JP3764713B2

JP3764713B2 - Maintenance inspection system and maintenance inspection method

Info

Publication number: JP3764713B2
Application number: JP2002267957A
Authority: JP
Inventors: 直人川内; 宏幸金澤; 拓佐々木; 伸浅野; 学田村
Original assignee: Mitsubishi Heavy Industries Ltd
Current assignee: Mitsubishi Heavy Industries Ltd
Priority date: 2002-09-13
Filing date: 2002-09-13
Publication date: 2006-04-12
Anticipated expiration: 2022-09-13
Also published as: JP2004108782A

Description

【０００１】
【発明の属する技術分野】
本発明は例えば原子力プラントなどの設備の保守点検に用いて好適な保守点検システム及び保守点検方法に関する。
【０００２】
【従来の技術】
例えば原子力プラントにおける保守点検作業では、無人化が望まれており、そのための対策案として、工場設備で用いられる搬送システムをベースとした保守点検システムが提案されている。この種の従来提案されている保守点検システムの一例を図７に示す。
【０００３】
同図において、符号１は、それぞれビークル型の保守点検ロボットを示しており、これらの保守点検ロボット１が、保守点検ロボット１から離れた位置に配置された管理計算機２からの指示に基づいて目的地まで走行し、目的地に到着したら、管理計算機２からの指示に基づいて保守点検作業を実行するものとなっている。
【０００４】
管理計算機２は、各保守点検ロボット１の現在位置を把握するリアルタイム位置管理や、各保守点検ロボット１間での衝突を回避するための衝突回避や、各保守点検ロボット１の最適な走行速度及び走行方向などを決める走行制御や、各保守点検ロボット１をどのような順路で移動させるかを決定する運行シーケンスや、各位置において各保守点検ロボット１にどのような保守点検作業を行わせるかを決定する作業内容など、各種情報の収集及び作業指示の発令を行うための管理プラグラムを備えている。一方、各保守点検ロボット１は、管理計算機２との間で前記各種情報及び作業指示の交換を無線で行う送受信機を備えており、前記管理プログラムで決定された作業指示に基づいて動作制御されるようになっている（例えば特許文献１参照）。
【０００５】
【特許文献１】
特開平１１−２６５２１１号公報
【０００６】
【発明が解決しようとする課題】
ところが、この従来提案の集中管理方式の保守点検システムでは、以下に説明する問題を有していた。即ち、例え１台でも保守点検ロボット１を増設したり、作業内容の変更が生じたり、或いは、移動内容の変更が生じた場合には、管理計算機２上の前記管理プログラムが書き直しとなるので、そのための多大な手間や時間がかかるという問題を有していた。
【０００７】
また、例えば上記従来提案の保守点検システムにおいて保守点検ロボット１を自動（自律）運転から遠隔操作（手動操作）に切り換える等、自動運転から遠隔操作へ切り替えことができる自動化システムは各種あるが、一旦遠隔操作に切り換えたものを、また元の自動運転に復帰させることは、各種の困難をともなう。
【０００８】
従って本発明は上記の事情に鑑みてなされたものであり、集中管理方式の保守点検システムでは困難であった保守点検ロボット台数、作業内容、移動内容の変更に対してフレキシブルに対応可能であって、しかも、保守点検ロボットを自動運転から遠隔操作へと切り替えた後に元の自動運転に簡易に復帰させることができる保守点検システム及び保守点検方法を提供することを課題とする。
【０００９】
【課題を解決するための手段】
上記課題を解決する第１発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、且つ、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットが、前記絶対方位検出手段によって検出される保守点検ロボット自身の方向を、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の方位に合わせるように自動的に向きを変える構成としたことを特徴とする。
【００１０】
また、第２発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、且つ、前記絶対方位検出手段によって検出される前記保守点検ロボット自身の方向と、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の設置位置の方位とを遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示を見ながら遠隔操作で前記保守点検ロボット自身の方向を次に読むべき前記電子記憶媒体の設置位置の方位に合わせるように前記保守点検ロボットの向きを変える構成したことを特徴とする。
【００１１】
また、第３発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、且つ、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記カメラで前記移動方向表示を撮像し、このカメラの画像信号を前記画像処理装置で画像処理して前記移動方向表示の指し示す方向を認識し、前記保守点検ロボットは、前記画像処理装置で認識される前記移動方向表示の画像上の指示方向が所定の方向となるように自動的に向きを変えて、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせるように構成したことを特徴とする。
【００１２】
また、第４発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、且つ、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみながら、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向が所定の方向となるように遠隔操作で保守点検ロボットの向きを変えることにより、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせるように構成したことを特徴とする。
【００１３】
また、第５発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、且つ、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットは、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだ場合には次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、自動的に旋回し、前記中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの他方のアンテナを介してのみ読み込む状態となったときに次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を停止するように構成したことを特徴とする。
【００１４】
また、第６発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、且つ、前記２つのアンテナを介して読み込まれる電子記憶媒体の方向合せ用識別情報を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみて、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだことを確認したときには、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、遠隔操作で前記保守点検ロボットを旋回させ、前記中央部の電子記憶媒体から方向合せ用識別情報を前記２つのアンテナを介して読み込み、且つ、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記他方のアンテナを介してのみ読み込んだことを確認したら、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を止めるように構成したことを特徴とする。
【００１５】
また、第７発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、且つ、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットが、前記絶対方位検出手段によって検出される保守点検ロボット自身の方向を、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の方位に合わせるように自動的に向きを変えることを特徴とする。
【００１６】
また、第８発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、且つ、前記絶対方位検出手段によって検出される前記保守点検ロボット自身の方向と、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の設置位置の方位とを遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示を見ながら遠隔操作によって前記保守点検ロボット自身の方向を次に読むべき前記電子記憶媒体の設置位置の方位に合わせるように前記保守点検ロボットの向きを変えることを特徴とする。
