JP4427293B2 - Underwater structure imaging apparatus and structure inspection method in reactor vessel - Google Patents

Description

  The present invention relates to an underwater structure photographing apparatus, and more particularly, to an underwater structure photographing apparatus for photographing an underwater structure including a radiation source that generates radiation, for example, a structure inside a nuclear reactor vessel.

  Underwater surveillance cameras are used to monitor underwater structures that are underwater. Most simply, an underwater structure is monitored by an underwater monitoring camera in which a camera that can be used underwater is suspended by a cable or a rope (see the section of [Prior Art] in Patent Document 1).

  However, such an underwater surveillance camera has poor operability and is difficult to handle. For example, due to the influence of water flow, such an underwater monitoring camera has a problem that it is difficult to see a photographed image. Furthermore, the water flow imposes undesired forces on the cables and ropes that suspend the underwater surveillance camera and prevents the underwater surveillance camera from being aligned at the desired position.

In order to solve such a problem, Patent Document 1 discloses a technique in which an underwater monitoring camera is adsorbed and fixed to a wall surface of a water tank by a suction cup.
JP-A-8-321975

Furthermore, patent document 2 is disclosing the underwater surveillance camera which can be self-propelled. The underwater monitoring camera includes a rotating body formed of a buoyant body and a weight that can rotate around an axis perpendicular to the traveling direction. By rotating the rotating body, the underwater monitoring camera can change the course that reduces the propulsion speed.
Japanese Patent Laid-Open No. 10-7083

Patent Document 3 discloses an underwater monitoring camera that reciprocates in a water tank. The underwater surveillance camera is mounted on a pulley fixed to a wall surface by a suction cup, a cable guided by the pulley, a driving device that drives the cable, a moving body fixed to the cable, and the moving body. And a camera. When the cable is driven by the driving device, the camera mounted on the moving body is reciprocated.
JP-A-8-317277

  However, the underwater monitoring cameras disclosed in these documents have a configuration that is not suitable for photographing an underwater structure including a radiation source that generates radiation. First, these underwater surveillance cameras do not take measures against radiation that causes noise. CCD cameras have low resistance to radiation, and noise tends to enter images in environments with a large amount of radiation. As a countermeasure against noise, it is conceivable to use an image pickup tube as an image pickup device. However, the image pickup tube has a problem that the image quality of a picked-up image is low. The imaging tube requires high illuminance for photographing, and only a black and white image can be obtained. Use of such an imaging tube is not preferred. Secondly, these known underwater surveillance cameras do not consider decontamination. These underwater surveillance cameras need to immerse the cable in water in order to receive image signals from the underwater surveillance camera and to supply power to the underwater surveillance camera. However, a cable immersed in water in which the radiation source is immersed (eg, reactor water) must then be decontaminated to remove radioactivity. Decontamination of the cable is a troublesome operation and is a heavy burden on the user.

In general, an object of the present invention is to provide an underwater structure photographing apparatus suitable for photographing an underwater structure including a radiation source that generates radiation.
Specifically, an object of the present invention is to provide an underwater structure photographing apparatus having high radiation resistance.
Another object of the present invention is to provide an underwater structure photographing apparatus having high radiation resistance and easy alignment of the camera.
Still another object of the present invention is to provide an underwater structure photographing apparatus that can obtain a captured image having high radiation resistance and good image quality.
Still another object of the present invention is to provide an underwater structure photographing apparatus that has high radiation resistance and does not require cable decontamination.

  The means for achieving the above object will be described below. The technical matters included in the means are used in [Embodiment of the Invention] to clarify the correspondence between the description of [Claims] and the description of [Embodiment of the Invention]. Number and code are added. However, the added numbers and symbols should not be used for the interpretation of the technical scope of the invention described in [Claims].

  An underwater structure photographing apparatus (1) according to the present invention includes a radiation source (3c) and an underwater structure photographing apparatus (1) for photographing an underwater structure (3) located in water (4). ). The underwater structure photographing apparatus (1) includes a floating body (11) floated on the water (4), a camera (12) mounted on the floating body (11) and photographing the underwater structure (3), and a floating body ( And 11) a tethering mechanism (13, 41) that supports the movably movable member in the horizontal direction.

