JP6048280B2 - Water level measuring device - Google Patents

Description

  The present invention relates to a water level measuring device.

  For example, Patent Literature 1 and Patent Literature 2 propose a technique for measuring a water level inside a container installed in a place where measurement by an operator such as a suppression chamber of a nuclear power plant is difficult. In Patent Document 1, measurement pipes are inserted into a liquid phase part and a gas phase part, and the water level inside the container is measured outside the container. Moreover, in patent document 2, with respect to the piping arrange | positioned so that a liquid phase part and a gaseous-phase part may be connected, several measuring units which make a pair with a transmission part and a receiving part are installed in the height direction, The water level is measured based on the measurement results of these measurement units.

JP 2008-232698 A JP 2010-276593 A

  However, in the method according to Patent Document 1, it is necessary to perform an operation of providing a hole in the container or an operation of connecting a measurement pipe to the hole, which is suitable for measuring the water level inside the container such as an existing suppression chamber. Absent. Further, in the method according to Patent Document 2, it is necessary to perform an operation of providing a hole in the container, an operation of connecting a pipe connecting the liquid phase portion and the gas phase portion, and an operation of installing a measurement unit. Similar to Document 1, it is not suitable for measuring the water level inside a container such as an existing suppression chamber.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to make it possible to easily measure the water level inside a container having a circular cross section provided in a place where work by an operator is difficult.

  The present invention adopts the following configuration as means for solving the above-described problems.

  A first aspect of the present invention is a water level measuring device for measuring a water level inside a steel vessel having a circular cross section, and a traveling carriage having a driving wheel including a magnet, and an ultrasonic probe mounted on the traveling carriage. And a processing unit for calculating a water level based on the shape of the container, the measurement result of the ultrasonic probe, and the detection result of the acceleration sensor. Adopt the configuration.

  According to a second invention, in the first invention, as the ultrasonic probe, a first ultrasonic probe that receives a reflected wave from a wall surface on the opposite side across the center of the container from the position of the traveling carriage. A configuration is adopted in which a tactile element and a second ultrasonic probe that receives a reflected wave from the inner wall surface of the container at a location to which the traveling carriage is attached are employed.

  According to a third invention, in the first or second invention, a configuration is provided in which a spring hinge is provided on the traveling carriage and biases the ultrasonic probe toward the container.

  According to a fourth invention, in the third invention, a configuration is provided in which a stopper is provided on the traveling carriage and restricts the operating range of the spring hinge.

  According to a fifth invention, in any one of the first to fourth inventions, a configuration is provided in which a holder for holding the ultrasonic probe is provided, and a corner portion on the container side of the holder is chamfered. .

  According to a sixth aspect of the present invention, in any one of the first to fifth aspects of the present invention, the holder includes a holder that holds the ultrasonic probe, and includes a rotatable friction-reducing ball provided on the bottom surface side of the holder. adopt.

  In a seventh aspect of the present invention, in any one of the first to sixth aspects, a holder for holding the ultrasonic probe is provided, and water is supplied into the holder in which the ultrasonic probe is accommodated. The structure of having an internal water supply section is adopted.

  The eighth invention adopts a configuration in which, in the seventh invention, a transparent film is provided which is disposed in the ultrasonic emission direction of the ultrasonic probe and isolates the inside of the holder from the outside.

  A ninth invention comprises the holder for holding the ultrasonic probe according to any one of the first to eighth inventions, and an outer periphery for supplying water between the holder and the outer wall surface of the container. A configuration that includes a water supply unit is adopted.

  Ultrasonic waves are propagated in liquids and solids, and do not propagate in the gas phase. For this reason, it can be judged from the measurement result of an ultrasonic probe whether water exists inside the installation place of an ultrasonic probe. According to the present invention, since the traveling carriage on which the ultrasonic probe is installed has the drive wheel including the magnet, the traveling carriage is adsorbed to the outer wall surface of the steel container at any location. Can be moved to. For this reason, the ultrasonic probe can be moved to an arbitrary position of the container. Further, the height of the traveling carriage can be obtained based on the shape of the container having a circular longitudinal section and the detection result obtained from the acceleration sensor. Therefore, according to this invention, it can move to the arbitrary locations of a container, it can be determined whether water exists inside the location, and also the height can be calculated | required. Therefore, according to this invention, it becomes possible to measure easily the water level inside the container with a circular cross section provided in the place where the work by the worker is difficult.