【００１７】
また、第９発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、且つ、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記カメラで前記移動方向表示を撮像し、このカメラの画像信号を前記画像処理装置で画像処理して前記移動方向表示の指し示す方向を認識し、前記保守点検ロボットは、前記画像処理装置で認識される前記移動方向表示の画像上の指示方向が所定の方向となるように自動的に向きを変えて、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせることを特徴とする。
【００１８】
また、第１０発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、且つ、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみながら、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向が所定の方向となるように遠隔操作で保守点検ロボットの向きを変えることにより、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせることを特徴とする。
【００１９】
また、第１１発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、且つ、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットは、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだ場合には次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、自動的に旋回し、前記中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの他方のアンテナを介してのみ読み込む状態となったときに次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を停止することを特徴とする。
【００２０】
また、第１２発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、且つ、前記２つのアンテナを介して読み込まれる電子記憶媒体の方向合せ用識別情報を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみて、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだことを確認したときには、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、遠隔操作で前記保守点検ロボットを旋回させ、前記中央部の電子記憶媒体から方向合せ用識別情報を前記２つのアンテナを介して読み込み、且つ、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記他方のアンテナを介してのみ読み込んだことを確認したら、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を止めることを特徴とする。
【００２１】
【発明の実施の形態】
以下、本発明の実施の形態を図面に基づき詳細に説明する。本実施の形態では、本発明を原子力プラントの保守点検作業に適用した場合を例として、説明を行うものとする。なお、以下では、まず、保守点検システムの全体的な構成について説明し、続いて、保守点検ロボットの自動（自律）運転から遠隔操作（手動操作）への切り替えと、元の自動運転への復帰とについて説明する。
【００２２】
図１は本発明の実施の形態に係る保守点検システムの全体的な構成を説明するための説明図、図２は前記保守点検システムの保守点検ロボットによる保守点検作業状況を示す斜視図である。そして、図３，図４及び図５は前記保守点検ロボットの自動（自律）運転から遠隔操作（手動操作）への切り替えと元の自動運転への復帰についての説明図である。図６は前記保守点検システムの変形例を示す斜視図である。
【００２３】
図１に示すように、本実施の形態の保守点検システムは、作業指示や識別情報などを有する読み取りデータが記録された複数のＩＣタグ１０（電子記憶媒体）と、これらのＩＣタグ１０を原子力プラント内の各位置に離散配置させて形成された保守点検作業ルート１１と、保守点検作業ルート１１に沿って移動しながら各ＩＣタグ１０から前記読み取りデータを読み込み、前記作業指示に従って行動する２足歩行型の保守点検ロボット１２と、各ＩＣタグ１０の配置が記録された地図データを格納する端末機１３と、端末機１３及び保守点検ロボット１２間の無線による送受信を受け持つ構内通信中継基地局１４とを備えて構成されている。
【００２４】
各ＩＣタグ１０は、保守点検ロボット１２側に備えられたＩＣタグ読み書き装置１５（電子記憶媒体読み書き装置）からの高周波信号で駆動される情報処理用ＩＣ回路（図示せず）を内蔵したタグであり、それぞれが原子力プラント設備の床面に貼り付けられている。これらのＩＣタグ１０はＩＣタグ読み書き装置１５からの通信用の電波をエネルギー源とするため、敷設ための配線や電源などを必要とせず、ただ床面に貼り付けるだけで容易に設置することが可能となっている。
【００２５】
ＩＣタグ読み書き装置１５は例えば保守点検ロボット１２の背面に設けられ、比較的通信領域の狭いアンテナ１５ａを備えており、最も接近した（例えば６０ｃｍ以内に近づいた）ＩＣタグ１０からアンテナ１５ａを介して非接触で前記読み取りデータ（情報）を読み込むことが可能となっている。この読み取りデータとしては、例えば下記に列記するものが含まれている。
【００２６】
（１）前記識別情報（Ｐ１１，Ｐ１２，・・・等）；保守点検作業ルート１１全体における座標位置を判別するために割り振られた情報である。このようにそれぞれの座標位置（識別情報）が与えられた各ＩＣタグ１０を保守点検作業出発点から各保守点検作業場所を経て、最終的な保守点検作業終着点に向かって床面に順次貼り付けていくことで、保守点検作業ルート１１の敷設が完了する。なお、このＩＣタグ１０の貼り付け作業は保守点検作業実施前に予め作業者によってなされるが、一度ＩＣタグ１０を貼り付けて保守点検作業ルート１１を形成した後は、この保守点検作業ルート１１（ＩＣタグ１０）が、保守点検作業手順の変更などが生じない限り、そのまま繰り返し利用される。
【００２７】
（２）保守点検の作業指示；各位置において保守点検ロボット１２がなすべき保守点検項目（例えば、部品の温度計測や写真撮影、もしくはボルト締めのトルク検査など）や、次にどの座標位置に向かってどの程度の走行速度で進むべきかを示す移動指示などに関する情報である。
【００２８】
（３）走行路情報；現在位置が直線経路であるのか、もしくは交差点であるのかなどの経路状態や、現在位置から東西南北に向かう経路のつながりと、現在位置から見た障害物の位置情報や、これから向かう経路が昇降路であるかなどのナビゲーション情報や、他の移動体が存在していた場合に追い抜きが可能であるかなどのその他の情報である。
【００２９】
以上説明の読み取りデータは、各位置に応じてそれぞれ固有となっており、保守点検ロボット１２に対して、各位置でなすべき作業指示などを適切に与えることができるようになっている。つまり、保守点検ロボット１２は、ＩＣタグ１０から読み取りデータを読み込めば、当該読み取りデータから、当該読み取りデータを読んだ場所での行動（保守点検作業や旋回動作など）と、次の移動先（次に読むべきＩＣタグ１０が設けてある場所）が分かる。
【００３０】
また、このような読み取りデータを保守点検ロボット１２に与えることに加えて、各ＩＣタグ１０は到着した保守点検ロボット１２の動作経過（例えば何時何分にここを通過し、どの位の速度で何処に向かって進んでいったかなど）を自らに記憶することも可能になっている。
【００３１】
これにより、例えば保守点検ロボット１２を複数台使用する場合、１の保守点検ロボット１２がＩＣタグ１０の敷設位置に立ち寄った際に前記１の保守点検ロボット１２のＩＣタグ読み書き装置１５が当該位置のＩＣタグ１０の情報処理用ＩＣ回路に対して書き込みをすることで、当該位置のＩＣタグ１０に前記１の保守点検ロボット１２の通過記録が残るようになる。従って、ここに他の保守点検ロボット１２が立ち寄った際に、前記１の保守点検ロボット１２の動向を、他の保守点検ロボット１２がそのＩＣタグ読み書き装置１５で当該ＩＣタグ１０から前記通過記録を読み取って把握することができるようになる。
【００３２】
そして、保守点検ロボット１２は、走行途中に遭遇するＩＣタグ１０からＩＣタグ読み書き装置１５が前記読み取りデータを取得することで作業指示を受け、この作業指示に従って、次に向かうべき（読むべき）ＩＣタグ１０に向かって移動するか、もしくは、当該ＩＣタグ１０の位置で設備の保守点検作業を実施するようにプログラムされている。即ち、保守点検ロボット１２は、遭遇したＩＣタグ１０の指示に従って行動するようになっている。
【００３３】
