JP2991366B2 - Water tank cleaning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a water tank cleaning apparatus for cleaning the bottom of a water tank or the like, and more particularly to a water tank cleaning apparatus that can effectively perform cleaning even when visibility in the water tank is very poor. The present invention relates to a water tank cleaning device.

[0002]

2. Description of the Related Art Conventionally, a traveling vehicle of a water tank cleaning device for cleaning a water bottom of a water tank or the like is provided with, for example, a video camera or the like. , The operator determines the position and the moving direction of the traveling vehicle while watching the image transmitted by the remote operation unit, and operates the traveling of the traveling vehicle.

[0003]

However, in the above-described traveling control based on image display by a video camera or the like, when the inside of the water storage tank is turbid and the visibility is very poor, the position of the traveling vehicle is substantially known. Therefore, there is a problem that the inside of the water storage tank cannot be efficiently and reliably cleaned because the traveling vehicle cannot travel efficiently.

Accordingly, the present invention has been made to solve the above-mentioned problems of the conventional apparatus, and an object of the present invention is to provide a water tank cleaning apparatus capable of reliably and effectively removing and cleaning sludge on the water bottom even in a water tank with poor visibility. And

[0005]

In order to achieve the above object, a water tank cleaning apparatus according to the present invention is provided at the bottom of a water tank.
The traveling vehicle that can be run while running
Driving in the water storage tank based on sensor information from the traveling vehicle
Calculates and displays the car's positional relationship and controls the running of the running car
And a remote control operating unit for performing
And a transfer hose that carries the sludge water up to
A pump for pumping the sludge water;
A driving motor for driving the traveling vehicle, a sludge suction port,
A sludge suction means having a suction hose;
Multiple ultrasonic distance sensors for measuring the distance to the wall of the aquarium 1
And a mileage counter that measures the mileage of the traveling vehicle
And, Bei and a gyro sensor for measuring the running direction of the run line car
In addition, check the bottom of the water tank at the forefront and the last part.
Drop prevention to prevent the running car from falling into the dent
The first feature is that a sensor is provided . Again
Ming's water tank cleaning device has a jar in addition to the first feature.
From the direction of the traveling vehicle and the traveling distance counter using the irosensor
To the initial position of the traveling vehicle by integrating
Relative position, and run relative to said relative position.
Ultrasonic distance sensors installed at each position before, after, left and right of the train
By combining with the distance information to each wall by
Recognizes the flat shape of the bottom of the water tank,
For automatic running in a water tank that is not known in advance
The second feature is that a remote control operation unit is provided as a means.
And In addition, the water tank cleaning device of the present invention is characterized in that:
Or, in addition to the second feature, the sludge suction port and the suction hose
A pair is provided before and after the traveling vehicle, and by a switching valve
Connected to the transfer hose so that it can be switched
From any location before or after the traveling vehicle according to the traveling direction of the vehicle.
Is configured so that it can selectively clean sludge
Is the third feature.

[0006]

According to the first feature, the water is collected at the bottom of the water tank.
The sludge that has been drained is supplied to the sludge inlet and suction port provided in the traveling vehicle.
Suction by suction hose and storage tank through transfer hose
It is discharged outside. And the distance between the running car and the water tank is super sound
It is measured by a wave distance sensor. The traveling distance of the traveling vehicle
The distance is determined by the travel distance counter,
Measured by the sensor. In the case of a water tank with a simple shape, the traveling direction is controlled by a signal from the ultrasonic distance sensor so that the distance from the traveling vehicle to one of the left and right walls is kept constant. It is possible to automatically travel while maintaining the parallel posture with respect to the wall surface. In addition, by combining the direction of the traveling vehicle with the gyro sensor, the distance data to an obstacle such as a wall or a column with the ultrasonic distance sensor, and the traveling distance with the traveling distance counter, the position and orientation of the traveling vehicle in the water storage tank. It can be checked with the information on the flat shape of the water tank, and the traveling vehicle can be automatically driven while avoiding obstacles to perform cleaning, enabling efficient and reliable cleaning even in a water tank with poor visibility. Become. In particular, according to the first feature, the traveling vehicle
Being equipped with fall prevention sensors at the front and rear
Traveling in a reservoir that does not always have a flat bottom
If the car falls into a depression in the water tank, etc.
It is possible to reliably prevent the situation from being lost. Also above
According to the second feature, the operation and effect of the first feature are provided.
In addition, the flat shape of the bottom of the water tank is not known in advance.
Is detected by the gyro sensor
Movement obtained by the direction of the traveling vehicle and the traveling distance counter
By integrating distance and relative to the initial position of the traveling vehicle
Target position, and relative to its relative position
The front, rear, left and right walls obtained by the ultrasonic distance sensor
Combined with distance information at the bottom of the tank
The shape can be recognized. Therefore, according to the second feature
For example, even if the reservoir shape is unknown
While recognizing the planar shape of the bottom of the water tank
Then, automatic driving can be performed . In addition, the third
According to the features, the operation and effect of the first or second feature
In addition, connect the sludge suction port and suction hose
It is possible to switch freely with a switching valve
When the traveling vehicle moves backward even if it moves forward,
In any case, the traveling vehicle can be
Suction and removal of sludge conveniently without changing the orientation of the sludge
Can leave.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be described with reference to the drawings. 1 is an overall configuration diagram of a water tank cleaning apparatus according to one embodiment of the present invention, FIG. 2 is a control system diagram of the embodiment, FIG. 3 is a schematic side view of a traveling vehicle, FIG. FIG. 5 is a diagram illustrating a method of detecting the position of a traveling vehicle using an ultrasonic distance sensor.