1 is an overall view schematically showing a schematic configuration of a water level measuring device according to an embodiment of the present invention. It is a top view of the traveling trolley with which the water level measuring device in one embodiment of the present invention is provided. It is a rear view of the traveling trolley with which the water level measuring device in one embodiment of the present invention is provided. It is a left view of the traveling trolley with which the water level measuring device in one embodiment of the present invention is provided. It is a right view of the traveling trolley with which the water level measuring device in one embodiment of the present invention is provided. It is a section perspective view of the drive wheel of the run truck with which the water level measuring device in one embodiment of the present invention is provided. It is the enlarged view which extracted a part including the high frequency ultrasonic unit with which the water level measuring device in one embodiment of the present invention is provided, (a) is a side view, and (b) is an AA section of (a). It is a figure, (c) is BB sectional drawing of (a), (d) is a bottom view. It is a schematic diagram for performing description which calculates | requires a water level in the water level measuring apparatus in one Embodiment of this invention.

  Hereinafter, an embodiment of a water level measuring device according to the present invention will be described with reference to the drawings. In the following drawings, the scale of each member is appropriately changed in order to make each member a recognizable size.

  In the present embodiment, an example in which the water level of a suppression chamber S having a donut-shaped shape as a whole and having a circular longitudinal section is measured will be described.

  FIG. 1 is an overall view schematically showing a schematic configuration of a water level measuring device 100 of the present embodiment. As shown in this figure, the water level measuring device 100 of this embodiment includes a traveling unit 10, a water tank 20, a hose 30, a repeater 40, a first wired cable 50, an operation command unit 60, a first 2 wired cables 70.

  The traveling unit 10 is configured to be able to travel based on an instruction from the operation command unit 60 while adsorbing to the outer wall surface of the suppression chamber S. FIG. 2 is a plan view of the traveling unit 10. FIG. 3 is a rear view of the traveling unit 10. FIG. 4 is a left side view of the traveling unit 10. FIG. 5 is a right side view of the traveling unit 10.

  As shown in FIGS. 2 to 5, the traveling unit 10 includes a traveling carriage 1, a gimbal mechanism 2, a low-frequency ultrasonic unit 3, a high-frequency ultrasonic unit 4, a spring hinge 5, a stopper 6, and an acceleration. A sensor 7, a camera 8, and a lighting device 9 are provided.

  The traveling carriage 1 includes a base portion 1a, a drive wheel 1b, a motor 1c, a rear wheel support plate 1d, and a driven rear wheel 1e. The base portion 1a is a box-shaped portion whose interior is liquid-tight, and includes a gimbal mechanism 2, a low-frequency ultrasonic unit 3, a high-frequency ultrasonic unit 4, a spring hinge 5, a stopper 6, and acceleration. The sensor 7, the camera 8, and the lighting device 9 are supported.

  The drive wheel 1b is supported so as to be rotatable with respect to both sides of the traveling carriage 1 near the front. FIG. 6 is a cutaway perspective view of the drive wheel 1b. As shown in this figure, the drive wheel 1b is configured such that an annular iron wheel 1b1 sandwiches an annular resin spacer 1b2 for preventing dust adhesion and is concentrically opposed with a shaft portion 1b3 as a center. A magnet 1b4 is accommodated inside 1b2. Further, the outer peripheral surface of the iron wheel 1b1 is subjected to a mesh furnace lett process.

  The motor 1c is installed inside the base portion 1a, and one motor 1c is provided for each drive wheel 1b. These motors 1c rotate and drive the connected drive wheels 1b. Further, it is possible to individually adjust the rotation speed based on an instruction from the operation command unit 60. For this reason, the traveling carriage 1 can be turned in the left-right direction by making a difference in the rotational speeds of the two drive wheels 1b by individually adjusting the rotational speed of the motor 1c.

