JP2015192504A - Wired-steering unmanned traveling mobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned traveling mobile which can be smoothly steered within a nuclear facility such as a high-concentration radioactivity space difficult to enter for human beings.SOLUTION: An unmanned traveling mobile (E) includes: a box-shaped main body (A) in which control equipment is accommodated; right and left traveling crawlers (D) with which a pulley (B) is mounted before and behind the main body and a center base bar (C) for equipment attachment is provided in a length direction of a center of a machine body and which are hung around over a full width of the machine body except for a portion where the center base bar is installed; laterally rotatable arm-like sub crawler units (G) at front and rear sides of the machine body; and a communication cable retraction mechanism (L) for wired steering. The communication cable retraction mechanism (L) for wired steering is mounted on the center base bar and includes a reeling mechanism and a driving mechanism and between both the mechanisms, a drive transmission mechanism using magnetic force is included.

Description

  The present invention relates to a crawler-type traveling vehicle suitable for activities in an environment where it is difficult for humans to enter a hazardous facility such as a nuclear power plant. In particular, when an accident occurs at a nuclear facility, the present invention relates to a mobile technology suitable for investigation activities of places where humans cannot enter such as high-concentration radioactively contaminated places.

  A crawler type traveling vehicle is suitable as a device for investigating and searching for a disaster area that is unstable and unpredictable immediately after the disaster. Nuclear facility accidents are caused by partial contents such as leakage of radioactive contamination due to deterioration of joints. There are various types of accidents. In an accident involving damage to a nuclear power plant building, existing sensors do not function and the radioactivity state in the building and the degree of damage cannot be determined. Several inventions have been proposed that perform on-site inspections in response to accidental damage at nuclear facilities.

For example, Patent Document 1 (Japanese Patent No. 2540417) discloses a remote operation method for inspecting or repairing a site such as a damaged nuclear power plant, in which the waveguide member is arranged. A control station including a signal generator and a signal receiver including a controller for manipulating the wave tube member and at least one robot arm for connecting adjacent ends of the disposed waveguide member to each other; Laying a waveguide member end-to-end using at least one transport vehicle remotely controlled via a waveguide line; and a waveguide comprising a laid waveguide member A method has been proposed comprising the step of repeating the aforementioned laying step while the vehicle is controlled from a control station via the waveguide line to extend the line to the site. According to the present invention, the robot-type vehicle dedicated to inspection and repair travels by itself to the site along the waveguide line laid by the transport vehicle, and performs field work by remote control from the control station via the waveguide line. Can be implemented.
Patent Document 2 (Japanese Patent Laid-Open No. 7-286870) discloses an elevator that moves between floors in a building, and a mobile monitoring robot that is mounted on the elevator so as to be able to get on and off and has a self-running function and a monitoring function by remote control. An inter-floor movement monitoring device equipped with a floor-to-floor moving mechanism using a lift and a wireless system, which is small and lightweight, has a wide accessible range, and can be effectively introduced into a nuclear power plant, etc. An inter-movement monitoring device is disclosed.

In Patent Document 3 (Japanese Patent Laid-Open No. 6-168017), an operation panel of a mobile robot system, a relay panel for relaying long-distance communication from the operation panel, and a communication cable connected to the relay panel via a communication cable are disclosed. A switch for dividing the system into two or more systems, an amplifier for amplifying the communication signal for each system divided by the switch, and a signal cup for coupling the signals of each system output from the amplifier A remotely operated mobile robot system characterized by comprising a ring means, and discloses an invention that improves the stability and reliability of signal transmission during long-distance, multi-system communication.
Patent Document 4 (Japanese Patent Application Laid-Open No. 2002-254363) includes a crawler that is capable of following an uneven terrain, and is disposed on the traveling trolley that can travel on the rough terrain by the crawler. A traveling work robot including a multi-axis body part, a multi-joint arm provided in the body part, and a multi-joint imaging means provided in the body part, which is transmitted from a remote control side. The control means for controlling the operation of each part of the traveling work robot is received, the communication means for transmitting the operation state information of each part of the traveling work robot to the remote control side, and each part of the traveling work robot is operated. Power supply means for supplying power for power, and based on the control information received by the communication means, the crawler, the body part, the articulated arm, and the articulated arm Traveling working robot is disclosed that includes a control means for controlling the operation of the shadow means.
The present applicant has been continuously researching and developing crawler-type traveling devices used in places where entry is difficult, and Patent Document 5 (Japanese Patent Laid-Open No. 2012-236507) and Patent Document 6 (Japanese Patent Laid-Open No. 2013-112030). Publication). In an accident at a nuclear facility or chemical plant, it is required to operate from a safe place that is not affected by radioactivity or hazardous substances. It is required to travel on a floor where equipment has been scattered due to explosions, etc., or in facilities that are partitioned by narrow and steep factory stairs, walls, corridors, etc.