In the water tank cleaning apparatus of the present invention, a traveling vehicle 2 is disposed at the bottom of the water tank 1 to run. Outside the water storage tank 1, a remote control operation unit 3, a pump 4 and a sludge collection container 5 are provided. A cable 7 for communication and power supply is wired to the traveling vehicle 2 and the remote control operation unit 3. The traveling vehicle 2 and the pump 4 are connected by a sludge water transfer hose 8.

The configuration of the remote control operation unit 3 includes a switchboard 6 for supplying power to the traveling vehicle 2, a controller 10 for controlling traveling of the traveling vehicle 2, an operation input panel 11 for performing operation input, and the traveling vehicle 2. A display 12 is provided for graphically displaying the position in the water storage tank 1.

Next, the traveling vehicle 2 will be described with reference to FIGS. 2, 3 and 4. FIG. The traveling vehicle 2 is a self-propelled vehicle that is disposed at the bottom of the water storage tank 1 and travels to suck and clean sludge such as dust and mud accumulated at the bottom of the water storage tank 1. A traveling motor 31 (see FIG. 2, not shown in FIGS. 3 and 4) is provided for the traveling carriage 30. Further, a sludge suction port 41 and a sludge suction port 4 are provided before and after the traveling vehicle 30.
1, a suction hose 42, a switching valve 43 for the suction hose 42, and a swivel joint 44 with the transfer hose 8 are provided. A brush 41a for sweeping the bottom of the water storage tank 1 is provided in the vicinity of the sludge suction port 41. Also, a pair of ultrasonic distance sensors 61 directed forward on both sides of the front of the traveling vehicle 30, a pair of ultrasonic distance sensors 62 directed rearward on both sides of the rear, and ultrasonic distance sensors 63 and 64 on both left and right sides, respectively. Is provided. A gyro sensor 70 is provided near the center of the traveling vehicle 30. The traveling distance counter 7 for the traveling vehicle 30
1 (see FIG. 2, not shown in FIGS. 3 and 4). Touch sensors 81 and 82 are provided at the forefront and rearmost portions of the traveling vehicle 30. Further, drop prevention sensors 83 are provided at the forefront and rearmost portions of the traveling vehicle 30. The above members and sensors are connected to the remote control operation unit 3 via a control unit 90 provided on the traveling vehicle 30.

The driving start, stop, rotation speed, and the like of the traveling motor 31 are controlled by the remote control operation unit 3 through a control unit 90 in the traveling vehicle 2, whereby the longitudinal movement and the direction change of the traveling vehicle 2 are controlled. Rotation takes place. Sludge suction means
As a result, the pump 4 is driven, and the switching valve 43 is switched from the remote control operation unit 3 via the control unit 90, so that the suction hose 41 is sucked from any of the front and rear sludge suction ports 41.
Sludge water is sucked into the case 42 and discharged to the sludge collection container 5 outside the water storage tank 1 via the transfer hose 8.

When the touch sensors 81 and 82 come into contact with obstacles such as the inner wall and pillars of the water tank 1, a signal indicating the contact is sent to the remote control operation unit 3 via the control unit 90. As a result, a command to change the traveling direction and traveling position of the traveling vehicle 2 is issued from the remote control operation unit 3. Of course, the operator may manually drive the traveling vehicle 2 based on the contact display displayed on the display 12. Similarly, in the case of the fall prevention sensor 83, when the fall prevention sensor 83 detects a depression at the bottom of the water storage tank 1, a signal to that effect is sent to the remote control operation unit 3 to stop traveling or change the traveling direction. Is made.