  The rear wheel support plate 1d is attached to the rear side of the base portion 1a so as to protrude rearward from the base portion 1a, and rotatably supports the driven rear wheel 1e. The rear wheel support plate 1d incorporates a magnet (not shown) so that the rear wheel support plate 1d and the driven rear wheel 1e are attracted to the outer wall surface of the suppression chamber S. The driven rear wheel 1e is rotatably supported by the rear wheel support plate 1d and abuts against the outer wall surface of the suppression chamber S. In the present embodiment, the traveling carriage 1 abuts against the outer wall surface of the suppression chamber S at three locations, that is, two drive wheels 1b and one driven rear wheel 1e, and the outer wall surface of the suppression chamber S having a circular longitudinal section is arbitrarily formed. It is possible to move to a location stably.

  The gimbal mechanism 2 is attached to the rear side of the traveling carriage 1 with the rear wheel support plate 1d interposed therebetween. One gimbal mechanism 2 supports a low-frequency ultrasonic unit 3, and the other gimbal mechanism 2 supports a high-frequency ultrasonic unit 4. These gimbal mechanisms 2 are provided with a shaft portion 2a that supports a low-frequency ultrasonic unit 3 or a high-frequency ultrasonic unit 4 so as to be swingable about an axis that faces the front-rear direction of the traveling carriage 1, and a shaft portion 2a. This is a case where the frame 2b that swings about the axis that faces the left and right direction of the traveling carriage 1 and the arm 2c that supports the frame 2b so as to be movable up and down are provided, and the outer wall surface of the suppression chamber S is uneven. However, the low-frequency ultrasonic unit 3 and the high-frequency ultrasonic unit 4 can be stably supported so as to follow the unevenness.

  The low frequency ultrasonic unit 3 includes an ultrasonic probe 3a (first ultrasonic probe), a holder 3b, an outer peripheral water supply part 3c, and a friction reducing ball 3d. For example, the ultrasonic probe 3a emits an ultrasonic wave having a low frequency of about 0.05 to 1 MHz, receives a reflected wave of the ultrasonic wave, and outputs an electric signal indicating the reception result. The ultrasonic probe 3a is mounted on the traveling carriage 1 via a holder 3b and the like.

  The holder 3b is held so as to surround the lower portion of the ultrasonic probe 3a so that the ultrasonic emission surface and the reception surface are exposed, and is connected to the shaft portion 2a of the gimbal mechanism 2. Further, the bottom 3b1 located on the side of the suppression chamber S of the holder 3b has a chamfered corner 3b2 facing the front and rear directions of the traveling carriage 1. A water discharge groove (not shown) is provided on the bottom surface of the holder 3b, and water discharged from the water discharge groove is supplied between the holder 3b and the suppression chamber S, and an emission surface of the ultrasonic probe 3a and The space between the receiving surface and the suppression chamber S is always filled with water.

  The outer periphery water supply part 3c is provided with respect to four places so that it may correspond to the corner | angular part of the ultrasonic probe 3a. These outer periphery water supply parts 3c guide the water supplied from the hose 30 (refer FIG. 1) to a water discharge groove. The friction reducing balls 3d are provided at four locations corresponding to the corners of the holder 3b, and are rotatably provided on the bottom surface side of the holder 3b.

  The low frequency ultrasonic unit 3 configured as described above is an ultrasonic wave that is always emitted from the ultrasonic probe 3a toward the center of the longitudinal section of the suppression chamber S unless the outer wall surface of the suppression chamber S is uneven. Is supported to head. Further, the ultrasonic probe 3 a receives a reflected wave from the wall surface on the opposite side across the center of the suppression chamber S from the position of the traveling carriage 1.

