JP2013105186A - Travel robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel robot capable of stably ascending and descending stairs of sheep inclination with use of a wind-up device and turning in a small space such as a landing of stairs.SOLUTION: A travel robot is controlled such that one end of a wire 7 or a cable 70 is fixed to an upper portion of stairs 200 when ascending or descending the stairs 200, the wire 7 or the cable 70 is fed when a vehicle body 1 descends the stairs 200, and the wire 7 or the cable 70 is wound up when the vehicle body 1 ascends the stairs 200. An angle detector 9 detects the angle of the vehicle body 1, and on the basis the detected angle, the winding is controlled to stop or start.

Description

  The present invention relates to a traveling robot, and more particularly to a traveling robot that can stably move up and down stairs using a winding device and can turn at a landing of stairs.

  As is well known, in a traveling robot configured to travel by a crawler, in order for the vehicle body of the traveling robot to ascend or descend the stairs stably, The center of gravity of the stairs must exceed the point of contact with the steps of the stairs, and from the second stage of the stairs, the crawler must always contact the corners of the stairs for at least two steps. For this reason, in this type of traveling robot, it is necessary that the length of the crawler in the traveling direction is set to a length that connects the corners of the stairs for at least three steps.

  2. Description of the Related Art Conventionally, a traveling robot using a winding device has been proposed as a means for stabilizing a vehicle body at the time of ascending / descending a staircase with a relatively small vehicle body and assisting the ascent (see, for example, Patent Document 1). In the conventional traveling robot disclosed in Patent Document 1, the end of the wire on the pulling side is fixed to the upper part of the staircase, and the winding device is driven using the driving force for driving the crawler simultaneously with the forward driving of the vehicle body by the crawler. The wire is wound up by being rotated to start ascending the stairs and to ensure the ascending running of the stairs.

  Conventionally, a traveling robot that has a storage reel around which a power supply cable, an oil recovery hose, and the like are wound, and that collects leaked oil in a wide area in shallow watersides and rocky waters has been proposed (for example, Patent Document 2). The traveling robot disclosed in Patent Document 2 moves the water area by moving means including a caterpillar moving unit and the like, and collects leaked oil while winding and pulling an oil recovery hose, hydraulic hose, and power supply cable by a storage reel. I am doing so.

Japanese Patent Laid-Open No. 10-109653 Japanese Patent Laid-Open No. 10-280372

  In order to stabilize the vehicle body, the conventional traveling robot disclosed in Patent Document 1 always needs to continuously pull the wire by urging the winding device in the winding direction. In this case, as described above, if the length of the crawler in the advancing direction is set to a length that can contact the corner of the staircase for at least two steps, the top of the staircase is the same as a flat surface slope. In a stable state, the vehicle body can be pulled up to the top of the stairs via the wire.

  However, if the length of the crawler in the direction of travel is shorter than the length that can contact the corners of the two steps, the stairs must be stepped over step by step, and the vehicle body always moves up the stairs. In order to keep pulling up, it is necessary to make the driving force of the winding device strong, which results in an increase in the size of the winding device. When the winding device becomes large, its weight increases. When the winding device is mounted on the body of the traveling robot, the movement performance of the traveling robot decreases due to the weight of the winding device, resulting in an increase in power consumption. There are challenges.

  Also, when moving up and down a staircase with handrails on two or more floors, if the vertical component of the traction force of the wire is large relative to the frictional force of the wire engaged with the handrail, the wire will come off the handrail There was a problem of ending up.

  Furthermore, in order for the traveling robot to turn around a landing with a narrow staircase, the size of the vehicle body of the traveling robot is limited, and the traveling direction of the crawler necessary for the vehicle body to move up and down the stairs stably There is a problem that it is not possible to ensure the length.