Ultrasonic waves are emitted from the ultrasonic distance sensors 61 to 64 toward the wall surface 1a of the water storage tank 1, and the ultrasonic waves are emitted from the wall surface 1a.
The distance to the wall surface 1a is measured from the time required to rebound after hitting the surface. For example, when the water storage tank 1 is rectangular, if the traveling vehicle 2 is arranged so as to be parallel to one side wall 1a of the water storage tank 1, the distance to the front, rear, left and right wall surfaces 1a of the traveling vehicle 2 is detected. . This distance signal is transmitted to the remote control operation unit 3
And inputting the shape information of the water storage tank 1 in advance, the position of the traveling vehicle 2 in the water storage tank 1 can be recognized. During traveling, for example, when the traveling vehicle 2 indicated by the traveling vehicle mark 2a in FIG. 5 is moved in the direction of the arrow P, the traveling vehicle 2 is moved in accordance with signals from the ultrasonic distance sensors 63 and 64 on both right and left sides. By controlling the traveling direction so that the distance to one of the left and right wall surfaces 1a is kept constant, the traveling vehicle 2 can automatically travel while maintaining a parallel posture with respect to the wall surface 1a. Also, in the case of manually traveling, if the traveling vehicle 2 is moved along the wall surface 1a, the position of the traveling vehicle 2 from the wall surface 1a is indicated by the traveling vehicle mark 2a on the display 12. By driving while keeping the distance C or D of the traveling vehicle mark 2a from each wall surface 1a constant, it is possible to easily drive without losing the position of the traveling vehicle 2 in the water storage tank 1. It is. In the case of the present embodiment, the ultrasonic distance sensors 61 and 62 before and after the traveling vehicle 2.
Are provided on the front and rear portions of the traveling vehicle 2, respectively, so that, for example, the driving is controlled such that the distances A ₁ and A ₂ detected by the pair of ultrasonic distance sensors 61 at the front portion are the same. The right angle with the front wall can be confirmed without time delay.

When the water storage tank 1 is cylindrical, the traveling vehicle 2 is submerged in the water storage tank 1 and the ultrasonic distance sensors 61
By obtaining the distance information from ~ 64, the traveling direction is controlled so as to keep the distance between the traveling vehicle 2 and the cylindrical wall surface 1a constant by the signals from the left and right ultrasonic distance sensors 63, 64. Thus, the traveling vehicle 2 can automatically and circularly travel along the cylindrical wall surface 1a. During traveling, when the water storage tank 1 is cylindrical and the traveling vehicle 2 circularly travels along the cylindrical wall surface 1a, the ultrasonic distance sensors 61 to 64 are used.
Is always constant, and the position of the traveling vehicle mark 2a cannot be determined only from the signals from the ultrasonic distance sensors 61 to 64, but the traveling distance can be determined by using the traveling distance information from the traveling distance counter 71. The position of the car can be estimated. Also, when the vehicle is manually driven, the wall surface 1a of the traveling vehicle mark 2a graphically displayed on the display 12 is also provided.
By driving while confirming the position from the vehicle, it becomes possible to make the traveling vehicle 2 run in a circle while maintaining a certain distance from the cylindrical wall surface 1a. By changing the distance from the wall surface 1a by a certain distance each time the vehicle makes a round using the traveling distance data from the traveling distance counter 71, it is possible to efficiently clean the sludge at the bottom of the cylindrical water tank with poor visibility. Becomes

When the water storage tank 1 has another shape,
From the shape information of the water storage tank, the distance information of the ultrasonic distance sensors 61 to 64, and the information of the traveling distance counter 71, the wall 1
It is possible to drive efficiently while controlling the distance, direction, and the like with respect to a, and the water tank can be efficiently cleaned even in a water tank with poor visibility.

Next, a case where the planar shape of the bottom of the water storage tank 1 is not known will be described. By integrating the direction of the traveling vehicle 2 obtained by the gyro sensor 70 and the traveling distance obtained by the traveling distance counter 71, a position relative to the initial position of the traveling vehicle 2 is obtained. Further, the planar shape of the bottom of the water storage tank 1 is recognized by continuously combining distance information from the front, rear, left and right ultrasonic distance sensors 61 to 64 with respect to the relative position of the traveling vehicle 2. it can.
By driving the traveling vehicle 2 while judging the position of the traveling vehicle 2 based on the planar shape of the water storage tank 1 obtained here, even in the water storage tank 1 where the visibility is not clear and the planar shape is unknown. Cleaning can be performed efficiently without waste.