  FIG. 7 is an enlarged view in which a part including the high-frequency ultrasonic unit 4 is extracted, (a) is a side view, (b) is an AA sectional view of (a), and (c). (A) is a BB sectional view of (a), (d) is a bottom view. As shown in these drawings, the high-frequency ultrasonic unit 4 includes an ultrasonic probe 4a (second ultrasonic probe), a holder 4b, an outer peripheral water supply unit 4c, an internal water supply unit 4d, and a transparent film. 4e and a friction reducing ball 4f. For example, the ultrasonic probe 4a emits a high-frequency ultrasonic wave of about 2 MHz, receives a reflected wave of the ultrasonic wave, and outputs an electric signal indicating the reception result. The ultrasonic probe 4a is mounted on the traveling carriage 1 via a holder 4b and the like.

  The holder 4b is held so as to surround the lower part of the ultrasonic probe 4a so that the ultrasonic emission surface and the reception surface are exposed, and is connected to the shaft portion 2a of the gimbal mechanism 2. In addition, the bottom 4b1 located on the side of the suppression chamber S of the holder 4b is chamfered at a corner 4b2 facing in the front-rear direction of the traveling carriage 1. As shown in FIG. 7D, a rectangular annular water discharge groove 4b3 is provided on the bottom surface of the holder 4b so as to surround the ultrasonic probe 4a when viewed from below. The water discharged from 4b3 is supplied between the holder 4b and the suppression chamber S, and the space between the emission surface and the reception surface of the ultrasonic probe 4a and the suppression chamber S is always filled with water. . Further, inside the holder 4b, the ultrasonic probe 4a is exposed and a water storage space 4b4 for storing water is provided.

  The outer periphery water supply part 4c is provided with respect to four places so as to correspond to the corner | angular part of the ultrasonic probe 4a. These outer periphery water supply parts 4c guide the water supplied from the hose 30 (refer FIG. 1) to the water discharge groove | channel 4b3. The internal water supply part 4d is provided outside the water storage space 4b4, and is provided at four locations so as to correspond to the corners of the water storage space 4b4. These internal water supply parts 4d guide the water supplied from the hose 30 to the water storage space 4b4.

  The transparent film 4e is arranged in the ultrasonic emission direction of the ultrasonic probe 4a, and isolates the water storage space 4b4 that is inside the holder 4b and the outside of the holder 4b. The transparent film 4e closes an opening provided on the bottom surface of the holder 4b so as to form the bottom of the water storage space 4b4. Such a transparent film 4e is formed of a flexible film material that does not attenuate ultrasonic waves. The friction reducing balls 4f are provided at four locations corresponding to the corners of the holder 4b, and are rotatably provided on the bottom surface side of the holder 4b.

  In the high-frequency ultrasonic unit 4 configured in this manner, unless the outer wall surface of the suppression chamber S is uneven, ultrasonic waves emitted from the ultrasonic probe 4a are always directed toward the center of the longitudinal section of the suppression chamber S. It is supported to head. The ultrasonic probe 4a receives a reflected wave from the inner wall surface of the suppression chamber S where the traveling carriage 1 is attached.

  As shown in FIGS. 4 and 5, one spring hinge 5 is provided for each gimbal mechanism 2, and is installed on the base portion 1 a of the traveling carriage 1. These spring hinges 5 urge the arm 2c of the gimbal mechanism 2 downward so that the low-frequency ultrasonic unit 3 or the high-frequency ultrasonic unit 4 supported by the gimbal mechanism 2 is attached to the outer wall surface of the suppression chamber S. Energize towards. That is, in the present embodiment, the ultrasonic probe 3a is urged toward the outer wall surface of the suppression chamber S by the spring hinge 5 provided on the low frequency ultrasonic unit 3 side, and the high frequency ultrasonic unit 4 side is pressed. The ultrasonic probe 4 a is urged toward the outer wall surface of the suppression chamber S by the provided spring hinge 5.