  Further, the conventional traveling robot shown in Patent Document 2 is configured such that a storage reel as a winder is driven by hydraulic pressure, and is large in size and heavy in weight, so that the motion performance of the traveling robot is reduced. There is a problem. Moreover, since the storage reel is large, there is a problem that it cannot be mounted on the body of a small traveling robot.

  The present invention has been made to solve the above-described problems in conventional traveling robots, and can stably move up and down even on steeply staircases using a winding device, and the stair landing It is an object of the present invention to provide a traveling robot that can turn even in a narrow place.

The traveling robot according to the present invention is:
The car body,
A moving means provided on the vehicle body for moving the vehicle body;
A winding device provided on the vehicle body and capable of winding and delivering a wire or cable;
An angle detector that is provided in the vehicle body and detects an inclination angle in a traveling direction of the vehicle body;
A control device for controlling driving of the moving means and the winding device;
With
One end of the wire or cable is fixed to the upper part of the stairs when the vehicle body goes up or down at least the stairs,
The control device stops winding of the wire or cable by the winding device and starts winding based on the angle detected by the angle detector at least when the vehicle body moves up or down the stairs. And controlling at least one of the feeding and preventing the vehicle body from overturning,
It is characterized by this.

  According to the traveling robot of the present invention, one end of the wire or cable is fixed to the upper part of the stairs when the vehicle body goes up or down the stairs at least, and the control device at least when the vehicle body goes up or down the stairs Based on the angle detected by the angle detector, control of at least one of the stop of winding of the wire or cable by the winding device and the start and delivery of winding to prevent the vehicle body from falling Therefore, even if the length of the vehicle body is shortened, the stairs can be raised or lowered stably without falling down.

  Further, since the length of the vehicle body can be set short, it is possible to turn even at a landing place where the stairs are narrow.

  In addition, the wire or cable is not always in tension, and the minimum force required before the vehicle body reaches the tipping angle can be applied, so the drive power of the winder is small, and the device is small and lightweight. Power saving can be realized and exercise performance is not impaired. Further, since the tension applied to the wire can be suppressed, the danger that the wire caught on the handrail part is pulled out can be minimized.

It is a top view of the traveling robot by Embodiment 1 of this invention. It is a side view of the traveling robot by Embodiment 1 of this invention. It is a block diagram which shows the structure of the traveling robot by Embodiment 1 of this invention. It is a flowchart which shows the stair-rise operation | movement of the traveling robot by Embodiment 1 of this invention. It is explanatory drawing explaining the stair-rise operation | movement of the traveling robot by Embodiment 1 of this invention.

It is explanatory drawing explaining the force which acts on the wire engaged with the handrail of the staircase at the time of the stair raising operation | movement of the traveling robot by Embodiment 1 of this invention. It is a perspective view of the traveling robot by Embodiment 2 of this invention. It is explanatory drawing explaining the staircase descent | fall operation | movement of the traveling robot by Embodiment 2 of this invention. It is explanatory drawing explaining the stair-rise operation | movement of the traveling robot by Embodiment 2 of this invention. It is a flowchart which shows the stair-rise operation | movement of the traveling robot by Embodiment 2 of this invention.

It is a flowchart which shows the control operation of the traveling robot by Embodiment 3 of this invention. It is a perspective view of the traveling robot by Embodiment 4 of this invention. It is explanatory drawing explaining the stair-rise operation | movement of the traveling robot by Embodiment 4 of this invention. It is a flowchart which shows the stairs raising operation | movement of the traveling robot by Embodiment 4 of this invention.

Embodiment 1 FIG.
Hereinafter, the traveling robot according to the first embodiment of the present invention will be described in detail. 1 is a plan view of a traveling robot according to Embodiment 1 of the present invention, and FIG. 2 is a side view of the traveling robot according to Embodiment 1 of the present invention. 1 and 2, the vehicle body 1, which is a part constituting the basic skeleton of the traveling robot 100, is equipped with a first traveling motor 31 and a second traveling motor 32. The first drive side sprocket 21 and the first driven side sprocket 23 are rotatably installed on one side of the vehicle body 1. The second driving side sprocket 23 and the second driven side sprocket 24 are rotatably installed on the other side of the vehicle body 1. These sprockets 21, 22, 23, and 24 are wheels provided with a gear-shaped portion on the outer peripheral portion.