端末機１３は、保守点検作業ルート１１上における各ＩＣタグ１０の配置が記録された地図データを格納しており、保守点検ロボット１２側からの問い合わせたが有った場合に、その地図データの一部（問い合わせが有った保守点検ロボット１２の現在位置周辺部分）もしくは全てを、構内通信中継基地局１４を介して保守点検ロボット１２に送信する。構内通信中継基地局１４は、原子力プラント設備内に設置された通信機であり、端末機１３及び保守点検ロボット１２の双方と無線通信が可能となっている。
【００３４】
以上説明した本実施の形態の保守点検システムにおける保守点検方法について、以下に説明する。
【００３５】
まず、保守点検作業開始点（移動開始点）に配置された保守点検ロボット１２は、最初のＩＣタグ１０から前記読み取りデータを取得するとともに、構内通信中継基地局１４を介して端末機１３から前記地図データを取得する。そして、保守点検ロボット１２は、これらの読み取りデータと地図データとを照らし合わせることにより、保守点検作業ルート１１上における自らの現在位置を把握するとともに、次に進むべき座標位置（次のＩＣタグ１０）に向かって走行（歩行）を開始する。
【００３６】
図１は、この走行移動中の保守点検ロボット１２を示しており、図示の状態では、Ｐ１１という座標位置にいる。次の保守点検作業を行う目的地が例えばＰ３２の座標位置である場合、座標位置Ｐ１１のＩＣタグ１０からの読み取りデータにより、「ここはＰ１１である。直線走行速度２ｋｍ／ｈを維持せよ。Ｐ１２へ直進せよ。」との指示を受け、その通りに保守点検ロボット１２は実行する。Ｐ１２では、「ここはＰ１２である。直線走行速度２Ｋｍ／ｈを維持せよ。Ｐ１３へ直進せよ。」、次のＰ１３では「ここはＰ１３である。走行速度を１Ｋｍ／ｈにせよ。Ｐ３４へはここで右折して直進せよ。」、Ｐ３４では「ここはＰ３４である。直線走行速度２Ｋｍ／ｈを維持せよ。Ｐ３３へ直進せよ。」、Ｐ３３では「ここはＰ３３である。直進走行速度２Ｋｍ／ｈを維持せよ。Ｐ３４へ直進せよ。」、との指示を受け、その通りに保守点検ロボット１２は実行する。このようにして目的地であるＰ３２に到着した保守点検ロボット１２は、例えば図２に示すように装置１６の保守点検作業を実施し、その後、必要に応じて次の目的地へと移動する。
【００３７】
以上のように本実施の形態の保守点検システムでは、前記読み取りデータが記録された複数のＩＣタグ１０と、これらのＩＣタグ１０を離散配置して形成された保守点検作業ルート１１と、保守点検作業ルート１１に沿って移動しながら前記読み取りデータの作業指示に従って行動する保守点検ロボット１２とを備えてなる構成を採用した。
【００３８】
これによれば、設備の保守点検作業に際して、作業内容の変更などが必要になったとしても、各ＩＣタグ１０の読み取りデータの書き換え、もしくは新たな作業内容を書き込んだ他のＩＣタグ１０との交換を行うだけで済み、更には、保守点検作業ルート１１が変更になったとしても、その順路に沿って各ＩＣタグ１０を貼り直すだけで対応できるようになる。また、保守点検ロボット１２の台数変更も容易である。即ち、本実施の形態によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。
【００３９】
また、本実施の形態の保守点検システムでは、各ＩＣタグ１０の配置が記録された地図データを格納する端末機１３を備え、保守点検ロボット１２が、地図データと識別情報とを照らし合わせて保守点検作業ルート１１上における自らの現在位置を把握する構成を採用した。これによれば、端末機１３２側に従来提案の保守点検システムに集中管理プログラムを備えずとも、保守点検ロボット１２は保守点検作業ルート１１上における自らの現在位置を正確に把握することが可能となる。
【００４０】
また、本実施の形態の保守点検システムでは、各ＩＣタグ１０が、保守点検ロボット１２の動作経過を記録可能である構成を採用した。この構成によれば、１の保守点検ロボット１２が立ち寄った際にＩＣタグ１０に対して書き込みをすることで、この位置のＩＣタグ１０に前記１の保守点検ロボット１２の通過記録が残るので、ここに他の保守点検ロボット１２が立ち寄った際に、前記１の保守点検ロボット１２の動向を前記他の保守点検ロボット１２が把握することができるようになる。このようにして、各保守点検ロボット１２間で互いの作業進行状況を交換し合うことが可能となる。
【００４１】
続いて、この保守点検システムにおける保守点検ロボットの自動（自律）運転から遠隔操作（手動操作）への切り替えと、元の自動運転への復帰とについて、図３，図４及び図５に基づいて説明する。
【００４２】
図３には保守点検作業ルートの一例として、移動開始点から一巡して再び移動開始点に戻る巡回ルートの場合を例示している。詳述すると、図３に示す例では原子力プラントの建屋３０内に配管３１が一巡するように配設されおり、この配管３１の内側で配管３１に沿う各位置に各識別情報Ｐ１１〜Ｐ２６が与えられたＩＣタグ１０を離散配置することによって、巡回ルートとなる保守点検作業ルート１１が形成されている。
【００４３】
従って、この保守点検作業ルート１１では、保守点検ロボット１２は例えばＰ１１位置を作業開始点とすると、この作業開始点のＰ１１位置から順に各ＩＣタグ１０の読み取りデータを読み込み、この読み取りデータに基づいて所定の保守点検作業を行いながら、保守点検作業ルート１１に沿って矢印ＡのようにＰ１１，Ｐ１２，・・・，Ｐ２６の各位置を順次移動して、再び作業開始点のＰ１１位置に戻る。
【００４４】
そして、このような各ＩＣタグ１０からの読み取りデータにしたがって行動する自動（自律）運転の途中で点検状況や突然の異常事態発生などに応じて、保守点検作業ルート１１上にない作業を保守点検ロボット１２に行わせるため、保守点検ロボット１２を遠隔操作（手動運転）する必要が生じた場合、図１に示す操作員３２は、端末機１３に付属されているマウス３３や図示しないキーボードなどの操作器を操作することにより、保守点検ロボット１２を構内通信中継基地局１４を介した無線通信で自動運転から遠隔操作（手動運転）に切り替えて、遠隔操作を行うことができるようになっている。
【００４５】
例えば、自動運転中の保守点検ロボット１２がＰ２４位置で何らかの保守点検作業（配管３１を流れる流体の圧力測定等）を行った後、Ｂ位置で保守点検ロボット１２に何らかの保守点検作業を行わせる必要が生じた場合（例えばＰ２４位置で測定した圧力が異常であったためにＢ位置でバルブを閉じる操作をする必要が生じた場合など）、操作員３２は、保守点検ロボット１２を自動運転から遠隔操作に切り替えて手動で遠隔操作をすることにより、矢印Ｃ１のようにＢ位置まで移動させ、ここで保守点検ロボット１２にバルブ操作などの何らかの作業をさせる。なお、保守点検ロボット１２の遠隔操作は、例えば保守点検ロボット１２に設けたカメラ（ロボットの目として設けたカメラなど）或いは保守点検対象の設備内に設けたカメラで撮影した前記設備内の映像を操作員３２が図１に示す遠隔操作モニタ３４で見ながら行う。
【００４６】
その後、操作員３２は遠隔操作で例えば矢印Ｃ２のようにＢ位置近くのＩＣタグ１０が設置されているＰ１９位置まで保守点検ロボット１２を移動させることにより、保守点検ロボット１２のＩＣタグ読み書き装置１５にＰ１９位置のＩＣタグ１０から読み取りデータを読み込ませた後、保守点検ロボット１２を遠隔操作から自動運転へ切り替える。
【００４７】
その結果、保守点検ロボット１２はＰ１９位置でのＩＣタグ１０からの読み取りデータに基づき、自動運転で次のＰ２０位置へと移動し、以後、各ＩＣタグ１０から読み取りデータを読み込みながらＰ２１，Ｐ２２，・・・，Ｐ２６，Ｐ１１と順次移動する。この場合、Ｐ１９位置からＰ２４位置までの区間は保守点検ロボット１２が重複して移動することになるが、ＩＣタグ１０には保守点検ロボット１２の動作経過が記録されているため、この動作経過の記録（当該位置での保守点検作業を何日の何時何分に行ったかなど）をＩＣタグ１０から読み込むことにより、保守点検ロボット１２が、保守点検作業を重複して実行するのを避けることができる。なお、遠隔操作で保守点検ロボット１２をＢ位置から保守点検作業ルート１１上の位置に戻す際、この戻す位置としては必ずしもＰ１９位置に限定するものではなく、例えばＰ１４位置やＰ２０位置であってもよい。
【００４８】
つまり、本実施の形態の保守点検システムでは、複数のＩＣタグ１０を配置して保守点検作業ルート１１を形成し、各ＩＣタグ１０の指示にしたがって保守点検ロボット１２が行動する（自動運転をする）ため、保守点検ロボット１２を自動運転から遠隔操作に切り替えた後、また元の自動運転に復帰させることが容易である。
【００４９】
しかしながら、例えば図３に示すように遠隔操作によってＢ位置から矢印Ｃ２方向に保守点検ロボット１２を移動させることによりＰ１９位置に保守点検ロボット１２が達したとき、保守点検ロボット１２は矢印Ｃ２方向に向いているため、この保守点検ロボット１２の向いている方向と、Ｐ１９位置からＰ２０位置（次に読むべきＩＣタグ１０の設置位置）へ向かう方向との間に角度θのずれが生じる。これに対して保守点検ロボット１２は自動運転中にＩＣタグ１０を読む際、次の移動先方向（次に読むべきＩＣタグ１０の方向）に向いた状態で読むことを前提としている。このため、保守点検ロボット１２の向いている方向と、Ｐ１９位置からＰ２０位置へ向かう方向との間にずれが生じたまま自動運転に切り替えると、保守点検ロボット１２は矢印Ｃ２方向に移動してしまい、保守点検作業ルート１１から外れてしまう。
【００５０】
具体的には、例えばＰ１９位置のＩＣタグ１０には次に読むべきＩＣタグ１０の設置位置Ｐ２０のｘ軸方向（図３中左右方向）とｙ軸方向（図２中上下方向）の座標情報としてＰ１２（３０００，０）という情報（Ｐ１９位置を起点としたＰ２０位置の相対座標情報）が記録されている。そして、保守点検ロボット１２は、Ｐ１９位置ではＰ２０位置の方向（ｘ軸方向）に向いた状態でＰ１９位置のＩＣタグ１０（読み取りデータ）を読むことを前提としており、Ｐ１９位置でのＩＣタグ１０の読み取りデータから得られるＰ１２（３０００，０）という座標情報に基づき、Ｐ１９位置からｘ軸方向（図３中左方向）に３０００ｍｍ移動し、ｙ軸方向には０ｍｍ移動して（即ちＰ１９位置からｘ軸方向（図３中左方向）に直進して）、次のＰ２０位置へ到達する。