  One stopper 6 is provided for each spring hinge 5, and is provided on the base portion 1 a of the traveling carriage 1. These stoppers 6 regulate the operating range of the spring hinge 5 and prevent the biasing force of the spring hinge 5 from being applied to the low frequency ultrasonic unit 3 or the high frequency ultrasonic unit 4 more than necessary. For example, when the low-frequency ultrasonic unit 3 or the high-frequency ultrasonic unit 4 is urged toward the suppression chamber S by the spring hinge 5, a drag force that separates from the suppression chamber S acts on the traveling carriage 1 as a reaction force. To do. If this drag force becomes too large with respect to the magnetic force of the drive wheel 1b or the like, it becomes difficult to accurately move the traveling carriage 1 due to the drive wheel 1b floating or the like. For this reason, the spring hinge 5 regulates the operating range of the spring hinge 5 so that the drag does not become too large with respect to the magnetic force of the drive wheel 1b and the like.

  The acceleration sensor 7 is a three-axis acceleration sensor that is disposed inside the base portion 1a of the traveling carriage 1 and detects a posture around three axes. The acceleration sensor 7 detects the attitude of the traveling carriage 1 and outputs an electrical signal indicating the attitude. Two cameras 8 are provided for the base portion 1 a of the traveling carriage 1. One of the cameras 8 images the front of the traveling carriage 1 and outputs the imaging result, and the other images the rear of the traveling carriage 1. This imaging result is output. The illuminating device 9 is provided for the base portion 1 a of the traveling carriage 1 so as to be provided one by one for each camera 8, and illuminates the imaging direction of the camera 8.

  Returning to FIG. 1, the water tank 20 is a tank that stores water to be supplied to the outer peripheral water supply unit 3c of the low-frequency ultrasonic unit 3, the outer peripheral water supply unit 4c of the high-frequency ultrasonic unit 4, and the internal water supply unit 4d. For example, it is arranged outside the torus chamber where the suppression chamber S is placed. The water tank 20 pumps the stored water to the outside by supplying compressed air from a compressor (not shown), for example. The hose 30 guides the water discharged from the water tank 20 to the outer peripheral water supply part 3c of the low-frequency ultrasonic unit 3, the outer peripheral water supply part 4c of the high-frequency ultrasonic unit 4, and the internal water supply part 4d. The hose 30 is connected to each of the outer peripheral water supply unit 3 c of the low frequency ultrasonic unit 3, the outer peripheral water supply unit 4 c and the internal water supply unit 4 d of the high frequency ultrasonic unit 4.

  The repeater 40 is for relaying electrical signals and electric power sent between the traveling unit 10 and the operation command unit 60, and is connected to the traveling unit 10 via the first wired cable 50 and is connected to the second wired unit. The operation command unit 60 is connected via a cable 70. Further, the repeater 40 is a data that can be operated by a computer or the like for signals input from the ultrasonic flaw detector main body that transmits and receives electrical signals to the ultrasonic probe 3a and the ultrasonic probe 4a and the acceleration sensor 7. The data converter etc. which convert to are included.

  The first wired cable 50 connects the repeater 40 and the traveling unit 10 and sends an electrical signal and power. Note that the first wired cable 50 is wound or sent out by a winding device (not shown) so as to have a required length.

  The operation command unit 60 includes a control processing unit 61 (processing unit), a monitor 62, an operation unit 63, and a power source 64, and is installed outside the reactor building, for example. The control processing unit 61 controls the traveling unit 10, and based on the shape of the suppression chamber S, the measurement result of the ultrasonic probe 3a or the ultrasonic probe 4a, and the detection result of the acceleration sensor 7. Calculate the water level.

  Here, a method for obtaining the height position of the ultrasound probe 3a will be described with reference to FIG. As shown in FIGS. 8A and 8B, the axis passing through the center of the cross-sectional shape of the suppression chamber S and the acceleration sensor 7 is the Z-axis, and the Z-axis and the suppression chamber S in the cross-section A tangential direction intersecting the outer wall surface is defined as a Y axis, and a direction orthogonal to the Z axis and the Y axis is defined as an X axis. In addition, an angle formed by the horizontal axis and the Z axis is θ, and an angle formed by the Y axis and the front-rear direction of the traveling unit 10 is φ. Further, the distance in the front-rear direction of the traveling unit 10 from the acceleration sensor 7 to the ultrasonic probe 3a is M, the radius to the outer wall surface of the suppression chamber S is R, and the height of the equator position of the suppression chamber S is Suppose that it is 1900 mm.