  In the first embodiment of the present invention, the first traveling motor 31 supplies rotational driving force to the first drive-side sprocket 21, and the second traveling motor 32 serves as the second drive-side sprocket. 23 is supplied with rotational power. The sprockets 21, 22, 23, 24, the crawlers 41, 42, and the motors 31, 32 constitute a vehicle body moving means.

  The first crawler 41 is mounted so as to engage with the gear-shaped portion of the first drive-side sprocket 21 and the gear-shaped portion of the first driven-side sprocket 22. Driven by the rotational driving force, the first driving side sprocket 22 and the first driven side sprocket 22 rotate around the outer periphery. At this time, the first driven sprocket 22 is driven by the first crawler 41 and rotates simultaneously. Similarly, the 21st crawler 42 is mounted so as to engage with the gear shape portion of the second drive side sprocket 23 and the gear shape portion of the second driven side sprocket 24, respectively. It is driven by the rotational driving force of the sprocket 23 and rotates around the outer periphery of the second drive side sprocket 23 and the second driven side sprocket 24. At this time, the second driven sprocket 24 is driven by the second crawler 42 and rotates simultaneously.

  The first crawler 41 and the second crawler 42 mentioned above are in contact with the ground, the floor surface, or the corner of the staircase, and the first crawler 41 and the second crawler 42 rotate at the same speed in the same direction. Then, the traveling robot 100 travels in that direction, and the first crawler 41 and the second crawler 42 rotate at different speeds, or one of the first crawler 41 and the second crawler 42 When the rotation is stopped, or the first crawler 41 and the second crawler 42 are rotated in the opposite directions, the traveling robot 100 changes direction or turns.

  The winding device 5 is mounted on the upper part of the vehicle body 1 and is configured to be wound by a winding motor (not shown) to wind the wire 7. A wire 7 having sufficient strength to pull the traveling robot 100 is fixed to a place other than the vehicle body 1 via a guide bar 8 installed so as to protrude forward of the vehicle body 1. Instead of the wire 7, a rope having sufficient strength to pull the traveling robot 100 may be used. The battery 6 mounted on the vehicle body 1 supplies electric power to the first traveling motor 31, the second traveling motor 32, and the winding motor.

  The traveling front camera 11 is fixed to the front side of the winding device 5, and the traveling rear camera 12 is fixed to the rear of the winding device 5. An angle detection device 9 mounted on the vehicle body 1 detects an inclination angle of the vehicle body 1 in the front-rear direction. The vehicle body 1 is equipped with an arithmetic device (hereinafter referred to as a CPU), which will be described later, and receives a control signal transmitted wirelessly or by wire from a control device provided separately from the vehicle body 1. The calculation operation described later is performed.

  FIG. 3 is a block diagram showing the configuration of the traveling robot according to the first embodiment of the present invention. In FIG. 3, the above-described control device 14 provided separately from the vehicle body 1 transmits the control signal 101 wirelessly or by wire to the traveling robot 100 via the transmission device 16 mounted on the vehicle body 1. It transmits to CPU15 mounted in the vehicle body 1. FIG. The CPU 15 that has received the control signal gives a command signal to the winding motor 13, the first traveling motor 31, and the second traveling motor 323.

  The angle detection device 9 detects an inclination angle of the vehicle body 1 in the front-rear direction and transmits an angle signal indicating the detected angle to the CPU 15. The CPU 15 transmits the angle signal received from the angle detection device 9 to the control device 14 wirelessly or by wire via the transmission device 16. The traveling front camera 11 and the traveling rear camera 12 mounted on the vehicle body 1 of the traveling robot 100 control images of the captured images of the traveling robot forward and backward in the traveling direction via a transmission device 16 wirelessly or by wire. 14 to send.