  Such an underwater structure photographing apparatus (1) is less susceptible to the radiation emitted from the radiation source (3c) and can acquire an image with less noise. As is known to those skilled in the art, water (4) has the effect of shielding radiation. Mounting the camera (12) on the floating body (11) floated on the water (4) having such an action means that the distance that the radiation passes through the water while reaching the camera (12) from the radiation source (3c). Maximize. By maximizing the distance that the radiation passes through the water, it is possible to make the most of the action of the water (4) shielding the radiation. Such a configuration reduces the influence of radiation on the camera (12) and enables acquisition of an image with less noise.

  Further, in the underwater structure photographing apparatus (1), the vertical position of the camera (12) is defined by the floating body (11), and the horizontal position of the camera (12) is defined by the anchoring mechanism (13, 41). Therefore, the alignment of the camera (12) is easy.

  Further, the underwater structure photographing apparatus (1) makes it unnecessary to decontaminate the cable (30) connected to the camera (12). By mounting the camera (12) on the floating body (11), the cable (30) can be connected to the camera (12) without being immersed in water (4). This eliminates the need for cable decontamination and effectively reduces the work burden on the user.

  The camera (12) is preferably a CCD camera. The above-described structure that effectively suppresses the amount of radiation that reaches the camera (12) makes it possible to use a CCD camera with low radiation resistance as a camera (12) for photographing the underwater structure (3). . The use of a CCD camera is preferable because it enables a clear color image to be obtained.

  The floating body (11) includes a transparent window (23) positioned in the water (4), and the camera (12) preferably images the underwater structure (3) through the transparent window (23). is there. Such a structure suppresses the influence of light refraction and makes it possible to acquire a clear image.

  In this case, it is preferable to further include a water flow generation mechanism (27) for generating a flow of water (4) toward the transparent window (23). By providing the water flow generation mechanism (27), bubbles attached to the transparent window (23) can be removed.

  The camera (12) preferably includes a zoom lens. In the underwater structure photographing apparatus (1), the vertical position of the camera (12) is restricted to the vicinity of the water surface of the water (4). However, by mounting the zoom lens on the camera (12), the inconvenience due to the restriction of the position of the camera (12) in the vertical direction can be eliminated.

  The floating body (11) preferably includes a swing mechanism (25) that rotatably supports the camera (12).

  The anchoring mechanism (41) is connected to the floating body (11) and can be stretched and contracted (43, 47), and the water tank (2) that accumulates the water (4) in the telescopic mechanism (43, 47). It is preferable to provide a gripping tool (42) gripped on the wall. By using the telescopic mechanism (43, 47) for the anchoring mechanism (41), the operation space of the anchoring mechanism (41) necessary for positioning the floating body (11) on the wall of the water tank (2) can be reduced. it can.

  A nuclear reactor according to the present invention includes a cavity (2), a reactor vessel (3) accommodated in the cavity (2), and a reactor inspection device (1). The reactor inspection device (1) is mounted on the floating body (11) floated on the reactor water (4) filled in the cavity (2) and the reactor vessel (3), and on the floating body (11). The camera (12) which image | photographs (3) and the tethering mechanism (13, 41) which supports the floating body (11) so that a movement in a horizontal direction is possible is included. In such a nuclear reactor, the effect of radiation emitted from the radiation source (3c) on the camera (12) is effectively suppressed, and noise in the image of the reactor vessel (3) acquired by the camera (12) is reduced. be able to.

An underwater structure photographing method according to the present invention includes:
Floating a floating body (11) on which a camera (12) is mounted in water in which an underwater structure (3) including a radiation source (3c) is located;
Photographing the underwater structure (3) with the camera (12). The underwater structure imaging method can suppress the influence of radiation emitted from the radiation source (3c) on the camera (12), and can reduce the noise of the image of the underwater structure (3).