  First, it is determined from the angle φ that can be acquired as the detection result of the acceleration sensor 7 whether the traveling unit 10 is upward as shown in FIG. 8B or downward as shown in FIG. Subsequently, the distance L from the acceleration sensor 7 to the ultrasonic probe 3a in the longitudinal section (surface shown in FIGS. 8B and 8C) of the suppression chamber S passing through the acceleration sensor 7 is expressed by the following equation (1). Calculated by

  L = M × cosφ (1)

  Subsequently, based on the angle θ that can be acquired as a detection result of the acceleration sensor 7, the following equation (2) is used when the traveling unit 10 is upward, and the following equation (3) when the traveling unit 10 is downward. ) To obtain the height position of the ultrasound probe 3a.

  1900 + Rsinθ−Lcosθ (2)

  1900 + Rsinθ + Lcosθ (3)

  Therefore, the control processing unit 61 stores the radius R to the outer wall surface of the suppression chamber S and the height of the equator position of the suppression chamber S as cross-sectional shape data of the suppression chamber S, If the separation distance M in the front-rear direction of the traveling unit 10 to the acoustic probe 3a is stored, the height position of the ultrasonic probe 3a in the suppression chamber S is obtained based on the detection result of the acceleration sensor 7. Can do. The height position of the ultrasonic probe 4a can be obtained in the same manner.

  Therefore, when the traveling unit 10 is moved on the surface of the suppression chamber S, the control processing unit 61 uses a signal indicating that the measurement result of the ultrasonic probe 3a or the ultrasonic probe 4a indicates the presence of water and water. The water level inside the suppression chamber S can be obtained accurately by obtaining the height position of the ultrasonic probe 3a or the ultrasonic probe 4a at the location where the signal is switched to a signal that does not indicate the presence of.

  In principle, the results should match between the case where the water level is obtained using the measurement result of the ultrasonic probe 3a and the case where the water level is obtained using the measurement result of the ultrasonic probe 4a. However, if there is a difference in the results, the water level obtained using the measurement result of the ultrasonic probe with higher reliability obtained in advance by experiments or the like is adopted.

  Returning to FIG. 1, the monitor 62 visualizes the electric signals from the camera 8, the ultrasonic probe 3 a and the ultrasonic probe 4 a received by the operation command unit 60, and the results calculated by the control processing unit 61. Output. The operation unit 63 is a man-machine interface for an operator to operate the traveling unit 10 and includes a handle and the like. The power source 64 is made of, for example, a generator and generates power necessary for the water level measuring device 100.

  The second wired cable 70 connects the operation command unit 60 and the repeater 40, and sends an electrical signal and power.

  In the water level measurement device 100 of the present embodiment configured as described above, the operator operates the operation unit 63 while visually recognizing the monitor 62 in the operation command unit 60, so that the traveling unit 10 is placed at an arbitrary position of the suppression chamber S. As described above, the control processing unit 61 searches for a place where the measurement result of the ultrasonic probe 3a or the ultrasonic probe 4a switches between a signal indicating the presence of water and a signal not indicating the presence of water. Thus, the water level is obtained from the detection result of the acceleration sensor 7 at this time.

  According to the water level measuring apparatus 100 of the present embodiment as described above, the traveling carriage 1 on which the ultrasonic probe 3a and the ultrasonic probe 4a are installed has the drive wheels 1b including magnets. The traveling carriage 1 can be moved to an arbitrary location in a state where the traveling carriage 1 is adsorbed to the outer wall surface of the suppression chamber S that is a steel container. For this reason, the ultrasonic probe 3a and the ultrasonic probe 4a can be moved to arbitrary positions in the suppression chamber S. Further, the height of the traveling carriage 1 (that is, the ultrasonic probe 3a and the ultrasonic probe 4a) is obtained based on the shape of the suppression chamber S having a circular longitudinal section and the detection result obtained from the acceleration sensor 7. be able to. Therefore, according to the water level measuring device 100 of the present embodiment, it is possible to move to an arbitrary location of the suppression chamber S, determine whether water exists inside the location, and further obtain the height thereof. Therefore, according to the water level measuring device 100 of the present embodiment, it is possible to easily measure the water level inside the container of the suppression chamber S provided in a place where it is difficult for an operator to work.

