiving unit for distance measurement, 16c...3D point cloud creation unit, 17...light emission measurement unit, 17a...color filter, 17b...light receiving unit for object detection, 17c...object 3D point cloud creation unit, 18...3D point cloud data recording unit, 19...object 3D point cloud data recording unit, 20...object surface distribution creation unit, 21...recovered deposit determination unit, 31...container, 41...air laser rangefinder, 42...air laser point cloud recording unit, 43...position recognition and map creation unit.

Claims

1. a moving body including a camera unit capable of capturing video, a time-of-flight laser distance measuring device, and an attitude measuring unit; a control device including a camera image recording unit that records the image; a measurement device including an object surface distribution creation unit; Equipped with the attitude measurement unit measures the position and attitude of the moving object; The laser distance measuring device is a laser emitting unit that emits a pulsed laser beam toward the deposit having the material to be collected on its surface; a distance measurement unit including a first color filter and a 3D point cloud creation unit, the distance measurement unit measuring light transmitted through the first color filter; a light emission measurement unit including a second color filter and an object 3D point cloud creation unit, the light emission measurement unit measuring light transmitted through the second color filter; Equipped with the central wavelength of the light transmitted by the first color filter is the same as the wavelength of the pulsed laser light, a central wavelength of light transmitted by the second color filter is a wavelength of light emitted by the object to be collected in response to irradiation with the pulsed laser light, the 3D point cloud creation unit creates first 3D point cloud data indicating a shape of a surface of the deposit from light reflected by the deposit and transmitted through the first color filter; the object 3D point cloud creation unit creates second 3D point cloud data indicating a distribution of the collection objects from the light transmitted through the second color filter; the target surface distribution creation unit integrates the first 3D point cloud data and the second 3D point cloud data to obtain a surface shape of the deposit and a distribution of the target to be recovered; A detection device for objects to be collected, characterized in that:

2. The measuring device includes a recovered deposit determining unit, the recovery deposit determination unit calculates three-dimensional dimensions of the deposit including the recovery target from the surface shape of the deposit and the distribution of the recovery target obtained by the target object surface distribution creation unit, and determines the deposit to be recovered. The collection object detection device according to claim 1 .

3. The control device includes a location recognition and map creation unit, the position recognition and map creation unit creates a map of an environment in which the moving object moves, based on at least one of the 3D point cloud data including the first 3D point cloud data and the second 3D point cloud data and the image, and the position of the moving object measured by the attitude measurement unit; The collection object detection device according to claim 1 .

4. the object to be collected emits a plurality of types of light having different times from each other until the time the object emits light after being irradiated with the pulsed laser light, the light emission measuring unit measures a plurality of types of light emitted by the object to be collected; The collection object detection device according to claim 1 .

5. the distance measurement unit and the light emission measurement unit perform averaging processing on the plurality of waveforms obtained by measurement; The collection object detection device according to claim 1 .

6. the moving body is an underwater moving body, The camera unit is capable of capturing the images in air and underwater. The collection object detection device according to claim 1 .

7. the underwater vehicle is equipped with an airborne laser range finder that measures the shape of an object in the air; The control device includes a location recognition and map creation unit, the position recognition and map creation unit creates a map of the environment in which the moving object moves based on the data measured by the aerial laser rangefinder and the position of the moving object measured by the attitude measurement unit. The device for detecting objects to be collected according to claim 6.

8. the underwater vehicle includes a transparent container filled with water located underwater on a path of the pulsed laser light from the laser emission unit to the sediment. The device for detecting objects to be collected according to claim 6.

9. a laser emission step of emitting pulsed laser light toward the deposit having the material to be recovered on its surface; a distance measurement step of measuring light reflected by the deposit and transmitted through a first color filter; a 3D point cloud creation step of creating first 3D point cloud data representing a surface shape of the deposit from the light transmitted through the first color filter; an emission measurement step of measuring light transmitted through the second color filter; an object 3D point cloud creation step of creating second 3D point cloud data indicating a distribution of the collected objects from the light transmitted through the second color filter; an object surface distribution creation step of integrating the first 3D point cloud data and the second 3D point cloud data to determine the shape of the surface of the deposit and the distribution of the collected objects; and the central wavelength of the light transmitted by the first color filter is the same as the wavelength of the pulsed laser light, a central wavelength of light transmitted by the second color filter is the wavelength of light emitted by the object to be collected when irradiated with the pulsed laser light; A method for detecting objects to be collected, comprising:

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