  Next, the operation of the traveling robot 100 configured as described above according to Embodiment 1 of the present invention will be described. FIG. 4 is a flowchart showing the stair climbing operation of the traveling robot according to the first embodiment of the present invention, and FIG. 5 is an explanatory diagram for explaining the stair climbing operation of the traveling robot according to the first embodiment of the present invention.

  Further, θ1 in FIG. 5 indicates a fall angle at which a straight line connecting the contact point between the center of gravity of the vehicle body 1 and the floor surface is larger than 90 ° with respect to the horizontal plane, and θ2 is the step angle of the center of gravity of the vehicle body 1 This indicates the return angle when it is on a line drawn vertically from the part. When the vehicle body 1 becomes smaller than the return angle θ2, the traveling robot 100 rotates to the staircase side with the staircase corner as a fulcrum.

  4 and 5, in step S <b> 1, the first traveling motor 31 and the second traveling motor 32 are based on a command signal from the CPU 15 that has received the control signal 101 from the control device 14. It is driven in the direction of moving the vehicle body 1 forward. As a result, the first crawler 41 and the second crawler 42 rotate in the forward direction, and the traveling robot 100 moves forward. At this time, the tip of the wire 7 is fixed to the upper part of the staircase 200 to be raised, and the winding device 5 is driven by the driving force of the winding motor 13 driven based on a command signal from the CPU 15. The wire 7 is wound up sequentially as the traveling robot 100 moves forward so that the wire 7 does not loosen. FIG. 5A shows a traveling state of the traveling robot 100 in step S1.

  Next, in step S2, the traveling robot 100 comes into contact with the first step wall surface 201 of the staircase 200 as shown in FIG. 5B, and as shown in FIG. Run up the step wall 201. Next, the process proceeds to step S3, where the front-rear direction inclination angle of the vehicle body 1 detected by the angle detection device 9 and a predetermined climbing angle (an angle at which the traveling robot 100 detects the start of a step, about 30 °, but change appropriately depending on conditions) When the vehicle body inclination angle is larger than a predetermined climbing angle (Y), it is determined that the vehicle body 1 of the traveling robot 100 has started to rise, and the process proceeds to step S4 to start the lift. When the inclination angle of the vehicle body 1 is not larger than the predetermined uphill angle (N), the process returns to step S3.

  Note that when the traveling robot 100 remains at the position of the first step of the staircase 200 or a step after that as shown in FIGS. 5B and 5C, the wire 7 does not slack. The winding motor 13 is in a stopped state, and the winding of the wire 7 by the winding device 5 is stopped.

  Next, the process proceeds to step S5, where the inclination angle in the front-rear direction of the vehicle body 1 is again compared with a predetermined climbing angle, and when the tilting angle of the vehicle body 1 is smaller than the predetermined climbing angle (Y), the traveling robot 100 takes steps. It is determined that the first step overstep 200 has been completed, the process proceeds to step S10, and the process returns to step S1 to repeat the above-described operation for the second and subsequent steps of staircase 200.

  On the other hand, if the result of determination in step S5 is that the tilt angle of the vehicle body 1 is not smaller than the predetermined climb angle (N), the process proceeds to step S6, and the tilt angle of the vehicle body 1 is compared with the predetermined fall angle θ1. In step S6, when it is determined that the inclination angle of the vehicle body 1 is larger than the predetermined fall angle θ1 (Y), the process proceeds to step S7, where the winding motor 13 is driven and the wire 7 is wound by the winding device 5. Start winding. That is, even after the traveling robot 100 runs up the first stepped wall surface 201 or the subsequent stepped wall surface, the inclination angle of the vehicle body 1 does not become smaller than the predetermined return angle θ2, and the predetermined fall angle is maintained as it is. When it is larger than θ1, it is determined that the traveling robot 100 may fall, and the winding motor 13 is driven to start winding the wire 7 by the winding device 5.