  Further, in the water level measuring device 100 of the present embodiment, as an ultrasonic probe, an ultrasonic probe that receives a reflected wave from the wall surface on the opposite side across the center of the suppression chamber S from the position of the traveling carriage 1. 3a and an ultrasonic probe 4a that receives a reflected wave from the inner wall surface of the suppression chamber S where the traveling carriage 1 is attached. For this reason, even if the measurement method used in one of the ultrasonic probes is not suitable for the field environment, the water level can be measured using the other ultrasonic probe.

  Further, the water level measuring device 100 of the present embodiment includes a spring hinge 5 that is provided on the traveling carriage 1 and biases the ultrasonic probe 3a or the ultrasonic probe 4a toward the suppression chamber S. For this reason, since the ultrasonic probe 3a or the ultrasonic probe 4a can always be pressed against the suppression chamber S, the water level can be measured stably.

  In addition, the water level measuring device 100 of the present embodiment includes a stopper 6 that is provided on the traveling carriage 1 and restricts the operating range of the spring hinge 5. For this reason, it is possible to prevent the drag acting on the traveling carriage 1 from increasing and the drive wheel 1b from floating from the suppression chamber S. Therefore, it is possible to reliably travel the traveling cart 1.

  Further, in the water level measuring device 100 of the present embodiment, the corner 3b2 of the holder 3b on the suppression chamber S side and the corner 4b2 of the holder 4b on the suppression chamber S side are chamfered. For this reason, even when the surface of the suppression chamber S is uneven, it is possible to prevent the traveling of the traveling carriage 1 from being disturbed by the holder 3b and the holder 4b colliding with the unevenness.

  Further, the water level measuring device 100 of the present embodiment includes a rotatable friction reducing ball 3d provided on the bottom surface side of the holder 3b and a rotatable friction reducing ball 4f provided on the bottom surface side of the holder 4b. For this reason, the low-frequency ultrasonic unit 3 and the high-frequency ultrasonic unit 4 can be smoothly moved with respect to the outer wall surface of the suppression chamber S.

  Further, the water level measuring device 100 of the present embodiment includes an internal water supply unit 4d for supplying water to the water storage space 4b4 formed inside the holder 4b in which the ultrasonic probe 4a is accommodated. First, by providing the water storage space 4b4, the ultrasonic probe 4a can be disposed away from the outer wall surface of the suppression chamber S. Therefore, even if the outer wall surface of the suppression chamber S is uneven, It can be prevented that the acoustic probe 4a interferes with the outer wall surface of the suppression chamber S and the transmission efficiency of the ultrasonic waves emitted from the ultrasonic probe 4a to the suppression chamber is reduced. Furthermore, since the internal water supply unit 4d for supplying water to the water storage space 4b4 is provided, the water storage space 4b4 is filled with water, and the ultrasonic waves emitted from the ultrasonic probe 4a are surely made to reach the suppression chamber S. It becomes possible.

  Moreover, in the water level measuring apparatus 100 of this embodiment, the transparent film 4e which isolates the inside of a holder from the exterior is provided. For this reason, the amount of water leaking from the water storage space 4b4 can be reduced, and even when the suppression chamber S has irregularities on the outer wall surface, it is always between the suppression chamber S and the ultrasonic probe 4a. It becomes possible to fill with water.

  Moreover, in the water level measuring apparatus 100 of this embodiment, between the outer periphery water supply part 3c for supplying water between the holder 3b and the outer wall surface of the suppression chamber S, and between the holder 4b and the outer wall surface of the suppression chamber S The outer periphery water supply part 4c for supplying water to the water is provided. For this reason, it becomes possible to always fill water between the suppression chamber S and the ultrasonic probe 4a.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the spirit of the present invention.