【００５１】
ところが、上記のように保守点検ロボット１２の向いている方向と、Ｐ１９位置からＰ２０位置へ向かう方向との間にずれが生じていると、保守点検ロボット１２は矢印Ｃ２方向に３０００ｍｍ移動して保守点検作業ルート１１から大きく外れてしまうことになる。
【００５２】
そこで、遠隔操作から自動運転に復帰する際には、保守点検ロボット１２の向いている方向と、次の移動先方向（次に読むべきＩＣタグ１０の方向）との方向合せを簡易に行う手段が必要となる。このため、本実施の形態の保守点検システムでは、この方向合わせ手段として次の（１）〜（３）のいずれかの手段を備える。
【００５３】
（１）ナビゲーションに使用するＩＣタグ１０の情報（次にどこに移動していくかを表す情報）を、（読んだＩＣタグ１０を起点とした次の移動先のｘ，ｙ軸座標（ｘ，ｙ）、方位θ_t）とする手段。
（２）ナビゲーションに使用するＩＣタグ１０の情報（次にどこに移動していくかを表す情報）を、（読んだＩＣタグ１０を起点とした次の移動先のｘ，ｙ軸座標（ｘ，ｙ））と、カメラによる方位検出とする手段。
（３）ナビゲーションに使用するＩＣタグ１０の情報（次にどこに移動していくかを表す情報）を、（読んだＩＣタグ１０を起点とした次の移動先のｘ，ｙ軸座標（ｘ，ｙ））と、複数のＩＣタグの利用による方位検出とする手段。
【００５４】
まず、（１）の方向合わせ手段について詳述する。この方向合わせ手段では、各ＩＣタグ１０の情報処理用ＩＣ回路に次に読むべきＩＣタグ１０の位置を表す情報として、読んだＩＣタグ１０を起点とした次の移動先のＩＣタグ１０の設置位置に関するｘ軸方向及びｙ軸方向の相対位置座標（ｘ，ｙ）と方位θ_tのデータ（ｘ，ｙ，θ_t）を記憶しておく。例えば、Ｐ１９位置のＩＣタグ１０には、Ｐ１９位置から見てＰ２０位置が北にある場合、次に読むべきＩＣタグ１０の設置位置Ｐ２０の情報として（３０００，０，北）を記憶しておく。なお、方位θ_tについては例えば北を基準とし、北は０°、西は９０°、南は１８０°、東は２７０°としてもよい。
【００５５】
一方、保守点検ロボット１２の向いている方向θ_rは絶対方位検出手段によって検出する。そして、保守点検ロボット１２は、前記絶対方位検出手段によって検出される保守点検ロボット１２自身の方向θ_rを、ＩＣタグ１０から読んだ次に読むべきＩＣタグ１０の方位θ_tに合わせる（θ_r→θ_t）ように自動的に向きを変える。
【００５６】
この場合、自動運転に限らず、操作員３２が遠隔操作で保守点検ロボット１２の向きを変えてもよい。即ち、前記絶対方位検出手段によって検出される保守点検ロボット１２自身の方向θ_rと、ＩＣタグ１０から読んだ次に読むべきＩＣタグ１０の方位θ_tとを図１に示す遠隔操作モニタ３４に表示し、操作員３２が、この遠隔操作モニタ３４の表示を見ながら、遠隔操作によって保守点検ロボット１２自身の方向θ_rを位置情報の方位θ_tに合わせる（θ_r→θ_t）ように保守点検ロボット１２の向きを変える。
【００５７】
例えば、遠隔操作で保守点検ロボット１２をＰ１９位置まで移動させてＰ１９位置のＩＣタグ１０から読み取りデータを読み込むことにより、次に読むべきＩＣタグ１０の設置位置Ｐ２０の情報として（３０００，０，北）が得られる。そして、前記絶対方位検出手段によって検出される保守点検ロボット１２自身の方向θ_rを、Ｐ１９位置のＩＣタグ１０から読んだ次に読むべきＩＣタグ１０（Ｐ２０位置）の方位θ_t（北）に合わせるように自動的に或いは遠隔操作で保守点検ロボット１２の向きを変える。
【００５８】
従って、この（１）の方向合わせ手段を保守点検システムに備えることにより、保守点検ロボット１２を自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボット１２の向きを次に読むべきＩＣタグ１０の方向に向けて保守点検ロボット１２を自動運転に復帰させることができる。
【００５９】
なお、前記絶対方位検出手段としては周知の絶対方位検出装置や絶対方位検出方法を適宜用いることができる。例えば、周知の絶対方位検出装置としては地磁気方位計、ジャイロ、加速度センサ（加速度検出値を積分して旋回角度を求める）、画像処理装置（予め記録しておいた保守点検対象設備の風景とカメラの撮影画像とのパタンマッチング）などを挙げることができ、周知の絶対方位検出方法としてはオドメトリ（ロボットの車輪回転角（ビークル型ロボットのように車輪で移動するロボットの場合）などの内界センサや、今までの方位変更指令値の累積等の計算）などを挙げることができる。また、これらの絶対方位検出装置と絶対方位検出方法の併用方式でもよい。
【００６０】
また、次に読むべきＩＣタグ１０のｘ，ｙ座標は、上記のようなＩＣタグ１０間の相対座標に限らず、絶対座標でもよい。但し、この場合には保守点検ロボット１２の位置も、絶対座標で把握する必要がある。
【００６１】
続いて、（２）の方向合わせ手段について詳述する。この方向合わせ手段では、図４に例示するようにＩＣタグ１０の表面に移動方向表示（矢印）１０ａを表示しておく。この移動方向表示１０ａは次に読むべきＩＣタグ１０の方向を指し示すものである。図示例の場合、Ｐ１９位置のＩＣタグ１０には次に読むべきＩＣタグ１０（Ｐ２０位置）の方向を指し示す移動方向表示１０ａが表示され、Ｐ２０位置のＩＣタグ１０には次に読むべきＩＣタグ１０（Ｐ２１位置；図３参照）の方向を指し示す移動方向表示１０ａが表示されている。
【００６２】
一方、保守点検ロボット１２にはカメラ３５と、カメラ３５の画像信号を処理する画像処理装置３６とが装備されており、例えば遠隔操作で保守点検ロボット１２をＰ１９位置まで移動させてＰ１９位置のＩＣタグ１０から読み取りデータを読み込む場合、同時にカメラ３５では、Ｐ１９位置のＩＣタグ１０に表示されている移動方向表示１０ａを撮像し、画像処理装置３６では、このカメラ３５から伝送される移動方向表示１０ａの画像信号に対してパタンマッチングなどの周知の画像処理を行うことにより、移動方向表示１０ａが指し示す方向を認識する。
【００６３】
そして、保守点検ロボット１２は、画像処理装置３６で認識される移動方向表示１０ａの画像上の指示方向が所定方向となるように自動的に向きを変えることにより、移動方向表示１０ａの指示方向と保守点検ロボット１２の向いている方向とを合わせる。
【００６４】
つまり、画像処理装置３６で認識される移動方向表示１ａの画面上の指示方向は、移動方向表示１０ａとカメラ３５（即ち保守点検ロボット１２）との相対位置関係によって変化する。従って、例えば保守点検ロボット１２がＰ１９位置においてＰ２０位置の方向を向いたときに画像処理装置３６によって認識される移動方向表示１０ａの画像上の指示方向を予め設定しておく。そして、画像処理装置３６によって認識される移動方向表示１０ａの画像上の指示方向が、この予め設定した指示方向となるように保守点検ロボット１２の向きを変えれば、移動方向表示１０ａの指示方向と保守点検ロボット１２の向いている方向とが合うことになる。
【００６５】
また、この場合にも、自動運転に限らず、操作員３２が遠隔操作で保守点検ロボット１２の向きを変えてもよい。即ち、画像処理装置３６によって認識される移動方向表示１０ａの画像上の指示方向を、遠隔操作モニタ３４に表示する。そして、操作員３２は、この遠隔操作モニタ３４の表示をみながら、画像処理装置３６によって認識される移動方向表示１０ａの画像上の指示方向が、予め設定した指示方向となるように遠隔操作で保守点検ロボット１２の向きを変えることにより、移動方向表示１０ａの指示方向と保守点検ロボット１２の向いている方向とを合わせる。
【００６６】
なお、移動方向表示１０ａは、必ずしもＩＣタグ１０の表面に表示する場合に限定するものではなく、ＩＣタグ１０に近接して床面に貼り付けたプレートの表面に表示したり、ＩＣタグ１０付近の床面に直接表示してもよい。
【００６７】
従って、この（２）の方向合わせ手段を保守点検システムに備えることにより、保守点検ロボット１２を自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボット１２の向きを次に読むべきＩＣタグ１０の方向に向けて保守点検ロボット１２を自動運転に復帰させることができる。
【００６８】
次に、（３）の方向合わせ手段について詳述する。この方向合わせ手段では、図５に例示するように保守点検作業ルート１１上の各位置Ｐ１９，Ｐ２０にそれぞれ保守点検作業ルート１１に沿って３つのＩＣタグ１０Ａ，１０Ｂ，１０Ｃが間隔をおいて一列に配列されており、且つ、各ＩＣタグ１０Ａ，１０Ｂ，１０Ｃの情報処理用ＩＣ回路には方向合せ用の識別情報（識別番号）であるＩＤ（identification）番号１，０，−１がそれぞれ記録されている。
【００６９】
また、保守点検ロボット１２側のＩＣタグ読み書き装置１５には、２つのアンテナ１５ａ−１，１５ａ−２が装備されている。これらのアンテナ１５ａ−１，１５ａ−２はそれぞれ楕円形状の通信領域３７ａ−１，３７ａ−２を有しており、上下に配置して一部を水平方向にオーバラップさせることにより、互いの通信領域３７ａ−１，３７ａ−２の一部が水平方向にオーバラップするようになっている。そして、例えばＰ１９位置において保守点検ロボット１２が、次に読むべきＩＣタグ１０が設置されたＰ２０位置の方向を向いているときには、図５（ａ）及び図５（ｂ）に示すようにアンテナ１５ａ−１の通信領域３７ａ−１内にはＩＣタグ１０Ａ（ＩＤ番号１）とＩＣタグ１０Ｂ（ＩＤ番号０）が入り、アンテナ１５ａ−２の通信領域３７ａ−２内にはＩＣタグ１０Ｂ（ＩＤ番号０）とＩＣタグ１０Ｃ（ＩＤ番号−１）が入るように設定されている。