The position of the traveling vehicle 2 is displayed on the display 12.
Direction and the plan shape of the water storage tank 1 are displayed.
May be displayed on the display 12 at the same time. Further, the traveling locus may be displayed on the display 12 based on the width of the sludge suction port 41 provided in the traveling vehicle 2. By doing so, the cleaned area and the uncleaned area in the water storage tank 1 can be easily visually recognized. The display 12 shows the dimensions of the obtained water storage tank 1,
The speed of the traveling vehicle 2, the distance to each wall surface of the traveling vehicle 2, whether the traveling vehicle 2 is in automatic operation, whether the traveling vehicle 2 is moving forward or backward, and the like may be simultaneously displayed.

During automatic operation, the operator performs only monitoring while looking at the display 12 of the remote control operation unit 3. Only when performing manual operation, the operator looks at the display 12 and operates the operation input panel 11 and the like. Operate. The sludge water sucked from the sludge suction port 41 passes through the transfer hose 8 and is discharged to the sludge collection container 5 outside the water storage tank 1. Here, by inserting the communication and power supply cable 7 into the transfer hose 8, it is possible to prevent the hose and the cables from becoming entangled or the cable 7 from being damaged at the concrete corner of the water storage tank 1. .

[0019]

According to the present invention, there is provided the above construction.
According to the water tank cleaning device described in the above, placed on the bottom of the water tank
And a traveling vehicle that is installed outside the water tank
Driving in the water tank based on sensor information from the traveling vehicle
Calculates and displays the positional relationship of the traveling vehicles and controls the traveling vehicles.
A remote control operation unit for controlling the vehicle, and the water tank from the traveling vehicle.
A transfer hose for carrying sludge water to the outside, and
A pump for pumping up the sludge water.
A traveling motor for driving the traveling vehicle, and a sludge suction port.
Sludge suction means having a
Multiple ultrasonic distance sensors to measure the distance to the reservoir wall
And a mileage counter that measures the mileage of the traveling vehicle
And a gyro sensor that measures the traveling direction of the traveling vehicle.
In addition, check the bottom of the water tank at the forefront and the last part.
Drop prevention to prevent the running car from falling into the dent
Equipped with a sensor, allowing the traveling vehicle to travel to the bottom of the water tank.
The sludge inlet and suction hoe provided on the traveling vehicle
The sludge accumulated on the bottom of the water tank
Intake and discharge out of the reservoir via transport hose
Can be. Then, the vehicle is stored with
Measure the distance to the aquarium and run with the running distance counter
Measure the traveling distance of the car, and use the gyro sensor to
A simple shape water tank that can measure the traveling direction of
In the case of, traveling by the signal from the ultrasonic distance sensor
Keep the distance from the car to either the left or right wall constant
Control the traveling direction in such a way that
It is possible to automatically run while maintaining the parallel attitude to
It works. In addition, the direction of the traveling vehicle by the gyro sensor and
Ultrasonic distance sensor for obstacles such as walls or pillars
Combines the distance data and the distance traveled by the distance counter
By matching, the position and orientation of the traveling vehicle in the water tank
It is possible to check the running
Make sure that the train is running automatically while avoiding obstacles to perform cleaning.
Efficient and reliable even in water tanks with poor visibility
Cleaning becomes possible. In particular, according to the first feature, the running
Equipped with fall prevention sensors at the front and rear of the train
In a reservoir that does not always have a flat bottom
Te, the traveling vehicle is depressed to such depression of savings aquarium, it preferably
Can be reliably prevented from happening
You. According to the water tank cleaning apparatus of the second aspect,
A gyro in addition to the effect of the configuration according to claim 1
The direction of the traveling vehicle by the sensor and the transfer from the traveling distance counter
By integrating the moving distance and the
The relative position and the traveling vehicle relative to the relative position.
The ultrasonic distance sensors provided at the front, rear, left and right
Storage by combining the distance information to each wall
Recognizes the flat shape of the bottom of the tank, which allows the flat shape to be
Control means for automatic running in unknown water tanks
Because it has a remote control operating unit as, for example water reservoir bottom
Even if the plane shape of
Direction and travel distance detected by the
The distance traveled by the counter and the ultrasonic distance sensor
From the distance information to the front, rear, left and right walls
The flat shape of the bottom of the water tank can be recognized and the obtained
While judging the position of the traveling vehicle based on the plan shape of the water tank
The traveling vehicle can be driven. Further, according to claim 3
According to the water tank cleaning device, according to claim 1 or 2,
In addition to the effects of the configuration, the sludge suction port and suction hose
A pair is provided before and after the traveling vehicle, and by a switching valve
Connected to the transfer hose so that it can be switched
From any location before or after the traveling vehicle according to the traveling direction of the vehicle.
It is configured so that sludge can be suctioned and cleaned.
When the traveling vehicle moves forward or backward
In any case, from the convenient sludge inlet,
Easy to remove sludge by suction without changing direction etc.
It can be performed.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a water tank cleaning apparatus according to an embodiment of the present invention.