Japanese Patent No. 2540417 JP 07-286870 A Japanese Patent Laid-Open No. 06-168017 JP 2002-254363 A JP 2012-236507 A JP 2013-1112030 A

  An object of the present invention is to provide an unmanned traveling mobile body that can be smoothly operated in a nuclear facility that is difficult for humans to enter, such as a high-concentration radioactive space.

  The present invention is an unmanned traveling mobile body in a high-concentration radioactivity environment by wired control.

The gist of the present invention is as follows.
1. A box-shaped main body (A) containing control equipment and pulleys (B) are attached to the front and rear of the main body, and a center base bar (C) for equipment attachment is provided in the longitudinal direction of the center of the machine body. Left and right traveling crawlers (D) hung around the entire width of the airframe excluding the center base bar installation part, arm-shaped sub crawler units (G) that can be rotated to the left and right of the airframe, for wired operation In the unmanned traveling mobile body (E) provided with the communication cable exit / retreat mechanism (L),
The communication cable retracting mechanism (L) for wired operation is mounted on the center base bar, and includes a reeling mechanism and a drive mechanism, and a drive transmission mechanism using magnetic force between them. A feature of unmanned traveling vehicles.
2. The communication cable retracting mechanism (L) includes a tension adjusting device, and the rotation direction of the reeling mechanism is controlled by the position of the tension adjusting device. The unmanned traveling vehicle described.
3. The reel of the communication cable retracting mechanism (L) has a reel and two support posts attached to the center base bar, and a first support post installed on the center base bar with the communication cable wound around the reel. A guide path extending from the second support post to the control device side via
The tension adjusting device is formed between the first strut and the second strut, and a roll capable of moving up and down around which the communication cable is swung and a tension line for biasing the vertical movement roll downward are arranged. The movement of the tension line is detected by a potentiometer, and the rotation direction of the reeling mechanism is controlled. The unmanned traveling vehicle described.
4). The drive transmission mechanism by magnetic force is disposed between the reel and the drive mechanism, and a partition is provided in the middle. ~ 3. The unmanned traveling mobile body according to any one of the above.
5. 1. A slip ring is provided in the reel rotation shaft as a device that relays information communication between the external communication cable and the machine. ~ 4. The unmanned traveling mobile body according to any one of the above.
6). It is for nuclear power plant facilities. ~ 5. The unmanned traveling mobile body according to any one of the above.
7). The traveling crawler, sub crawler, and communication cable retracting mechanism are motor driven, and the entire moving body can be washed with water. ~ 6. The unmanned traveling body according to any one of the above.
8). The diagonal length of the traveling crawlers arranged on the left and right is smaller than the width of the stair landing, and the sub crawler has an arm length longer than the step length of the stairs. ~ 7. The unmanned traveling mobile body according to any one of the above.
9.1. ~ 7. An unmanned traveling mobile body operating system comprising: combining the unmanned traveling mobile body according to any one of the above and a radio-controlled traveling mobile body, and operating one of the other mobile bodies by relaying one of them.

1. The present invention is a wired maneuvering type moving body, and since the metal sealed body containing the equipment is covered with a crawler belt, it is excellent in shielding from the activity environment such as radioactivity and from direct impact. It is a moving body that is protected and has stable obstacle running ability, and can move safely in a blocking area where radio control cannot be used.
2. Equipped with a reel wrapped with a communication cable and equipped with a pull-out mechanism that controls the insertion and removal of the cable from the reel. By interposing a drive system using magnetic force, the reel side and the power source side can be shut off. . By this means, when an excessive tensile force is applied, it can idle, and since the drive shaft and the like are not penetrated, the power side and the main body side can improve the shielding performance against the reel side. . The risk of the communication cable breaking due to a sudden shock is reduced, and safe handling is improved. The uncontrollable state in the difficult-to-access area is the same as the unrecoverable state, and remaining due to a failure will be a negative effect of the next action and will have a great adverse effect, so the recovery performance of this mobile body is an important factor.
3. A tension adjusting device that provides a margin for the amount of the cable drawn was provided, and a control mechanism was configured to detect the vertical movement of the tension adjusting device and drive the rotation direction of the reel.
4). It is a mobile body that can travel in a nuclear facility that is difficult to enter due to its high-concentration radioactivity.
5. It is a mobile object that can be dyed after washing in water after being active in a high-concentration radioactive environment. A control device or the like is installed in the sealed box, the relay of the communication cable is not exposed to the outside, and the drive of the communication cable is insulated.
6). By setting the diagonal size of the main body crawler smaller than the stair landing distance and setting the sub crawler length larger than the step height of the staircase, it is a small mobile body that can move up and down the stairs. is there.
7). An active area can be expanded by combining a wired maneuvering body and a wireless maneuvering body and maneuvering the other through either one.
8). This unmanned vehicle is suitable for investigation inside the nuclear facility where the accident occurred. In particular, since the main equipment is housed inside the main body with high confidentiality, it is easy to decontaminate the aircraft after the activity by shower treatment or the like. In addition, since the sensors are attached to the center base bar, they can be easily removed, and the attached devices can be easily decontaminated and separated.