【００７０】
従って、例えば保守点検ロボット１２が遠隔操作により移動してＰ１９位置に到達したとき、Ｐ２０位置の方向を向いていれば、この保守点検ロボット１２のＩＣタグ読み書き装置１５では、図５（ａ）及び図５（ｂ）に示すようにアンテナ１５ａ−１を介してＩＣタグ１０Ａ，１０ＢからＩＤ番号１，０を読み込み、且つ、アンテナ１５ａ−２を介してＩＣタグ１０Ｂ，１０ＣからＩＤ番号０，−１を読み込むことになり、この結果から、保守点検ロボット１２はＰ２０位置の方向を向いていると判断することができる。
【００７１】
一方、図３に例示するようにＰ１９位置において保守点検ロボット１２がＰ２０位置の方向を向いていない場合（角度θのずれがある場合）には、例えば図５（ｃ）に示すような状態となり、保守点検ロボット１２のＩＣタグ読み書き装置１５では、アンテナ１５ａ−１を介してＩＣタグ１０ＢからのみＩＤ番号０を読み込み、且つ、アンテナ１５ａ−２を介してＩＣタグ１０ＢからのみＩＤ番号０を読み込むことになる。従って、この結果から、保守点検ロボット１２はＰ２０位置の方向を向いていないと判断し、矢印Ｄのように反時計回り（或いは時計回り）に向きを変える（旋回する）。そして、図５（ａ）及び図５（ｂ）に示すように保守点検ロボット１２のＩＣタグ読み書き装置１５でアンテナ１５ａ−１を介してＩＣタグ１０Ａ，１０ＢからＩＤ番号１，０を読み込み、且つ、アンテナ１５ａ−２を介してＩＣタグ１０Ｂ，１０ＣからＩＤ番号０，−１を読み込む状態となったとき、保守点検ロボット１２はＰ２０位置の方向を向いたと判断して旋回を停止する。かくして、保守点検ロボット１２は自動的にＰ２０位置の方向に向きを変えることができる。
【００７２】
また、この場合にも、自動運転に限らず、操作員３２が遠隔操作で保守点検ロボット１２の向きを変えてもよい。即ち、アンテナ１５ａ−１，１５ａ−２を介してＩＣタグ読み書き装置１５で読み込まれるＩＣタグ１０Ａ，１０Ｂ，１０ＣのＩＤ番号１，０，−１を、遠隔操作モニタ３４に表示する。そして、操作員３２は、この遠隔操作モニタ３４の表示から、例えばＰ１９位置で保守点検ロボット１２のＩＣタグ読み書き装置１５がアンテナ１５ａ−１を介してＩＣタグ１０Ａ，１０ＢからＩＤ番号１，０を読み込み、且つ、アンテナ１５ａ−２を介してＩＣタグ１０Ｂ，１０ＣからＩＤ番号０，−１を読み込んだことを確認にたときには、保守点検ロボット１２がＰ２０位置の方向を向いていると判断して、保守点検ロボット１２を遠隔操作から自動運転に切り替える。
【００７３】
一方、操作員３２は、遠隔操作モニタ３４の表示をみて、保守点検ロボット１２のＩＣタグ読み書き装置１５がアンテナ１５ａ−１を介してＩＣタグ１０ＢからのみＩＤ番号０を読み込み、且つ、アンテナ１５ａ−２を介してＩＣタグ１０ＢからのみＩＤ番号０を読み込んだことを確認したときには、保守点検ロボット１２がＰ２０位置の方向を向いていないと判断し、遠隔操作で矢印Ｄのように反時計回り（或いは時計回り）に保守点検ロボット１２の向きを変える（保守点検ロボット１２を旋回させる）。そして、操作員３２は、保守点検ロボット１２のＩＣタグ読み書き装置１５がアンテナ１５ａ−１を介してＩＣタグ１０Ａ，１０ＢからＩＤ番号１，０を読み込み、且つ、アンテナ１５ａ−２を介してＩＣタグ１０Ｂ，１０ＣからＩＤ番号０，−１を読み込んだことを確認したら、保守点検ロボット１２がＰ２０位置の方向を向いたと判断して遠隔操作（旋回操作）を止め、保守点検ロボット１２を遠隔操作から自動運転に切り替える。
【００７４】
従って、この（３）の方向合わせ手段を保守点検システムに備えることにより、保守点検ロボット１２を自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボット１２の向きを次に読むべきＩＣタグ１０の方向に向けて保守点検ロボット１２を自動運転に復帰させることができる。
【００７５】
なお、上記では３つのＩＣタグ１０Ａ，１０Ｂ，１０Ｃを保守点検作業ルート１１に沿って配列したが、必ずしもこれに限定するものではなく、保守点検作業ルート１１と直交する方向など、適宜の方向に配列することができ、この配列方向に応じて上記のような通信領域３７ａ−１，３７ａ−２とＩＣタグ１０Ａ，１０Ｂ，１０Ｃの関係となるようにアンテナ１５ａ−１，１５ａ−２の配置を決めればよい。
【００７６】
また、上記では３つＩＣタグ１０Ａ，１０Ｂ，１０Ｃを配列したが、必ずしもこれに限定するものではなく、各位置に配列するＩＣタグの個数は３個以上であればよい。そして、保守点検ロボット１２が次に読むべきＩＣタグの方向を向いているとき、配列の中央部に位置する１つ又は複数のＩＣタグ（図５ではＩＣタグ１０Ｂ）のＩＤ番号は両方のアンテナ１５ａ−１，１５ａ−２を介して読み込み、前記中央部の一方側に位置する１つ又は複数のＩＣタグ（図５ではＩＣタグ１０Ａ）のＩＤ番号はアンテナ１５ａ−１を介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数のＩＣタグ（図５ではＩＣタグ１０Ｃ）のＩＤ番号はアンテナ１５ａ−２を介してのみ読み込むようにすればよい。
【００７７】
また、上記実施の形態では保守点検作業を行うロボットが２足歩行型の保守点検ロボット１２であるが、これに限らず、例えば図６に示すようなビークル型の保守点検ロボットである無人走行車２０（ＡＧＶ；automatic guided vehicle）を採用しても良いことは勿論である。
【００７８】
また、上記実施の形態では保守点検作業を行う場所が原子力プラントである場合を例に挙げて説明したが、これに限らず、製造プラント等その他の設備の保守点検作業に本発明を適用しても良いことは勿論である。
【００７９】
【発明の効果】
以上、実施の形態とともに具体的に説明したように第１発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、且つ、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットが、前記絶対方位検出手段によって検出される保守点検ロボット自身の方向を、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の方位に合わせるように自動的に向きを変える構成としたことを特徴とする。
【００８０】
従って、この第１発明の保守点検システムによれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００８１】
また、第２発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、且つ、前記絶対方位検出手段によって検出される前記保守点検ロボット自身の方向と、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の設置位置の方位とを遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示を見ながら遠隔操作で前記保守点検ロボット自身の方向を次に読むべき前記電子記憶媒体の設置位置の方位に合わせるように前記保守点検ロボットの向きを変える構成したことを特徴とする。
【００８２】
従って、この第２発明の保守点検システムによれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００８３】
また、第３発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、且つ、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記カメラで前記移動方向表示を撮像し、このカメラの画像信号を前記画像処理装置で画像処理して前記移動方向表示の指し示す方向を認識し、前記保守点検ロボットは、前記画像処理装置で認識される前記移動方向表示の画像上の指示方向が所定の方向となるように自動的に向きを変えて、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせるように構成したことを特徴とする。
【００８４】
従って、この第３発明の保守点検システムによれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００８５】
また、第４発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、且つ、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみながら、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向が所定の方向となるように遠隔操作で保守点検ロボットの向きを変えることにより、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせるように構成したことを特徴とする。
【００８６】
従って、この第４発明の保守点検システムによれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００８７】