Here, the relationship between the predetermined return angle θ2 and the predetermined fall angle θ1 is as follows:
θ2 <θ1
Is set to

  When the winding of the wire 7 by the winding device 5 is started, the vehicle body 1 is pulled up by the wire 7 and at the same time, the corners of the stairs 200 are driven by the driving force of the first crawler 41 and the second crawler 42. The vehicle body 1 rotates as indicated by an arrow X shown in FIG. 5 (d) with the corner portion serving as a fulcrum and the moment caused by the tension of the wire 7 and the driving force of each crawler 41, 42. When the inclination angle of 1 reaches a predetermined return angle θ3 (not shown), the process proceeds to step S9 and winding is stopped. Then, the process proceeds to step S10, where it is determined that the traveling robot 100 has completed the step over the step 200, the process returns to step S1, and the traveling robot 100 moves forward again. Thereafter, the operation from step S1 is repeated.

  When it is determined in step S8 that the vehicle body inclination angle is not smaller than the predetermined return angle θ3 (N), the process returns to step S7 and the winding of the wire 7 by the winding device 5 is continued.

In the operation flow of FIG. 4, the operations in step S3 and step S4 are for the operator to check the climbing situation of the traveling robot 100, and by counting the number of times of passing in step S4, the number of steps to get over is determined. I can confirm. However, when it is not necessary to confirm the climbing condition of the vehicle body 1, the angle confirmation of the vehicle body 1 is only the fall angle θ1 and the return angle θ2,
(1) When the angle of the vehicle body 1 exceeds the falling angle θ1, wire winding is performed.
(2) When the angle of the vehicle body 1 returns to less than the return angle θ2, the wire winding is stopped.
It is sufficient to perform the operation.

  FIG. 6 is an explanatory diagram for explaining the force acting on the wire engaged with the handrail of the staircase during the stair ascent operation of the traveling robot according to the first embodiment of the present invention. In FIG. 6, the traveling robot 100 ascends while winding the wire 7 on the stairs 200 bent through the landing 201. In this case, when the traveling robot 100 continues to ascend the stairs 200 while being pulled by the wire 7, the wire 7 is engaged with the handrail 211 of the stairs 200, and the friction force between the wire 7 and the handrail 210 is applied. The vertical component of the traction force of the wire 7 becomes larger, and the wire 7 may be pulled out of the handrail 210.

  However, according to the traveling robot according to the first embodiment of the present invention, the traveling robot 100 does not always wind the wire 7, and the traveling robot 100 is likely to fall over a predetermined fall angle θ1 as described above. Since the wire 7 is wound up and the traveling robot 100 is pulled by the wire 7 only when it becomes, the risk that the wire 7 is pulled out from the handrail 211 can be minimized.

Embodiment 2. FIG.
Next, a traveling robot according to Embodiment 2 of the present invention will be described. FIG. 7 is a perspective view of a traveling robot according to Embodiment 2 of the present invention. In FIG. 7, the traveling robot 100 includes a skid plate 17 as a projecting portion installed on the front surface of the vehicle body 1, a cover 90 that covers the upper portion of the vehicle body 1 and a winding device (not shown), and the like. Two measuring instruments 181 and 182 and a camera 19 are installed for performing exploration in places where it is difficult for people to enter the places.

  The cable 70 for communicating control signals and supplying power has sufficient strength to pull the traveling robot 100 and is used as a wire for pulling the traveling robot 100. A winding device (not shown) mounted on the traveling robot 100 is configured to wind the cable 70. A guide portion 80 mounted on the rear side of the traveling robot 100 guides the cable 70 in a slidable manner.

  The skid plate 17 is made of a sheet metal or the like, and can extend the vehicle body length of the traveling robot 100 as much as possible without changing the original position of the center of gravity of the traveling robot 100.