The figure which shows the example of the remote control system of the moving body for unattended travel. Schematic plan view of an example of an unmanned traveling vehicle The figure which shows the plane of the example of the moving body for unattended travel The figure which shows the side of the example of a moving body for unattended travel Steering line mechanism Steering line winding plan Take-up reel mechanism

The moving body used in the present invention has a low center of gravity because a control device or the like is housed and protected in a sealed space of a metal box covered with a crawler belt. For this reason, it is a structure which is hard to fall down, and the crawler can maintain the ground contact state and can move even on unstable floors or slopes such as stairs where equipment is scattered. The entire surface of the main body is covered with the left and right crawler belts, and the supporting performance of the uneven surface is improved by the rotating sub crawler, and the elevating performance of the stairs is also improved. It is large enough to turn even if the landing area of the staircase is large, and it has excellent turning performance and stair climbing performance.
The mobile body of the present invention is a mobile body that is controlled by wire in a shielded space contaminated by high-concentration radioactivity that is difficult for humans to enter and that is difficult to control wirelessly from outside the area. For example, it is an unmanned traveling mobile operation system in a high-concentration radioactivity environment in which a wireless control type mobile body and a wired control traveling mobile body supported from behind are combined. In the case of the inside of a shielded area where the wireless communication environment is bad, by placing a wired control type traveling mobile body inside the shielded section and operating from the outside of the shielded section via the wireless control type traveling mobile object This is an unmanned traveling mobile operation system that conducts surveys and the like from a place away from the shielding section.
The moving body used in the present invention houses a traveling control device or the like in a main body part covered with a crawler belt, and a traveling sensor device or the like is attached to the upper center of the body to protect and prevent the traveling control devices. It exhibits good operability in the ground and high concentration radioactivity environment. A sound collecting microphone, a camera lens unit, a sensor sensing unit such as a transmission / reception antenna, etc. that need to be exposed to the outside can be attached to a center base bar for equipment attachment provided at the center in the width direction of the aircraft. Because it is attached to the center part of the aircraft, the risk of failure such as collision is small. The electric motor drive, which is the drive source, can operate without being affected by combustible gas or non-combustible gas with low noise. In addition, the mobile device of the present invention is highly adaptable to decontamination after activities in a nuclear facility because main equipment is stored in a highly confidential box.
In particular, as for the communication cable exit / retreat mechanism used for wired operation, a mechanism for transmitting driving force using magnetic force and a communication cable are connected via a slip ring provided in the reel shaft. Water-tightness such as washing can be kept high, and gradual dyeing operations such as washing can be easily performed without any trouble.
Therefore, the present invention operates an unmanned traveling robot that can travel according to remote operation at a site where a worker cannot access, for example, in a radiation leakage accident at a nuclear facility, and can collect information on the traveled part in real time. In addition, it is an unmanned traveling mobile body capable of investigating a wide range of the inside of the shielding section where radio waves and the like are blocked.
In order to carry out with reliability in the event of a disaster, mobility is possible in a stable state even on rough terrain, traveling on narrow places and slopes such as stairs, remote control is possible and flexible Rich operability can be realized.

The present invention is a wired maneuvering type unmanned traveling mobile body that can travel and survey even if there is a contaminated shielded section.
The unmanned traveling mobile body (E) used in the present invention includes a box-shaped main body (A), pulleys (B) attached to the front and rear of the main body, and a center base bar (C) for equipment attachment provided in the longitudinal direction of the machine body center. The left and right traveling crawlers (D) are provided around almost the entire width of the machine body. Further, a sub crawler unit (G) is provided. The center base bar (C) is equipped with a communication cable retracting mechanism (L) for wired operation, a sensor (F) for grasping the surrounding environment, and the like. The drive mechanism employs a wheel-in motor, and adopts a wired control system based on map information on the premises and information acquired by sensors.