また、第５発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、且つ、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットは、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだ場合には次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、自動的に旋回し、前記中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの他方のアンテナを介してのみ読み込む状態となったときに次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を停止するように構成したことを特徴とする。
【００８８】
従って、この第５発明の保守点検システムによれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００８９】
また、第６発明の保守点検システムは、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体と、これらの電子記憶媒体を離散配置させて形成された保守点検作業ルートと、該保守点検作業ルートに沿って移動しながら前記各電子記憶媒体から前記読み取りデータを読み込み、前記作業指示に従って行動する保守点検ロボットとを備えてなる保守点検システムにおいて、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、且つ、前記２つのアンテナを介して読み込まれる電子記憶媒体の方向合せ用識別情報を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみて、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだことを確認したときには、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、遠隔操作で前記保守点検ロボットを旋回させ、前記中央部の電子記憶媒体から方向合せ用識別情報を前記２つのアンテナを介して読み込み、且つ、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記他方のアンテナを介してのみ読み込んだことを確認したら、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を止めるように構成したことを特徴とする。
【００９０】
従って、この第６発明の保守点検システムによれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００９１】
また、第７発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、且つ、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットが、前記絶対方位検出手段によって検出される保守点検ロボット自身の方向を、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の方位に合わせるように自動的に向きを変えることを特徴とする。
【００９２】
従って、この第７発明の保守点検方法によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００９３】
また、第８発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記電子記憶媒体には次に読むべき前記電子記憶媒体の設置位置の方位も記録し、前記保守点検ロボットの絶対方位を検出する絶対方位検出手段を備え、且つ、前記絶対方位検出手段によって検出される前記保守点検ロボット自身の方向と、前記電子記憶媒体から読んだ次に読むべき前記電子記憶媒体の設置位置の方位とを遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示を見ながら遠隔操作によって前記保守点検ロボット自身の方向を次に読むべき前記電子記憶媒体の設置位置の方位に合わせるように前記保守点検ロボットの向きを変えることを特徴とする。
【００９４】
従って、この第８発明の保守点検方法によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００９５】
また、第９発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、且つ、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記カメラで前記移動方向表示を撮像し、このカメラの画像信号を前記画像処理装置で画像処理して前記移動方向表示の指し示す方向を認識し、前記保守点検ロボットは、前記画像処理装置で認識される前記移動方向表示の画像上の指示方向が所定の方向となるように自動的に向きを変えて、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせることを特徴とする。
【００９６】
従って、この第９発明の保守点検方法によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００９７】
また、第１０発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
次に読むべき前記電子記憶媒体の方向を指し示す移動方向表示を、前記電子記憶媒体の表面、前記電子記憶媒体付近に設けたプレートの表面、又は、前記電子記憶媒体付近の床面に表示し、前記移動方向表示を撮像するカメラと、該カメラの画像信号を処理して前記移動方向表示が指し示す方向を認識する画像処理装置とを備え、且つ、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみながら、前記画像処理装置によって認識される前記移動方向表示の画像上の指示方向が所定の方向となるように遠隔操作で保守点検ロボットの向きを変えることにより、前記移動方向表示の指示方向と前記保守点検ロボットの向いている方向とを合わせることを特徴とする。
【００９８】
従って、この第１０発明の保守点検方法によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【００９９】
また、第１１発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、且つ、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記保守点検ロボットは、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだ場合には次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、自動的に旋回し、前記中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記２つのアンテナの他方のアンテナを介してのみ読み込む状態となったときに次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を停止することを特徴とする。
【０１００】
従って、この第１１発明の保守点検方法によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【０１０１】
また、第１２発明の保守点検方法は、少なくとも作業指示及び識別情報を有する読み取りデータが記録された複数の電子記憶媒体を離散配置させて保守点検作業ルートを形成し、該保守点検作業ルートに沿って保守点検ロボットを移動させ、各位置の前記各電子記憶媒体からの前記読み取りデータに基づいて前記保守点検ロボットに作業を実行させる保守点検方法において、
前記保守点検作業ルート上の各位置にそれぞれ３個以上の電子記憶媒体を一列に配列して、これら３個以上の電子記憶媒体にそれぞれ方向合せ用識別情報を記録し、前記保守点検ロボット側に備えた電子記憶媒体読み取り装置の２つのアンテナはそれぞれ楕円形状の通信領域とし、互いの通信領域を水平方向にオーバラップさせ、保守点検ロボットが次に読むべき前記電子記憶媒体の方向を向いているとき、配列の中央部に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナを介して読み込み、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記２つのアンテナの他方のアンテナを介してのみ読み込むように配置し、且つ、前記２つのアンテナを介して読み込まれる電子記憶媒体の方向合せ用識別情報を遠隔操作モニタに表示し、操作員が前記保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させるために前記電子記憶媒体の設置位置に遠隔操作で前記保守点検ロボットを移動させたとき、前記遠隔操作モニタの表示をみて、前記一方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込み、且つ、前記他方のアンテナを介して前記中央部の電子記憶媒体からのみ方向合せ用識別情報を読み込んだことを確認したときには、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いていないと判断して、遠隔操作で前記保守点検ロボットを旋回させ、前記中央部の電子記憶媒体から方向合せ用識別情報を前記２つのアンテナを介して読み込み、且つ、前記中央部の一方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報は前記一方のアンテナを介してのみ読み込み、前記中央部の他方側に位置する１つ又は複数の電子記憶媒体の方向合せ用識別情報を前記他方のアンテナを介してのみ読み込んだことを確認したら、次に読むべき前記電子記憶媒体の方向を前記保守点検ロボットが向いたと判断して前記旋回を止めることを特徴とする。