  FIG. 8 is an explanatory diagram for explaining the stair descent operation of the traveling robot according to the second embodiment of the present invention. In FIG. 8, the traveling robot 100 sets the side where the cable 70 is pulled out from the winder 5 as the rear side with respect to the traveling direction Y, and descends the stairs 200 while feeding the cable 70 from the winder 5. The skid plate 17 installed on the front side of the traveling robot 100 abuts on the flat portion 202 of the next step of the staircase 200, and prevents the traveling robot 100 from falling in the traveling direction when descending the step of the staircase.

  FIG. 9 is an explanatory diagram for explaining the stair climbing operation of the traveling robot according to the second embodiment of the present invention. In FIG. 9, the traveling robot 100 raises the stairs 200 while winding the cable 70 by the winder 5, with the side from which the cable 70 is pulled out from the winder 5 being the front side with respect to the traveling direction Z.

  The skid plate 17 is for preventing the traveling robot 100 from toppling over. Accordingly, when the vehicle body 1 rotates with the corner portion 203 of the staircase as a fulcrum, the vehicle body angle θ4 when the tip 171 of the skid plate 17 and the flat portion 202 at the next step of the staircase contact each other is the predetermined fall angle described above. The skid plate 17 is fixed to the vehicle body 1 so as to be smaller than θ1.

  Next, the operation of the traveling robot according to the second embodiment of the present invention will be described. FIG. 10 is a flowchart showing the stair climbing operation of the traveling robot according to the second embodiment of the present invention. 9 and 10, the ascending operation of the staircase 200 is basically the same as that in the first embodiment, but since the skid plate 17 is provided, the traveling robot 100 has the predetermined fall angle θ1 described above. Therefore, the determination criterion in step S6 is the time when the vehicle body angle becomes larger than θ4, and the winding of the cable 70 is started from that time. The other steps are the same as those in the flowchart of FIG.

  According to the traveling robot according to the second embodiment of the present invention, since the skid plate is provided, it is possible to more reliably prevent the traveling robot from overturning when the stairs are raised.

Embodiment 3 FIG.
Next, a traveling robot according to Embodiment 3 of the present invention will be described. According to the traveling robot according to the third embodiment of the present invention, the control modes of mode 1 and mode 2 are set, and the mode can be selected by the operator. Further, a display screen connected to a control device corresponding to the control device 11 described above is provided, and a screen in the forward direction of the traveling robot is displayed on the screen according to the selected mode.

  In mode 1, the forward movement of the traveling robot 100 is set to the operation button 1, and the backward movement is set to the button 2. Mode 1 is normally selected, and an image captured by the forward traveling camera 11 positioned in front of the traveling robot 100 is displayed on the display screen. When the descent of the stairs or the like ends, or when the operator makes a determination to turn the traveling robot 100 back due to an emergency situation, the setting of the control device 11 is switched to mode 2. In mode 2, the settings of button 1 and button 2 are interchanged, and the image captured by rear traveling camera 12 that is positioned forward in the traveling direction is displayed on the display screen. Since other configurations are the same as those in the first or second embodiment, the description thereof is omitted.

  FIG. 11 is a flowchart showing a control operation of the traveling robot according to the third embodiment of the present invention. In FIG. 11, the control device 11 is set to mode 1 at the first time point. That is, step S31 indicates the first time point of the control device 11, the setting of the control device 11 is mode 1, the forward movement of the traveling robot 100 is set to tan 1, and the reverse movement is set to button 2. At this time, the image captured by the forward traveling camera 11 positioned in front of the traveling direction is displayed on the display screen. The traveling robot 100 travels forward in this selected mode 1.

  Next, when the traveling robot 100 descends the stairs 200, as described with reference to FIG. 8 in the above-described second embodiment, the traveling robot 100 sets the side from which the cable 70 is pulled out as the rear side with respect to the traveling direction. Go down stairs 200. That is, in this case, the backward movement of the traveling robot 100 is instructed by the button 2 in the mode 1.