With reference to the drawings, an example of the traveling mobile body will be described.
<About the overall configuration>
Hereinafter, a remote control system for an unmanned vehicle according to an embodiment will be described for each item with reference to the drawings.
The outline of the unmanned traveling mobile body operation system is composed of a wired control type mobile body, and an unmanned traveling mobile body operation system combined with a wireless control type mobile body can also be constructed. The example shown in FIG. 1 is an operation system that combines two mobile units, wired control and wireless control. When conducting an investigation in a closed space where there is a blocking wall that does not allow wireless communication, the wired operation is performed, but the range of action is limited due to communication cable restrictions. By making the wireless control type mobile body travel through the wired control type mobile body, the survey range can be expanded. Furthermore, FIG. 1 is shown as an embodiment when it is necessary to control from a location far away from the shielding section. Even if the shielded section can communicate wirelessly with the outside, if it is necessary to steer from a distance, a repeater is provided for the communication function of the wired maneuvering type mobile unit, and an optical fiber is connected between the repeater and the controller. Then, it becomes possible to control at a place away from the dangerous shielding section.
Although illustration is omitted, an embodiment in the case where wireless communication is difficult inside the shielded section will be introduced. If the wireless communication environment is poor inside the shielded section, the traveling body inside the shielded section is set to the wired control type, and the wireless control type moving body is placed outside the shielded section and wired via the wireless control type moving body. Control from a distant place becomes possible by combining a maneuvering type moving body.

<System configuration of remote control system>
FIG. 1 shows an example of a remote control system for an unmanned traveling mobile body of the present invention. As is clear from this figure, the remote control system of this example is based on the first and second consoles 300 and 310 connected via the LAN cable 336 and the control signal output from the first console 300. Remotely operated wired-controlled unmanned traveling vehicle 100, wireless-controlled unmanned traveling vehicle 200 remotely-controlled by a control signal output from second console 310, second-operated console 310 and wired-controlled unmanned traveling vehicle 100, communication cables 240, 250 for connecting to 100, a wireless relay device 330 disposed between the communication cable 240 and the communication cable 250, a wired control unmanned traveling mobile body 100, and a wireless control unmanned traveling mobile body 200 are connected. Wireless communication 260 and the cable reel 210 around which the communication cable 240 is wound. Further, the wireless communication 260 includes a parent device mounted on the wire-operated unmanned traveling mobile body 100 and a slave device mounted on the wireless-controlled unmanned traveling mobile body 200. The wired maneuvering unmanned traveling vehicle 100 is remotely maneuvered by a control signal transmitted from the first console 300 via the communication cable 240, the wireless relay device 330 and the communication cable 250. In addition, the wirelessly operated unmanned traveling mobile body 200 is remotely controlled by a control signal transmitted from the second console 310 via the communication cable 240, the wireless relay device 330, the communication cable 250, and the wireless communication 260.
FIG. 1 illustrates a combination of a wired steering mobile body and a wireless steering mobile body. However, the system can be fully utilized only by a wired piloted unmanned traveling mobile body and uses two wired and wireless mobile bodies. In order to avoid duplication in explanation, the system configuration of FIG. 1 is described.

  Thus, a part of the signal path connecting the first console 300 and the wired piloted unmanned traveling mobile body 100 and a part of the signal path connecting the second console 310 and the wireless piloted unmanned mobile moving body 200 are wired. In this case, signal transmission can be stably performed in the wired portion, so that it is totally between the first console 300 and the wired piloting unmanned traveling vehicle 100 and between the second console 310 and the wireless piloted unmanned running. Long-distance communication with the mobile body 200 can be made stable. Further, since the wireless relay device 330 is provided between the communication cable 240 and the communication cable 250, for example, a site having a portion where the communication cable cannot be directly wired, such as an air lock AL installed in a nuclear power plant. In addition, this system can be applied by arranging the wireless relay device 330 inside and outside the air lock to provide a wireless relay function including a parent device and a child device.

  As the communication cables 240 and 250, a twisted pair cable or an optical fiber cable can be used. The twisted pair cable is formed by twisting two electric wires into a pair, and can suppress the influence of noise as compared with the case of using a parallel type electric wire. Moreover, when an optical fiber cable is used, it is between the 1st console 300 and the wired control unmanned traveling mobile body 100, and between the 2nd console 310 and the wireless control unmanned traveling mobile body 200 rather than the case where an electric wire is used. The signal transmission speed can be increased. It is not necessary to use a common communication cable 240, 250. The communication cable 240 is limited by the signal transmission method, and when the VDSL (Very High-bit-rate Digital Subscriber Line) method described later is used, the maximum transmission distance is limited to about 500 to 800 m. On the other hand, the length of the communication cable 250 is limited by the cable length that can be mounted on the wired unmanned traveling vehicle 100. In this embodiment, a communication cable 250 of 500 m is mounted.