The reactor vessel inspection method according to the present invention includes:
Floating a floating body (11) on which a camera (12) is mounted in a reactor water (4) filled in a cavity (2) and a reactor vessel (3) accommodated in the cavity (2);
Photographing the reactor vessel (3) by the camera (12). The reactor vessel inspection method can suppress the influence of the radiation emitted from the radiation source (3c) on the camera (12), and can reduce the noise of the image of the reactor vessel (3).

According to the present invention, an underwater structure imaging apparatus suitable for imaging an underwater structure including a radiation source that generates radiation is provided.
Specifically, the present invention provides an underwater structure photographing apparatus having high radiation resistance.
In addition, the present invention provides an underwater structure photographing apparatus that has high radiation resistance and that facilitates camera alignment.
In addition, the present invention provides an underwater structure photographing apparatus that can obtain a captured image having high radiation resistance and good image quality.
The present invention also provides an underwater structure photographing apparatus that has high radiation resistance and does not require cable decontamination.

First embodiment:
As shown in FIG. 1, an underwater structure photographing apparatus 1 according to a first embodiment of the present invention is provided in a nuclear reactor, and the inside of a reactor vessel (RV) 3 accommodated at the bottom of a cavity 2. It is a nuclear reactor inspection device used for photographing and inspecting each part. As shown in FIG. 2, the reactor vessel 3 includes an RV flange 3 a, a baffle plate 3 b, a fuel assembly (FA) 3 c, and a lower core plate 3 d, which are underwater structure imaging devices 1. Inspected using. The inside of the reactor vessel 3 is a high radiation area where the radiation dose is 10 ⁴ (Rad / hr) or more.

  As shown in FIG. 3, the underwater structure photographing apparatus 1 includes a floating body 11, a CCD (Charge Coupled Device) camera 12, a tethering mechanism 13, and a controller 14. The floating body 11 holds the CCD camera 12 mounted therein. The floating body 11 is floated on the reactor water 4. The CCD camera 12 acquires an image of each part inside the reactor vessel (RV) 3. The anchoring mechanism 13 anchors the floating body 11 to the edge of the cavity 2. The anchoring mechanism 13 is configured such that the floating body 11 is supported so as to be movable in a horizontal direction parallel to the water surface of the reactor water 4. The controller 14 is a user interface used for a user to operate the underwater structure photographing apparatus 1. Hereinafter, the floating body 11, the CCD camera 12, the anchoring mechanism 13, and the controller 14 will be described in detail.

  The floating body 11 includes a buoyancy body 21 formed of a material that floats on water, for example, polystyrene foam. The outer surface 21a of the buoyancy body 21 is covered with a water-resistant film, for example, a vinyl film. An inner cylinder 22 is provided so as to penetrate the buoyancy body 21, and a transparent acrylic plate 23 is joined to the lower part of the inner cylinder 22. The transparent acrylic plate 23 is located in the reactor water 4 and is used as a window for the CCD camera 12 to photograph the reactor vessel 3. A packing 24 is sandwiched between the transparent acrylic plate 23 and the inner cylinder 22, and the water tightness between the transparent acrylic 23 and the inner cylinder 22 is maintained by the packing 24. A swing mechanism 25 that supports the CCD camera 12 is joined to the inner surface of the inner cylinder 22.

  The CCD camera 12 is accommodated in the inner cylinder 22 of the floating body 11. The CCD camera 12 photographs each part inside the reactor vessel (RV) 3 through a transparent acrylic plate 23 joined to the lower part of the inner cylinder 22. Taking a picture of the reactor vessel (RV) 3 through the transparent acrylic plate 23 provided in water is preferable because it can suppress image distortion caused by light refraction. The CCD camera 12 is supported by a swing mechanism 25 so as to be rotatable in a vertical plane. The direction of the optical axis of the CCD camera 12 is directed in a desired direction by the swing mechanism 25.