【０１０２】
従って、この第１２発明の保守点検方法によれば、従来の集中管理方式の保守点検システムでは集中管理プログラムの書き換えを要するために非常に手間と困難さが伴っていたロボット台数、作業内容及び移動内容の変更に対して、同集中管理プログラムの書き換えが不要となることなどから、フレキシブルに対応することが可能となる。しかも、保守点検ロボットを自動運転から遠隔操作に切り替えた後、元の自動運転に復帰させる際、簡易に保守点検ロボットの向きを次に読むべき電子記憶媒体の方向に向けて保守点検ロボットを自動運転に復帰させることができる。
【図面の簡単な説明】
【図１】本発明の実施の形態に係る保守点検システムの全体的な構成を説明するための説明図である。
【図２】前記保守点検システムの保守点検ロボットによる保守点検作業状況を示す斜視図である。
【図３】前記保守点検ロボットの自動（自律）運転から遠隔操作（手動操作）への切り替えと元の自動運転への復帰についての説明図である。
【図４】前記保守点検ロボットの自動（自律）運転から遠隔操作（手動操作）への切り替えと元の自動運転への復帰についての説明図である。
【図５】前記保守点検ロボットの自動（自律）運転から遠隔操作（手動操作）への切り替えと元の自動運転への復帰についての説明図である。
【図６】前記保守点検システムの変形例を示す斜視図である。
【図７】従来提案されている保守点検システムの一例を示す説明図である。
【符号の説明】
１０ＩＣタグ
１０Ａ，１０Ｂ，１０ＣＩＣタグ
１１保守点検作業ルート
１２保守点検ロボット
１３端末機
１４構内通信中継基地局
１５ＩＣタグ読み書き装置
１５ａアンテナ
１５ａ−１，１５ｂ−２アンテナ
１６装置
２０保守点検ロボット
３０建屋
３１配管
３２操作員
３３マウス
３４遠隔操作モニタ
３５カメラ
３６画像処理装置
３７ａ−１，３７ａ−１通信領域[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a maintenance inspection system and a maintenance inspection method suitable for use in maintenance inspection of facilities such as a nuclear power plant.
[0002]
[Prior art]
For example, unmanned operation and maintenance work in a nuclear power plant is desired, and a maintenance inspection system based on a transport system used in factory equipment has been proposed as a countermeasure plan. An example of this kind of conventionally proposed maintenance inspection system is shown in FIG.
[0003]
In the figure, reference numeral 1 denotes a vehicle type maintenance inspection robot, and the purpose of these maintenance inspection robots 1 is based on instructions from a management computer 2 arranged at a position away from the maintenance inspection robot 1. When traveling to the ground and arriving at the destination, maintenance and inspection work is executed based on instructions from the management computer 2.
[0004]
The management computer 2 performs real-time position management for grasping the current position of each maintenance / inspection robot 1, collision avoidance for avoiding a collision between the maintenance / inspection robots 1, Travel control for determining the traveling direction, etc., operation sequence for determining how to move each maintenance / inspection robot 1, and what kind of maintenance / inspection work each maintenance / inspection robot 1 performs at each position A management program is provided for collecting various information such as work contents to be determined and issuing work instructions. On the other hand, each maintenance / inspection robot 1 includes a transceiver that wirelessly exchanges the various information and work instructions with the management computer 2, and is controlled in operation based on the work instructions determined by the management program. (For example, refer to Patent Document 1).
[0005]
[Patent Document 1]
JP 11-265211 A
[0006]
[Problems to be solved by the invention]
However, this conventional centralized maintenance maintenance inspection system has the following problems. That is, even if one maintenance inspection robot 1 is added, work contents are changed, or movement contents are changed, the management program on the management computer 2 is rewritten. Therefore, there is a problem that it takes a great deal of time and labor.
[0007]
In addition, there are various automated systems that can switch from automatic operation to remote operation, such as switching the maintenance / inspection robot 1 from automatic (autonomous) operation to remote operation (manual operation) in the maintenance and inspection system proposed above. It is difficult to restore the one that has been switched to the remote operation and to return to the original automatic operation.
[0008]
Therefore, the present invention has been made in view of the above circumstances, and can flexibly cope with changes in the number of maintenance inspection robots, work contents, and movement contents, which has been difficult with a centralized maintenance and inspection system. In addition, it is an object to provide a maintenance inspection system and a maintenance inspection method that can easily return to the original automatic operation after switching the maintenance inspection robot from automatic operation to remote operation.