  As a signal transmission system between the first console 300 and the wired piloted unmanned traveling mobile body 100 and between the second console 310 and the wireless piloted unmanned traveling mobile body 200, the VDSL system is suitable. VDSL is an asymmetrical speed type communication system that performs communication using a pair of signal cables. Signal transmission from a wire-operated unmanned traveling vehicle to the first console and a second operation from a wireless-operated unmanned traveling vehicle are performed. This is because the signal can be transmitted to the desk at high speed. Thus, by constructing a remote control system for an unmanned traveling vehicle using a combination of a twisted pair cable and VDSL, communication between the console and the unmanned traveling vehicle can be performed stably and at high speed.

  A wireless communication device for a wireless local area network (LAN) is used as the parent device and the child device of the wireless communication 260. Wireless LAN communication equipment is classified as a specific low-power radio station that is inexpensive, excellent in versatility, and not subject to radio wave laws and regulations. It is possible to easily construct a wireless communication system with a mobile body and to improve its usability.

An outline of an unmanned traveling mobile body for traveling is shown in FIG. 3 and 4 are a plan view and a side view.
The illustrated unmanned traveling mobile body (E) includes a box-shaped main body (A), pulleys (B), (B), (B), and (B) attached to the front and rear of the main body, and equipment provided in the longitudinal direction of the machine body center. Center base bar (C) for attachment, left and right traveling crawlers (D) (D), covering the entire width of the aircraft hung around the left and right front and rear pulleys (B, B) (B, B), front and rear of the aircraft Sub crawler units (G), (G), (G), and (G) directed to the left and right four locations are provided. The center base bar (C) is equipped with a communication cable retracting mechanism (L) for wired operation and a sensor (F) for grasping the surrounding environment.
Four pulleys (B) are arranged on the front, rear, left and right of the box-shaped main body (A). Each pulley has a center frame spaced at the center in the width direction, and is approximately half the length of the fuselage. A crawler (D) having the same width as the pulley is wound around the two pulleys (B) and (B) arranged before and after this. Since the two crawlers (D) are provided on the left and right, almost the entire width of the machine body is covered by the crawler belt.
The main body (A) is provided with a sealable space having an upper lid at the center. Both sides form a storage space that can be accessed from the side if necessary. In the central space, control equipment for the mobile unit, survey equipment, and the like are stored. A part such as a battery that needs to be replaced can be accommodated on the side.
A center base bar (C) is arranged in the longitudinal direction of the center of the machine body, and is used as a member for externally attaching a communication cable retracting mechanism (L) for wired operation, a sensor (F) for grasping the surrounding environment, and the like. The center base bar (C) can be supported by the center frame of the pulley (B). Since the center frame is a strong member, it is suitable as a mounting member. An instrument such as a sensor can be directly attached to the center base bar (C) or can be attached to a support (H) standing on the center base bar. The center base bar can be provided with a wider pedestal to mount a large device.
Since the center base bar (C) is disposed in the central longitudinal direction, the center base bar (C) is less likely to be displaced even when an instrument is attached, and the stability is not impaired. Since it is in the center of the fuselage, there is little risk that the mounted device will come into contact with surrounding obstacles, and the safety of the mounted device can be ensured.

(1) Unmanned traveling mobile body FIG. 3 is a plan view of an unmanned traveling mobile body corresponding to the embodiment of the present invention, and FIG. 4 is a side view thereof.
In plan view, an elongated center frame is provided at the center, crawlers 5 and 5 are disposed on the left and right sides, and sub-crawler units 8 are provided on all sides. A center base bar 6 is joined to the upper surface of the center frame. The crawlers 5 and 5 cover almost the entire circumference except for the side surfaces. The crawler belts 51 and 51 protect the main body portion containing the control device and the like, and the stability is ensured by the low center of gravity.
When viewed from the side, a crawler belt 51 is provided so as to cover the box-shaped main body 2 and pulleys 7, 7, 7, 7 for the crawler 5 provided before and after the box-shaped main body 2. Pulleys 7 and 7 and roller wheels 53 and 53 are provided above them, and the crawler belt is wound around these pulleys.
In the sub crawler unit 8, a sub crawler belt 83 is wound around a base end pulley 82 and a front end pulley 81 provided outside the pulley 7 of the crawler 5. The sub crawler unit 8 can be tilted around the proximal pulley 82 and can be operated separately. The sub crawler unit 8 has a length equal to or longer than the upper and lower steps to move up and down the stairs, and can be turned to the standby state by turning upward 90 degrees or more. In the standby state, the movable body 1 constitutes a minimum state that can turn the landing.
The center base bar 6 is provided with a tension adjusting mechanism 150 and the like of a support 130 and a communication cable 250 for wired operation.