  Next, proceeding to step S <b> 32, the traveling robot 100 moves down the stairs 200 by backward movement with the button 2 in mode 1. This descent operation of the stairs is as shown in the flowchart shown in FIG.

  Next, in step S33, it is determined whether or not the traveling robot 100 has reached the bottom of the stairs, or whether or not the return operator has made a determination to return the traveling robot 100 due to the occurrence of an emergency. To do. As a result of the determination, if it is determined that the traveling robot 100 has reached the lowest level of the staircase 200 (Y), or if it is determined that the traveling robot 100 is turned back due to an emergency or the like (Y), step Proceed to S34.

  On the other hand, as a result of the determination in step S33, when it is determined that the traveling robot 100 has not reached the lowest step of the stairs 200 (N), or when the traveling robot 100 is not determined to be turned back (N). Returns to step S31 and continues the descent of the stairs 200.

  When the process proceeds from step S33 to step S34, the operator switches the mode setting of the control device 11 to mode 2. In mode 2, the settings of button 1 and button 2 are switched as compared with mode 1, the backward movement of traveling robot 100 is set to button 1, and the forward movement of traveling robot 100 is set to button 2. Then, an image captured by the rear traveling camera 12 is displayed on the display screen.

  Next, in step S35, the traveling robot 100 enters a forward operation based on the setting of the button 2 in mode 2, and switches from the descent operation of the stairs 200 to the ascent operation of the stairs 200. Since the ascending operation of the stairs is as described in the first embodiment or the second embodiment, the description thereof is omitted.

Embodiment 4 FIG.
Next, a traveling robot according to a fourth embodiment of the present invention will be described. FIG. 12 is a perspective view of a traveling robot according to Embodiment 4 of the present invention. In FIG. 12, the traveling robot 100 includes a skid plate 17 installed on the front surface of the vehicle body 1, a cover 90 that covers the top of the vehicle body 1 and a winding device (not shown), a nuclear power plant, and the like. The camera 19 is mounted with two measuring instruments 181 and 182 for exploring a place where it is difficult for a person to enter.

  The traveling robot 100 has a waterproof structure, and includes floats 81 and 82 on both sides of the vehicle body 1 so as to float on the water. Each sprocket 21, 22, 23, 24 is equipped with a web portion 220. In addition, you may provide the propulsion apparatus which can move on the water other than the web part 220. FIG.

  FIG. 13 is an explanatory diagram for explaining the stair ascending operation of the traveling robot according to the fourth embodiment of the present invention. The lowermost step of the staircase 200 is a pool-like pool, or the staircase 200 is submerged from the middle. The situation where the traveling robot 100 operates in such a situation is shown. FIG. 5A shows a state immediately before the traveling robot 100 floating in the puddle 900 ascends the stairs 200, and FIG. 5B shows the traveling robot 100 starting to ascend the stairs 200. Shows the state. FIG. 14 is a flowchart showing the stair climbing operation of the traveling robot according to the fourth embodiment of the present invention.

  13 and 14, for example, when the operator determines that the traveling robot 100 is turned back, a signal is transmitted from the control device 14 to the traveling robot 100 to ascend and return the stairs 200. In step S41, when the traveling robot 100 floating in the water pool 900 ascends the stairs 200, first, the winding device 5 starts to wind the cable 70 and proceeds to step S42. That is, in order to ascend the stairs 200 from the state shown in FIG. 13 (a), a supporting force from the floor surface is required, but it is difficult to obtain the force on the water, and the first level difference is reduced. Since it is necessary to pull the traveling robot 100 by the cable 70 or the wire until the climb is completed, the winding of the cable 70 by the winding device 5 is started. As a result, the traveling robot 100 moves on the water, moves below the staircase 200, and enters the state shown in FIG.