  The CCD camera 12 has a built-in zoom lens (not shown) that can change the magnification (ie, focal length). The magnification of the zoom lens can be adjusted remotely using the controller 14. By changing the magnification of the zoom lens, the shooting position taken by the CCD camera 12 can be changed.

  A child camera 26 is joined to the CCD camera 12. The child camera 26 has a wider field of view than the CCD camera 12, and the child camera 26 is used for positioning the CCD camera 12. When the inside of the reactor vessel 3 is observed in detail, the zoom lens of the CCD camera 12 may be greatly increased in magnification. If the magnification of the zoom lens is set large, the field of view of the CCD camera 12 becomes narrow, and it becomes difficult to position the CCD camera 12 using an image acquired by the CCD camera 12. The sub camera 26 facilitates positioning of the CCD camera 12 by acquiring an image independently of the CCD camera 12. The child camera 26 can be joined to the other part of the floating body 11 instead of the CCD camera 12.

  A foam removing screw mechanism 27 for removing bubbles adhering to the lower surface of the transparent acrylic plate 23 is provided at the bottom of the floating body 11. Air bubbles are inevitably mixed into the primary system composed of the reactor vessel 3 and the piping connected thereto. When the bubbles adhere to the lower surface of the transparent acrylic plate 14, the image acquired by the CCD camera 12 becomes unclear. In order to prevent bubbles from adhering to the lower surface of the transparent acrylic plate 23, the foam removing screw mechanism 27 includes a propeller 27a and a rotating mechanism 27b that rotates the propeller 27a. When the propeller 27a is rotated by the rotation mechanism 27b, a water flow is generated toward the lower surface of the transparent acrylic plate 14, and bubbles are removed from the lower surface of the transparent acrylic plate 23.

  A lighting fixture 28 is joined to the side surface of the floating body 11. The luminaire 28 emits illumination light downward to improve the brightness of the image acquired by the CCD camera 12.

  An upper cylinder 29 that is long in the vertical direction is joined to the upper surface of the floating body 11. A cable group 30 that electrically connects the CCD camera 12, the child camera 26, the rotation mechanism 27 b, and the lighting fixture 28 to the controller 14 is led out of the floating body 11 through the upper cylinder 29. Such a structure prevents the cable group 30 from being immersed in the reactor water 4 and eliminates the need for decontamination of the cable group 30.

  The anchoring mechanism 13 includes a fixed base 31, a rigid arm 32, and a floating body rotating mechanism 33 that holds the floating body 11. The fixed base 31 is fixed to the rail 2 a provided at the edge of the cavity 2 and holds the arm 32. The fixed base 31 holds the arm 32 so that the arm 32 can slide in the horizontal direction and the arm 32 can rotate in a horizontal plane. The arm 32 is fastened to the fixed base 31 by metal fittings 31a and 31b. When the metal fitting 31a is loosened, the arm 32 can be slid in the horizontal direction, and when the metal fitting 31b is loosened, the arm 32 can be rotated in a horizontal plane. After the length and direction in which the arm 32 is drawn out from the fixed base 31 are determined so that the floating body 11 is positioned at a desired position with the metal fittings 31a and 31b loosened, the metal fittings 31a and 31b are tightened. Thereby, it is possible to move the floating body 11 to a desired position.

  A floating body rotation mechanism 33 is joined to the end of the arm 32. The floating body rotating mechanism 33 holds the upper cylinder 29 of the floating body 11 with two degrees of freedom. First, the floating body rotating mechanism 33 is designed so that the upper cylinder 29 can be rotated under the control of the controller 14, that is, the floating body 11 can be rotated around the upper cylinder 29. By rotating the floating body 11, the orientation of the CCD camera 12 can be adjusted to a desired orientation. Further, the floating body rotating mechanism 33 is designed to grip the upper cylinder 29 so as to be movable in the vertical direction. The floating body 11 and the floating body rotating mechanism 33 can be relatively moved in the vertical direction. This is suitable for reducing the force applied to the anchoring mechanism 13 when a wave is generated in the reactor water 4. When waves are generated in the reactor water 4 for some reason, a force is applied to the floating body 11 in the vertical direction. When the floating body 11 and the anchoring mechanism 13 are fixedly coupled, when the floating body 11 moves in the vertical direction, each part of the anchoring mechanism 13, in particular, the joint between the arm 32 and the fixed base 31 is not desired. Power is applied. The floating body 11 and the floating body rotating mechanism 33 move relative to each other according to the vertical movement caused by the waves, thereby preventing the force applied to the floating body 11 from being transmitted to the anchoring mechanism 13.