The main body has a box shape that can be hermetically sealed, and a storage space is formed on the inner side. The storage space is a closed space, and pulleys are arranged at the front and rear, and the upper and lower surfaces are covered by a crawler belt, so that the storage space is protected from external impacts.
As a countermeasure for increasing the temperature of the electronic device disposed in the sealed central storage portion, a heat dissipation structure such as a heat dissipation fin is provided on the outer surface side of the main body (box). The main body (box) houses electronic devices such as controls and sensors, and has a sealed structure so that water and contaminants do not enter. The radiated heat is discharged without stagnation due to the movement of the moving crawler belt and the pulley rotating in the front-rear direction, so that the high temperature of the main body (box body) can be efficiently suppressed. Furthermore, heat dissipation can be further improved by providing the side with a heat dissipation function.
The center base bar 6 can be supported by center frames of crawler pulleys 7 and 7 provided at the front and rear. The center base bar 6 is disposed at the center in the width direction of the moving body. Since the crawler belt 51 is disposed on the left and right, it is difficult to directly contact the obstacle. The upper surface of the center base bar 6 can be set to the same height as the surface of the crawler belt 51, or to a height. It is also possible to set some lower and others slightly higher. When it is lowered, the protection function by the crawler belt is enhanced. When set high, the center base bar can be widened.

(2) Crawler Pulley A wheel-in motor with an electric motor (not shown) is used inside the pulley 7 around which the crawler belt 51 is wound. The electric motor is built in each of the pulleys 7, 7, 7, 7.

(3) Maneuvering The moving body is unmanned traveling that is remotely controlled by wire. Since it runs in a closed space where people cannot enter, it will be maneuvered while looking at the monitor. Moreover, when shielding radioactivity, it is necessary to steer with a wire through a shielding wall. Accordingly, the mobile body is equipped with sensors for collecting information to be displayed on the monitor. The moving speed is about 0.5 to 1.7 m / sec, which is the walking speed of a human. In a disaster-stricken site where human operations are often observed by remote control or viewing the display, the human walking speed within 1.2 m / sec (about 4 km / h) is sufficient.
Since the crawler type traveling device of the present invention is assumed to be used at a low speed compared to civil engineering and construction machines, the use of a wide crawler belt in addition to a low speed prevents obstacles such as wheel removal. Can be avoided.

(4) Sensors and mounted devices Although not shown, as sensors built in the moving body, sensors that collect information on the moving body itself such as a 3-axis gyro, encoder, 3-axis acceleration sensor, speedometer, and inertial measurement device are built-in. To do.
The moving body also includes means for obtaining information on the surrounding state of the moving body such as a camera, a microphone, an antenna, a three-dimensional distance measuring sensor, and a lighting device. Furthermore, a survey sensor can be mounted. In nuclear power generation facilities, there are radiation dosimeters, γ cameras, thermography, humidity sensors, water level sensors, water sampling devices, gas sensors, and the like. It is also possible to attach a manipulator that moves objects. It can also be used as a device for collecting samples such as water.
These sensors are attached to the center base bar.
The onboard equipment can be selected according to the purpose of the survey, and a basic exploration can be performed at first, and then the equipment suitable for the purpose can be installed.

(5) Communication cable handling mechanism The mobile body of the present invention is wired. The overall configuration of the communication cable handling function is illustrated in FIG.
A reeling mechanism 105 and a tension adjusting mechanism 150 for winding the communication cable 250 for wired operation are mounted on the center base bar 6 of the moving body 1. The reeling mechanism 105 has a function of sending and unwinding the communication cable 250. A tension adjusting mechanism 150 that adjusts the tension applied to the communication cable is provided between the guide pipes that lead the communication cable 250 out of the machine from the reeling mechanism 105.
The reeling mechanism 105 includes a reel 110 and a power source 120 that drives the reel. The rotation direction of the reel 110 is controlled by the direction of the tension applied to the tension adjusting device 150.
The tension adjusting device 150 is provided with a path for meandering the two struts 130 and 230, the tension generating device, and the communication cable.
The communication cable 250 meanders from the reel 110 with a tension adjusting device, and extends in the direction of the control device from the tip of the guide tube 161 provided above the support column 130 to the outside of the machine.