FIG. 2 is a control system diagram of the embodiment device.

FIG. 3 is a schematic side view of the traveling vehicle.

FIG. 4 is a schematic plan view of the traveling vehicle.

FIG. 5 is a diagram illustrating a method for detecting the position of a traveling vehicle using an ultrasonic distance sensor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Water storage tank 2 Running vehicle 3 Remote control operation part 4 Pump 5 Sludge collection container 6 Switchboard 7 Cable 8 Transport hose 10 Controller 11 Operation input panel 12 Display

──────────────────────────────────────────────────続 き Continuing from the front page (73) Patent owner 592080327 Kobe Mechatronics Co., Ltd. 3-2-21, Nishiakashikita-cho, Akashi-shi, Hyogo (72) Inventor Tomoharu Abe 1-6-5 Marunouchi, Chiyoda-ku, Tokyo East Japan Passenger Inside Railway Company (72) Inventor Osamu Saito 1-6-5 Marunouchi, Chiyoda-ku, Tokyo Inside East Japan Railway Company (72) Inventor Koichi Nakamura 5-7-1 Shiba, Minato-ku, Tokyo NEC Corporation (72) Inventor Tetsuo Harada 5-7-1 Shiba, Minato-ku, Tokyo NEC Corporation Inside (72) Inventor Yoshiro Watanabe 1-5-6 Hanazono, Niigata City, Niigata Niigata Transportation Machinery Co., Ltd. (72 Inventor Takumi Mimi 1-4-28, Mita, Minato-ku, Tokyo Mita International Building NEC Environmental Engineering Co., Ltd. (72) Invention Koshiro Joji Kobe Mechatronics Co., Ltd. 2-4-1-13 Sakaemachi-dori, Chuo-ku, Kobe-shi, Hyogo Prefecture (56) References JP-A-61-271080 (JP, A) JP-A-63-137791 (JP, A) 60-227876 (JP, A) JP-A-5-257533 (JP, A) JP-A-5-173635 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B08B 7 / 00-9/46

Claims (3)

(57) [Claims] Claims: 1. A water tank is arranged and driven on the bottom of a water tank.
A traveling vehicle, and provided outside the water storage tank to receive
The positional relationship of the traveling vehicle in the water tank using the sensor information.
Remote control operation for calculating and displaying
Takumi and transport sludge water from the traveling vehicle to outside the water tank
A transfer hose and pumping the sludge water outside the reservoir
And a pump for raising the running vehicle.
With a moving motor for running, sludge suction port and suction hose.
The sludge suction means and the distance from the traveling vehicle to the water tank wall.
Multiple ultrasonic distance sensors to measure separation and travel of traveling vehicles
The mileage counter that measures the distance and the traveling direction of the traveling vehicle
And a gyro sensor for measuring
Detect the depression at the bottom of the water tank at the bottom and move to the depression of the traveling vehicle
A water tank cleaning device comprising a fall prevention sensor for preventing the fall of a water tank. 2. The direction and traveling of a traveling vehicle using a gyro sensor.
Running by integrating the moving distance from the line distance counter
The relative position of the vehicle with respect to the initial position is obtained.
It is provided at each position on the front, rear, left and right of the traveling vehicle with respect to the opposite position
The distance information to each wall using the ultrasonic distance sensor
By recognizing the flat shape of the bottom of the water tank,
Automatically in a water tank whose plane shape is not known in advance.
Has a remote control operation unit as a control means for running
The water tank cleaning apparatus according to claim 1, wherein 3. A sludge suction port and a suction hose are provided in front of a traveling vehicle.
A pair is provided later, and is automatically switched by a switching valve.
Connected to the transfer hose, the traveling direction of the traveling vehicle
Sludge by selecting from any location before and after the traveling vehicle according to
That can be cleaned by suction.
The water tank cleaning device according to claim 1.