  The arm 32 is hollow. The cable group 30 connected to the CCD camera 12, the child camera 26, the rotation mechanism 27 b, and the lighting fixture 28 passes through the upper end of the upper tube 29 and passes through the arm 32 and is connected to the controller 14.

  The controller 14 includes an operation panel 34, an inspection monitor 35, and a positioning monitor 36. The operation panel 34 functions as a user interface for operating the underwater structure photographing apparatus 1. The user can operate the CCD camera 12, the bubble removing screw mechanism 27, the lighting fixture 28, and the floating body rotating mechanism 33 using the operation panel 34. The inspection monitor 35 is a display device that captures an image acquired by the CCD camera 12, and the positioning monitor 36 is a display device that captures an image acquired by the child camera 26.

Then, the usage method of the underwater structure imaging device 1 is demonstrated.
First, the CCD camera 12 is positioned. After the length and direction in which the arm 32 of the anchoring mechanism 13 is extended from the fixed base 31 is adjusted so that the floating body 11 is located at a desired position, the arm 32 is fastened to the fixed base 31 by the metal fittings 31a and 32b. . The vertical position of the CCD camera 12 is determined in the vicinity of the water surface of the reactor water 4 by the floating body 11, and the horizontal position is fixed by the anchoring mechanism 13. The underwater structure photographing apparatus 1 having such a mechanism can position the CCD camera 12 with a simple operation.

  The positioning monitor 34c assists the user in positioning the CCD camera 12. When the CCD camera 12 is positioned, an image acquired by the child camera 26 is displayed on the positioning monitor 34c. Using this image, the user can easily position the CCD camera 12.

  Further, the posture of the CCD camera 12 and the magnification of the zoom lens are adjusted. In response to the operation of the operation panel 34 by the user, the floating body rotating mechanism 33 and the swing mechanism 25 are operated, and the CCD camera 12 mounted on the floating body 11 is directed in a desired direction. Further, in response to an operation on the operation panel 34 by the user, the magnification of the zoom lens built in the CCD camera 12 is adjusted to a desired magnification, and the field of view of the CCD camera 12 is adjusted to a desired size.

  An image captured by the CCD camera 12 is displayed on the inspection monitor 35, and the user can inspect a desired position inside the reactor vessel 3. When bubbles are attached to the transparent acrylic plate 23 and the image is unclear, the user can remove the bubbles by operating the operation panel 34 and operating the bubble removing screw mechanism 27. Furthermore, when the image is unclear due to insufficient illuminance, a bright image can be taken by operating the operation panel 34 and turning on the lighting fixture 28.

  The underwater structure photographing apparatus 1 according to the present embodiment is less susceptible to the radiation emitted from the reactor vessel 3 and can acquire an image with less noise. As known to those skilled in the art, the reactor water 4 acts to shield radiation. Mounting the CCD camera 12 on the floating body 11 floated on the reactor water 4 maximizes the distance that the radiation passes through the reactor water 4 while reaching the CCD camera 12 from the radiation source. It is possible to make maximum use of the action of shielding the radiation of water 4. For this reason, the CCD camera 12 is less susceptible to radiation and can acquire an image with less noise.

  Suppressing the influence of radiation is important for enabling the CCD camera 12 to be used as an imaging device for imaging the inside of the reactor vessel 3. In general, a CCD has low radiation resistance, and noise is easily generated in an image captured by the CCD due to incidence of radiation. However, the floating body 11 is floated on the reactor water 4 having a function of shielding radiation, and the CCD camera 12 is mounted on the floating body 11, so that the CCD camera 12 is used as an imaging device for photographing the inside of the reactor vessel 3. It becomes possible to use. The adoption of the CCD camera 12 makes it possible to acquire a high-resolution color image and to inspect the reactor vessel 3 in more detail.