(6) Tension adjusting device A strut 230 is provided between the strut 130 and the reel 110. A roll 158 is fixed to the upper part of the column 230, and a movable roll 153 that moves up and down is provided on the side of the column 230 on the column 130 side. A guide tube 161 provided with a guide roll 160 is provided at the upper part of the support 130 so as to be turnable left and right, and a guide 159 is provided therebelow.
The communication cable 250 extending from the reel 110 rises to the roll 158, is wound around the movable roll 153, descends and reverses, passes through the guide 159, is guided from the guide roll 160 to the guide tube 161, and is started from the tip. Derived outside. The guide tube 161 is disposed so that the crawler belt 51 and the sub crawler unit 8 do not contact the communication cable 250. The communication cable 250 forms a “U” -shaped idle path by the movable roll 153, and absorbs a change in tension when the movable roll 153 moves up and down.
A potentiometer roll 156 is disposed below the movable roll 153, the movable roll 152 is provided on the side edge of the support 130, and the fixed end 155 is provided at the lower end of the support 130. A tension body 151 is attached above the movable roll 152. A tension line 162 is routed from a fixed end 157 provided below the movable roll 153 to a fixed end 155 at the lower end of the column 130 via a potentio roll 156 and a movable roll 152. The movable roll 152 is connected to a tension body 151 provided above.
The tension line 162 is tensioned by the movable roll 152 connected to the tension body 151 being pulled upward. The movable roll 153 around which the communication cable is wound is urged downward by the tension line 162.
When the communication cable 250 is pulled strongly toward the outside of the moving body, the movable roll 153 is pulled upward, and the potentiometer roll 156 rotates counterclockwise. When the outside is loosened, the movable roll 153 descends and the potentio roll 156 rotates clockwise. The rotation of the potentiometer roll 156 is detected and the rotation direction of the reel 110 is controlled to adjust the tension. Furthermore, the force applied to the tension can be detected and used for control. For example, by combining a toothed potentio roll and a toothed belt, the amount of rotation of the potentio roll can be accurately measured without occurrence of slip, and the drive control of the reel can be performed with high accuracy.

(7) Reeling Mechanism The reeling mechanism 105 is disclosed in FIGS.
The reel 110 is attached to a support arm 113 provided in the drive source unit 126. The driving belt 121 is wound around a pulley 122 provided on the shaft of the motor provided in the driving source unit 126 and a pulley 123 provided at the tip of the support arm 113 extended from the driving source unit 126 to transmit the driving force. A magnet coupling 125 is disposed between the pulley 123 and the reel 110. The magnet coupling 125 includes a magnet 131 disposed on the pulley 123 side and a magnet 132 provided on the reel 110 side. A partition wall 133 is disposed between the two magnets. The driving force is coupled by the magnetic force acting between the two magnets, and the coupling force can idle when an overload occurs on the reel, reducing the risk of the communication cable being disconnected.
Although the two magnets are shown as opposed to each other on the left and right, they can also be arranged on the inner side and the outer periphery thereof.
The advantage of transmitting the driving force by the magnet is that it is possible to improve the sealing property on the reel 110 side as well as measures against overload. This magnet coupling 125 is provided with a partition wall 133 between two magnets to improve the sealing performance of the reel axial space 110a, and is provided with a slip ring 140 in that space, connected to a connection terminal extending from the main body 2 side, It is the structure which connects a communication cable. The independent reel structure can improve the sealing property and can realize high water resistance such as shower dyeing.

FIG. 7 is a sectional view showing an example of the structure of the reel mechanism.
The reel 110 is attached to the support arm 113 via a magnet coupling 125.
The outer shell body 114 is fixed to the tip of the support arm 113. A pulley 123 and a magnet coupling are attached to the outer shell body 117. The reel 110 is rotatably attached via this magnet coupling. The pulley 123 side and the magnet 131 are integrated, and the magnet 132 is disposed on the reel 110 on the opposite side. The magnet 132 is firmly attached to the connecting plate 110b provided in the central space of the reel.
A slip ring 140 is provided in the reel shaft space 110 a of the reel 110 on the opposite side of the magnet coupling 125. A communication cable 250 is wound around the body of the reel 110. Since the structure of the slip ring 140 can employ a normal mechanism provided on the rotating cable reel, the details are omitted. The communication cable 141 is extended from the terminal connected to the slip ring 140 into the main body (box).
A support arm 113 is extended from the drive source unit 126, an outer shell body 114 is attached to the tip of the support arm 113, and a magnet coupling is attached to the outer shell body 114. The pulley 123 is fixed to the drive side magnet 131 constituting the magnet coupling. The belt 121 is wound around the pulley 123 and a pulley 122 provided on the drive unit side.
The driving-side magnet 131 and the driven-side magnet 132 are attached to the outer shell body 114 via a bearing 116. A partition wall 133 integrated with the outer shell body 114 is provided between the magnet 131 and the magnet 132 to isolate them from each other.
As the magnet coupling mechanism, a disk type is shown, but a cylinder type can also be used.
Further, the drive system of the pulley 123 and the outer shell 114 can be covered with a case (not shown) to improve the sealing performance. With these structures, the sealing mechanism of the reel mechanism drive system and the communication system to be taken into the machine body can be improved, and even a slow dyeing process such as a water shower prevents flooding.