  Next, in step S 43, the traveling robot 100 contacts the step wall surface 201 of the staircase 200 and then drives the step wall surface 201 by the driving force of the first crawler 41 and the second crawler 42 and the traction force of the cable 70. Start climbing. In step S44, the winding of the cable 70 is continued, and the traveling robot 100 reaches the corner of the first step of the staircase 200. At this time, the traveling robot 100 uses the corner of the staircase as a fulcrum, and the direction of the arrow X as shown in FIG. 5 (d) by the moment due to the tension of the cable 70 and the driving force of each crawler 41, 42. Rotate to.

  Next, in step S45, it is determined whether or not the angle of the vehicle body 1 of the traveling robot 100 is smaller than the predetermined return angle θ3, and it is determined that the angle of the vehicle body 1 is smaller than the predetermined return angle θ3. If (Y), the process proceeds to step S46 to complete the winding of the cable 70. At this point, the traveling robot 100 has completed climbing to the first stage from the water to the stairs 200. On the other hand, when it is determined in step S45 that the angle of the vehicle body 1 is not smaller than the predetermined return angle θ3 (N), the process returns to step S44 and the winding of the cable 70 is continued.

  After step S45, the staircase 200 is raised or lowered by the same operation as described in the first to third embodiments.

  According to the traveling robot according to the fourth embodiment of the present invention, it is possible to travel on the water, and it is possible to travel on the water by going up the stairs from the water and further descending the stairs.

  It should be noted that within the scope of the present invention, the embodiments can be freely combined, or the embodiments can be appropriately modified or omitted.

DESCRIPTION OF SYMBOLS 1 Vehicle body 21, 22, 23, 24 Sprocket 31, 32 Traveling motor 41, 42 Crawler 5 Winding machine 6 Battery 7 Wire 8 Guide bar 9 Angle detection sensor 11 Front traveling camera 12 Rear traveling camera 14 Control device 13 Winding machine Motor 200 Stair 201 Stair step 211 Handrail 17 Skid plate
181 and 182 Measuring instrument 19 Camera 70 Cable 220 Paddle 81, 82 Float 101 Communication signal

Claims (8)

The car body,
A moving means provided on the vehicle body for moving the vehicle body;
A winding device provided on the vehicle body and capable of winding and delivering a wire or cable;
An angle detector that is provided in the vehicle body and detects an inclination angle in a traveling direction of the vehicle body;
A control device for controlling driving of the moving means and the winding device;
With
One end of the wire or cable is fixed to the upper part of the stairs when the vehicle body goes up or down at least the stairs,
The control device stops winding of the wire or cable by the winding device and starts winding based on the angle detected by the angle detector at least when the vehicle body moves up or down the stairs. And controlling at least one of the feeding and preventing the vehicle body from overturning,
A traveling robot characterized by that. Fixed to one end of the vehicle body in the traveling direction, and provided with a protrusion that can come into contact with the step of the stairs when the stairs are raised or lowered.
The traveling robot according to claim 1. The control device includes a first mode and a second mode in which the traveling direction of the vehicle body is set in a reverse direction, and the vehicle body is turned by switching between the first mode and the second mode. Without reversing the direction of travel,
The traveling robot according to claim 1, wherein the traveling robot is characterized. The control device is separated from the vehicle body;
The traveling robot according to any one of claims 1 to 3, wherein The moving means includes at least a pair of sprockets and a crawler attached to the pair of sprockets.
The traveling robot according to any one of claims 1 to 4, wherein: The moving means includes propulsion means for obtaining a propulsive force on or in water.
A traveling robot according to any one of claims 1 to 5, wherein The vehicle body includes a float that can float on water.
A traveling robot according to any one of claims 1 to 6, wherein The cable is a cable for supplying power to or communication with the control device and the electrical equipment on which the vehicle body is mounted.
A traveling robot according to any one of claims 1 to 7, wherein