  The underwater structure photographing apparatus 1 according to the present embodiment further has a structure that does not require decontamination of the cable group 30. The cable group 30 is guided from above the floating body 11 to the outside of the floating body 11 and connected to the controller 14, and is not immersed in the reactor water 4. Therefore, the cable group 30 does not need to be decontaminated. Eliminating the need for decontamination reduces the work burden on the user.

  In the present embodiment, it should be noted that the structure of the joint portion where the anchoring mechanism 13 and the cavity 2 are joined is not limited to the structure shown in FIG. As shown in FIG. 4, when the drainage portion 2b is formed in the cavity 2, the fixed base 31 can be held by the drainage portion 2b by the push bolt 31c. Furthermore, as shown in FIG. 5, it is possible to fix the fixed base 31 to the cavity 2 by driving an anchor 31 d at the edge of the cavity 2.

(Second embodiment)
As shown in FIG. 6, in the second embodiment, a anchoring mechanism 41 including an expansion / contraction mechanism is used instead of the anchoring mechanism 13 of FIG. The anchoring mechanism 41 includes a fixed base 42, a pantograph mechanism 43 that can be expanded and contracted, and a floating body rotating mechanism 44. The fixed base 42 grips the drained portion 2b of the cavity 2 by a push bolt 42a. One end of the pantograph mechanism 43 is fixed to the fixed base 42, and the other end is connected to the floating body rotating mechanism 44. As shown in FIG. 7, an opening / closing lever 45 is connected to the link 43 a closest to the fixed base 42 of the pantograph mechanism 43. The floating body rotating mechanism 44 has the same function as the floating body rotating mechanism 33 of the first embodiment. The floating body rotating mechanism 44 holds the upper cylinder 29 of the floating body 11 so as to be rotatable and movable in the vertical direction.

  In the second embodiment, the alignment of the CCD camera 12 is performed by operating the open / close lever 45 to expand and contract the pantograph mechanism 43. The user operates the open / close lever 45 to expand and contract the pantograph mechanism 43 so that the floating body 11 is at a desired position. The reactor vessel 3 is inspected with the floating body 11 in a desired position. In this way, the position of the CCD camera 12 can be aligned by a simple operation, and the reactor vessel 3 can be inspected.

  The underwater structure photographing apparatus 1 of the second embodiment has the same technical advantage as that of the first embodiment, and further has the technical advantage that the installation space is small. Referring to FIG. 3, in the anchoring mechanism 13 of the first embodiment, when the floating body 11 is positioned near the fixed base 31, the upper surface of the cavity 2 is sufficient to accommodate the arm 32 above the cavity 2. Is needed. This increases the space required for installation of the underwater structure photographing apparatus 1. On the other hand, referring to FIG. 7, underwater structure photographing apparatus 1 according to the second embodiment does not require a large space on the upper surface of cavity 2 because pantograph mechanism 43 is telescopic.

  In the present embodiment, it should be noted that the structure of the joint where the anchoring mechanism 41 and the cavity 2 are joined is not limited to the structure shown in FIG. As in FIG. 3, the fixed base 42 can grip the rail 2 a provided at the edge of the cavity 2. Similarly to FIG. 5, the anchor is driven at the edge of the cavity 2. The fixed base 42 can be fixed to the cavity 2.

  In the present embodiment, instead of the pantograph mechanism 43, another expansion / contraction mechanism can be used. For example, as shown in FIG. 8, a multistage cylindrical expansion / contraction mechanism 46 may be used instead of the pantograph mechanism 43 of FIG. 6. The multistage cylindrical expansion / contraction mechanism 46 is formed by a plurality of cylinders 47. The diameter of the cylinder 47 is smaller as it is closer to the tip. Each of the cylinders 46 is extended from a cylinder adjacent to the fixed base 42 side or accommodated in the adjacent cylinder, whereby the multistage cylindrical expansion / contraction mechanism 46 expands and contracts.