  For example, in the above embodiment, an example in which the water level of the suppression chamber S is measured has been described. However, the present invention is not limited to this, and can be applied to the case of measuring the water level of a steel container having a circular longitudinal section.

  Moreover, in the said embodiment, the structure provided with both the low frequency ultrasonic unit 3 and the high frequency ultrasonic unit 4 was demonstrated. However, the present invention is not limited to this, and it is possible to adopt a configuration including only one of the low-frequency ultrasonic unit 3 and the high-frequency ultrasonic unit 4.

  DESCRIPTION OF SYMBOLS 1 ... Traveling cart, 1a ... Base part, 1b ... Driving wheel, 1b1 ... Iron wheel, 1b2 ... Resin spacer, 1b3 ... Shaft part, 1b4 ... Magnet, 1c ... Motor, 1d ... Rear wheel support plate, 1e ... driven rear wheel, 2 ... gimbal mechanism, 2a ... shaft, 2b ... frame, 2c ... arm, 3 ... low frequency ultrasonic unit, 3a ... ultrasonic probe Child (first ultrasonic probe), 3b... Holder, 3b1... Bottom portion, 3b2... Corner portion, 3c .. peripheral water supply portion, 3d. …… Ultrasonic probe (second ultrasonic probe), 4b …… Holder, 4b1 …… Bottom part, 4b2 …… Square part, 4b3 …… Water discharge groove, 4b4 …… Water storage space, 4c …… Outer periphery water supply Part, 4d …… internal water supply part, 4e …… transparent film, 4f …… friction reduction ball, ...... Spring hinge, 6 ... Stopper, 7 ... Acceleration sensor, 8 ... Camera, 9 ... Lighting device, 10 ... Running unit, 20 ... Water tank, 30 ... Hose, 40 ... Repeater, 50 …… First wired cable, 60 …… Operation command section, 61 …… Control processing section (processing section), 62 …… Monitor, 63 …… Operating section, 64 …… Power supply, 70 …… Second wired cable, 100 …… Water level measuring device, S …… Suppression chamber

Claims (9)

A water level measuring device for measuring the water level inside a steel vessel having a circular cross section,
A traveling carriage having drive wheels including magnets;
An ultrasonic probe mounted on the traveling carriage;
An acceleration sensor for detecting the attitude of the traveling carriage;
A water level measuring apparatus comprising: a processing unit that calculates a water level based on a shape of the container, a measurement result of the ultrasonic probe, and a detection result of the acceleration sensor. As the ultrasonic probe,
A first ultrasonic probe for receiving a reflected wave from the opposite wall surface across the center of the container from the position of the traveling carriage;
The water level measuring device according to claim 1, further comprising: a second ultrasonic probe that receives a reflected wave from an inner wall surface of a container at a location to which the traveling carriage is attached.   The water level measuring device according to claim 1, further comprising a spring hinge that is provided on the traveling carriage and biases the ultrasonic probe toward the container.   The water level measuring device according to claim 3, further comprising a stopper that is provided on the traveling carriage and regulates an operating range of the spring hinge.   The water level measuring device according to any one of claims 1 to 4, further comprising a holder for holding the ultrasonic probe, wherein a corner of the holder on the container side is chamfered.   The water level measuring device according to claim 1, further comprising a holder that holds the ultrasonic probe, and a rotatable friction reducing ball provided on a bottom surface side of the holder.   7. The apparatus according to claim 1, further comprising: a holder that holds the ultrasonic probe, and an internal water supply unit that supplies water into the holder in which the ultrasonic probe is accommodated. The water level measuring device according to one item.   The water level measuring device according to claim 7, further comprising a transparent film that is disposed in an ultrasonic emission direction of the ultrasonic probe and that isolates the inside of the holder from the outside.   The apparatus according to claim 1, further comprising a holder for holding the ultrasonic probe, and an outer peripheral water supply unit for supplying water between the holder and an outer wall surface of the container. The water level measuring device described in 1.

Images