The driving of the reel is basically braked according to the traveling speed. It can automatically follow the speed of the moving object, or can be controlled by a controller. Further, the tension adjustment of the reel is transmitted between the magnet 131 and the magnet 132 via the driving belt by controlling the motor of the driving source according to the rotation direction and the tension detected by the potentio roll as described above. Become. As described above, it is possible to provide an overload prevention device that does not damage the communication cable by setting the coupling force of the magnets.
The rupture of communication cables due to overload is an accident that must be avoided because the mobile object cannot be recovered under high-concentration radioactivity environment and becomes an obstacle to the work of the next investigation. If a failure is caused by stepping on the communication cable, a similar accident will occur, so that sending and rewinding the communication cable is also an important mechanism.

  The maneuver is as described at the beginning. The wire-operated unmanned traveling vehicle 100 is operated in a high-concentration radioactive environment. Further, the range of action can be expanded in combination with the radio-controlled moving body 200.

  The unmanned traveling mobile body of the present invention can be used as an operating system for a traveling mobile body for investigation or exploration inside a building or nuclear facility that has collapsed due to an earthquake, flood, landslide, or volcano.

E, 1 ... unmanned traveling vehicle A, 2 ... main body (box)
D, 5 ... Crawler 51 ... Crawler belt 53 ... Rolling wheel

C, 6 ... Center base bar B, 7 ... Pulley G, 8 ... Sub crawler unit 81 ... End pulley 82 ... Base end pulley 83 ... Sub crawler belt

DESCRIPTION OF SYMBOLS 100 ... Wired control unmanned traveling mobile body 105 ... Reeling mechanism 110 ... Reel 110a ... Reel axial space 110b ... Connection board 113 ... Support arm 114 ... Outer shell body

120 ... Drive source (motor)
121 ... Driving belts 122, 123 ... Pulleys 125 ... Magnet couplings 126 ... Driving source units 130, 230 ... Posts 131, 132 ... Magnets 133 ... Bulkheads 140 ... Slip ring 141 ... communication cable 150 ... tension adjusting device 151 ... tension bodies 152 and 153 ... movable roll 155 ... fixed end 156 ... potentiometer roll 157 ... fixed end 158 ... -Roll 159 ... Guide 160 ... Roll 161 ... Guide pipe 162 ... Tension line

200: wirelessly operated unmanned traveling vehicle 210: cable reels 240, 250: communication cable 260: wireless communication

300, 310, 330 ... console 330 ... wireless relay device 336 ... LAN cable 340 ... building 350 ... shielding wall

Claims (9)

A box-shaped main body (A) containing control equipment and pulleys (B) are attached to the front and rear of the main body, and a center base bar (C) for equipment attachment is provided in the longitudinal direction of the center of the machine body. Left and right traveling crawlers (D) hung around the entire width of the airframe excluding the center base bar installation part, arm-shaped sub crawler units (G) that can be rotated to the left and right of the airframe, for wired operation In the unmanned traveling mobile body (E) provided with the communication cable exit / retreat mechanism (L),
The communication cable retracting mechanism (L) for wired operation is mounted on the center base bar, and includes a reeling mechanism and a drive mechanism, and a drive transmission mechanism using magnetic force between them. A feature of unmanned traveling vehicles.   The unmanned traveling mobile body according to claim 1, wherein the communication cable retracting mechanism (L) includes a tension adjusting device, and the rotation direction of the reeling mechanism is controlled by the position of the tension adjusting device. The reel of the communication cable retracting mechanism (L) has a reel and two support posts attached to the center base bar, and a first support post installed on the center base bar with the communication cable wound around the reel. A guide path extending from the second support post to the control device side via
The tension adjusting device is formed between the first strut and the second strut, and a roll capable of moving up and down around which the communication cable is swung and a tension line for biasing the vertical movement roll downward are arranged. 3. The unmanned traveling mobile body according to claim 2, wherein the movement of the tension line is detected by a potentiometer to control the rotation direction of the reeling mechanism.   The unmanned traveling mobile body according to any one of claims 1 to 3, wherein the magnetic force drive transmission mechanism is disposed between the reel and the drive mechanism, and a partition is provided in the middle.   The unmanned traveling mobile body according to any one of claims 1 to 4, wherein a slip ring is provided in a reel rotation shaft as a device for relaying information transmission to an external communication cable and the airframe.   The unmanned traveling mobile body according to any one of claims 1 to 5, wherein the unmanned traveling mobile body is for a nuclear power plant facility.   The unmanned traveling body according to any one of claims 1 to 6, wherein the traveling crawler, the sub crawler, and the communication cable retracting mechanism are motor-driven, and the entire moving body can be washed with water.   The diagonal length of the traveling crawlers arranged on the left and right is smaller than the width of the stair landing, and the sub crawler has an arm length longer than the step length of the stairs. The unmanned traveling mobile body described in Crab.   An unmanned traveling vehicle operating system comprising: combining the unmanned traveling vehicle according to any one of claims 1 to 7 with a radio-controlled traveling vehicle; and operating one of the other vehicles by relaying one of them. .