  It should be noted that the underwater structure imaging apparatus 1 according to the first and second embodiments is suitably used for imaging underwater structures including a radiation source in addition to the reactor vessel 3. The underwater structure photographing apparatus 1 can be suitably used for photographing a fuel reprocessing apparatus, for example.

FIG. 1 is a diagram showing a structure of a nuclear reactor to which an underwater structure photographing apparatus according to the present invention is applied. FIG. 2 is a perspective view showing the structure of the reactor vessel 3. FIG. 3 shows the configuration of the underwater structure photographing apparatus 1 in the first embodiment. FIG. 4 shows a modification of the fixed base 31 of the underwater structure photographing apparatus 1. FIG. 5 shows another modification of the fixed base 31 of the underwater structure photographing apparatus 1. FIG. 6 shows the configuration of the underwater structure photographing apparatus 1 in the second embodiment. FIG. 7 is a plan view showing the configuration of the underwater structure photographing apparatus 1 in the second embodiment. FIG. 8 shows a modification of the underwater structure photographing apparatus 1 in the second embodiment.

Explanation of symbols

1: Underwater structure imaging device 2: Cavity 3: Reactor vessel 3a: RV flange 3b: Baffle plate 3c: Fuel assembly 3d: Lower core plate 4: Reactor water 11: Floating body 12: CCD camera 13: Tethering mechanism 14 : Controller 21: Buoyant body 22: Internal cylinder 23: Transparent acrylic plate 24: Packing 25: Swing mechanism 26: Child camera 27: Foaming screw mechanism 27a: Propeller 27b: Rotating mechanism 28: Lighting fixture 29: Upper cylinder 30: Cable group 31: Fixed base 32: Arm 33: Floating body rotating mechanism 34: Operation panel 35: Monitor for inspection 36: Monitor for positioning

Claims (8)

An underwater structure photographing apparatus for photographing an underwater structure including a radiation source and located in water,
A floating body floating in the water;
A camera mounted on the floating body and photographing the underwater structure;
A hollow arm that supports the floating body so as to be movable in a horizontal direction ;
A controller,
A cable connecting the camera and the controller ,
The cable is an underwater structure photographing apparatus that is led out from above the floating body to the outside of the floating body and is connected to the controller through the inside of the hollow arm . The underwater structure photographing apparatus according to claim 1,
The camera is a CCD camera. The underwater structure photographing apparatus according to claim 1,
The floating body includes a transparent window located in the water;
The camera captures the underwater structure through the transparent window. The underwater structure photographing apparatus according to claim 3,
Furthermore,
An underwater structure photographing apparatus provided with a water flow generation mechanism that generates the water flow toward the transparent window. The underwater structure photographing apparatus according to claim 1,
The camera includes an underwater structure photographing apparatus including a zoom lens. The underwater structure photographing apparatus according to claim 4,
The floating body includes a swing mechanism that rotatably supports the camera. The underwater structure photographing apparatus according to claim 1,
Furthermore, it comprises a floating body rotating mechanism joined to the end of the arm,
The floating body is provided with an upper cylinder,
The cable is led out of the floating body from above the floating body via the upper tube.
The floating body rotating mechanism grips the upper cylinder so as to be rotatable and movable in the vertical direction.
Underwater structure photographing device. A floating body, a camera mounted on the floating body, a hollow arm that supports the floating body so as to be movable in a horizontal direction, a controller, and a cable that connects the camera and the controller. Preparing an underwater structure photographing apparatus that is taken out of the floating body from above the floating body and passes through the inside of the hollow arm and connected to the controller;
The reactor water filled in the stowed reactor vessel cavity and the cavity, the method comprising float the floating body in which the camera is mounted,
A method for inspecting a structure in a reactor vessel , comprising: photographing an underwater structure including a radiation source in the reactor vessel with the camera.

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