Abstract: According to one embodiment, a monitoring apparatus for a rotating gantry comprising: a rotating gantry that supports both an irradiation nozzle configured to radiate a particle beam and a transport unit configured to transport the particle beam to the irradiation nozzle and rotates around a horizontal axis directed in a horizontal direction; a plurality of cables, each of which is connected at one end to the rotating gantry and is connected at another end to a stationary device; a spool that is provided on the rotating gantry and performs winding or unwinding of the plurality of cables; and a monitoring unit that monitors a state of the plurality of cables in the spool.

Abstract: A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained.

Abstract: The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.

Abstract: A preventive maintenance/repair device 10 of the present invention includes: a device body 11, and holding mechanisms 13a and 13b connected to the device body 11, the holding mechanisms 13a and 13b being configured to hold the device body 11 on an outer circumferential surface of a cylindrical structure 19. Further, the device body 11 is equipped with a traveling and driving part configured to be circumferentially movable along the outer circumferential surface of the cylindrical structure 19. Furthermore, each of the holding mechanisms 13a and 13b is equipped with a maintenance/repair mechanism 16 configured to maintain and repair the cylindrical structure 19.

Abstract: A cleaning apparatus is generally composed of a suction unit provided with a suction source, a suction nozzle equipped with a suction port adapted to suck dust or like from a surface to be cleaned, a suction hose connected at one end to the suction nozzle and connected at another end to the suction unit, a low-center-of-gravity support member provided for the suction hose so as to serve as a fulcrum when the suction hose is bent and deformed, a wire member supported at a distal end by the suction nozzle and arranged along the suction hose, and a control unit used to bend and deform the suction hose by manipulating the wire member with the low-center-of-gravity support member serving as a fulcrum. This cleaning apparatus is specifically usable for a bottom surface of a reactor pressure vessel.

Abstract: An apparatus for inspecting and measuring an object to be measured includes: a distance measurement device having a light projector that projects a two-dimensional optical pattern onto a measurement target of the measurement object, imaging devices disposed in a stereoscopic arrangement that image the measurement object, and a driving device that rotates a posture of at least one of the imaging devices to control a parallax angle between the imaging devices; a working distance control device that controls the driving device and adjusts a position at which optical axes of the imaging devices intersect; and a distance calculation device having a correspondence position calculation device that determines a correspondence position at which the same region is imaged among images of the imaging devices, and a distance calculation devices that calculates a distance to the measurement target of the measurement object based on a calculation result of the calculation device.

Abstract: A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained.

Abstract: A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.

Abstract: According to an embodiment, a horizontally moving stage is mounted on a cylindrical structure within a reactor pressure vessel, travels horizontally along the surface of the cylindrical structure by wheels, and is positioned above an in-reactor pipe by the operation of the horizontally moving stage. A hollow mast is carried by the horizontally moving stage, and is expandable and contractible in a vertical attitude. When the mast is in the vertical attitude, a probe is movable within the mast and performs work in the proximity to the inner surface of the in-reactor pipe. A cable passes through the mast to be connected to the probe.

Abstract: According to an embodiment, an in-reactor operation system which is provided with a crack detection vehicle that moves in a circumferential direction along an outer surface of a shroud disposed in a reactor pressure vessel with the axis vertical, an inspection/check sensor that is mounted on the crack detection vehicle and performs an operation with respect to the shroud, a vehicle positioning mast for setting an initial position of the crack detection vehicle on the shroud, a vehicle fixation mechanism for attaching and detaching the crack detection vehicle to and from the vehicle positioning mast, and a conveyance vehicle for conveying the vehicle positioning mast on which the crack detection vehicle is mounted into the reactor pressure vessel.

Abstract: An apparatus for processing an inside of a pipe which performs various works from an inside of a pipe, includes traveling drive units, a working device, rotation support mechanisms, a coupling mechanism, and suspension devices. The traveling drive units are inserted into the inside of the pipe, and the working device is moved in a circumferential direction along the inside of the pipe by the traveling drive units.

Abstract: A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

Abstract: A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

Abstract: The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.

Abstract: According to an embodiment, a submersible electric motor assembly has: a casing; an electric motor that is accommodated in the casing; and an electric insulating substance that is filled between the electric motor and the casing and has a thermal conductivity higher than that of air. The electric motor includes: a stator, a rotor that is rotated by an interaction with a magnetic field of the stator, a coil that magnetizes the stator and/or the rotor, and a shaft that is rotated by rotation of the rotor.

Abstract: A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.

Abstract: A cleaning apparatus is generally composed of a suction unit provided with a suction source, a suction nozzle equipped with a suction port adapted to suck dust or like from a surface to be cleaned, a suction hose connected at one end to the suction nozzle and connected at another end to the suction unit, a low-center-of-gravity support member provided for the suction hose so as to serve as a fulcrum when the suction hose is bent and deformed, a wire member supported at a distal end by the suction nozzle and arranged along the suction hose, and a control unit used to bend and deform the suction hose by manipulating the wire member with the low-center-of-gravity support member serving as a fulcrum. This cleaning apparatus is specifically usable for a bottom surface of a reactor pressure vessel.

Abstract: An apparatus for inspecting and measuring an object to be measured includes: a distance measurement device having a light projector that projects a two-dimensional optical pattern onto a measurement target of the measurement object, imaging devices disposed in a stereoscopic arrangement that image the measurement object, and a driving device that rotates a posture of at least one of the imaging devices to control a parallax angle between the imaging devices; a working distance control device that controls the driving device and adjusts a position at which optical axes of the imaging devices intersect; and a distance calculation device having a correspondence position calculation device that determines a correspondence position at which the same region is imaged among images of the imaging devices, and a distance calculation devices that calculates a distance to the measurement target of the measurement object based on a calculation result of the calculation device.

Abstract: A preventive maintenance/repair device 10 of the present invention includes: a device body 11, and holding mechanisms 13a and 13b connected to the device body 11, the holding mechanisms 13a and 13b being configured to hold the device body 11 on an outer circumferential surface of a cylindrical structure 19. Further, the device body 11 is equipped with a traveling and driving part configured to be circumferentially movable along the outer circumferential surface of the cylindrical structure 19. Furthermore, each of the holding mechanisms 13a and 13b is equipped with a maintenance/repair mechanism 16 configured to maintain and repair the cylindrical structure 19.

Abstract: A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.