[0009]
[Means for Solving the Problems]
A maintenance / inspection system according to a first aspect of the present invention for solving the above-described problems is a maintenance / inspection formed by disposing a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and these electronic storage media being discretely arranged. In a maintenance / inspection system comprising: a work route; a maintenance / inspection robot that reads the read data from each electronic storage medium while moving along the maintenance / inspection work route and acts according to the work instruction;
The electronic storage medium is also recorded with the orientation of the installation position of the electronic storage medium to be read next, and is provided with an absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot. After switching from automatic operation to remote operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the maintenance inspection robot detects the absolute direction. The direction of the maintenance / inspection robot itself detected by the means is automatically changed to match the orientation of the electronic storage medium to be read next after reading from the electronic storage medium.
[0010]
The maintenance and inspection system of the second invention includes a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance and inspection work route formed by discretely arranging these electronic storage media. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
The electronic storage medium also records the orientation of the installation position of the electronic storage medium to be read next, and includes absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot, and is detected by the absolute orientation detection means. The direction of the maintenance inspection robot itself and the orientation of the installation position of the electronic storage medium to be read next read from the electronic storage medium are displayed on a remote operation monitor, and the operator starts the maintenance inspection robot from automatic operation. After switching to the remote operation, when the maintenance / inspection robot is moved by remote operation to the installation position of the electronic storage medium to return to the original automatic operation, the remote operation is performed while watching the display of the remote operation monitor. The direction of the maintenance / inspection robot itself is changed to match the direction of the installation position of the electronic storage medium to be read next. The features.
[0011]
A maintenance inspection system according to a third aspect of the invention includes a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance inspection work route formed by disposing these electronic storage media in a discrete manner. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, A camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes the direction indicated by the moving direction display. After switching to the operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the moving direction display is imaged by the camera. An image signal is image-processed by the image processing device to recognize a direction indicated by the moving direction display, and the maintenance inspection robot is moved by the image processing device. It is configured to automatically change the direction so that the indicated direction on the display image is a predetermined direction, and to match the indicated direction of the moving direction display with the direction of the maintenance inspection robot. And
[0012]
According to a fourth aspect of the present invention, there is provided a maintenance / inspection system comprising a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance / inspection operation route formed by discretely arranging these electronic storage media. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, The moving direction display, comprising: a camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes a direction indicated by the moving direction display, and is recognized by the image processing device. The instruction direction on the image is displayed on the remote operation monitor, and after the operator switches the maintenance inspection robot from automatic operation to remote operation, the operator can remotely move to the installation position of the electronic storage medium to return to the original automatic operation. When the maintenance / inspection robot is moved by operation, the finger on the moving direction display image recognized by the image processing apparatus is viewed while viewing the display on the remote operation monitor. The direction of the maintenance / inspection robot is changed by remote control so that the direction becomes a predetermined direction, and the instruction direction of the movement direction display is configured to match the direction in which the maintenance / inspection robot faces. To do.
[0013]
A maintenance inspection system according to a fifth aspect of the invention includes a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance inspection work route formed by disposing these electronic storage media in a discrete manner. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot The two antennas of the electronic storage medium reading device provided on the side each have an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. The identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, and one or more electrons located on one side of the central part The identification information for orientation of the storage medium is read only through one of the two antennas, and one or more electronic storage media located on the other side of the central portion are read. The identification information for facing is arranged so as to be read only through the other antenna of the two antennas, and the operator switches the maintenance / inspection robot from automatic operation to remote operation and then returns to the original automatic operation. When the maintenance / inspection robot is moved to the installation position of the electronic storage medium by remote control, the maintenance / inspection robot receives the identification information for orientation only from the central electronic storage medium via the one antenna. When the identification information for orientation is read only from the central electronic storage medium via the other antenna, the maintenance inspection robot is not oriented in the direction of the electronic storage medium to be read next. And automatically turning and using the two antennas the identification information for orientation of one or more electronic storage media located in the central portion. The identification information for alignment of one or more electronic storage media located on one side of the central portion is read only through one of the two antennas, and is located on the other side of the central portion. When the identification information for orientation adjustment of one or a plurality of electronic storage media is read only through the other antenna of the two antennas, the maintenance inspection robot determines the direction of the electronic storage media to be read next. It is characterized in that it is determined to have faced and the turning is stopped.
[0014]
According to a sixth aspect of the present invention, there is provided a maintenance / inspection system comprising a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance / inspection operation route formed by discretely arranging these electronic storage media. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, and direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot side Each of the two antennas of the electronic storage medium reading device provided has an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. When the identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, one or more electronic storage media located on one side of the central part The direction identification information is read only through one of the two antennas, and the direction information of one or more electronic storage media located on the other side of the central portion is read. The identification information for use is arranged so as to be read only through the other antenna of the two antennas, and the identification information for alignment of the electronic storage medium read through the two antennas is displayed on the remote control monitor, After the operator switches the maintenance / inspection robot from automatic operation to remote operation, the remote inspection operation moves the maintenance / inspection robot to the installation position of the electronic storage medium in order to return to the original automatic operation. As seen from the display on the operation monitor, the direction identification information is read only from the central electronic storage medium via the one antenna, and only from the central electronic storage medium via the other antenna. When it is confirmed that the alignment identification information has been read, the maintenance inspection robot is not facing the direction of the electronic storage medium to be read next. The maintenance / inspection robot is turned by remote operation, and the direction identification information is read from the electronic storage medium in the central portion via the two antennas, and is positioned on one side of the central portion. The identification information for orientation of one or more electronic storage media is read only via the one antenna, and the identification information for orientation of one or more electronic storage media located on the other side of the central portion is read by the other When it is confirmed that the data is read only through the antenna, it is determined that the direction of the electronic storage medium to be read next is determined by the maintenance / inspection robot to stop, and the turning is stopped.
[0015]
According to a seventh aspect of the present invention, there is provided a maintenance / inspection method in which a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
The electronic storage medium is also recorded with the orientation of the installation position of the electronic storage medium to be read next, and is provided with an absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot. After switching from automatic operation to remote operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the maintenance inspection robot detects the absolute direction. The direction of the maintenance / inspection robot itself detected by the means is automatically changed to match the orientation of the electronic storage medium to be read next after reading from the electronic storage medium.
[0016]
In the maintenance inspection method of the eighth invention, a maintenance inspection work route is formed by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
The electronic storage medium also records the orientation of the installation position of the electronic storage medium to be read next, and includes absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot, and is detected by the absolute orientation detection means. The direction of the maintenance inspection robot itself and the orientation of the installation position of the electronic storage medium to be read next read from the electronic storage medium are displayed on a remote operation monitor, and the operator starts the maintenance inspection robot from automatic operation. After switching to the remote operation, when the maintenance inspection robot is moved to the installation position of the electronic storage medium by remote operation to return to the original automatic operation, the remote operation is performed by looking at the display on the remote operation monitor. Changing the direction of the maintenance / inspection robot so that the direction of the maintenance / inspection robot itself matches the direction of the installation position of the electronic storage medium to be read next And it features.
[0017]
According to the ninth aspect of the present invention, a maintenance inspection work route is formed by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, A camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes the direction indicated by the moving direction display. After switching to the operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the moving direction display is imaged by the camera. An image signal is image-processed by the image processing device to recognize a direction indicated by the moving direction display, and the maintenance inspection robot is moved by the image processing device. Changing the specified direction is automatically oriented to a predetermined direction on the display of the image, wherein the combining the direction facing the indication direction of the moving direction indicator of the maintenance robot.
[0018]
In the maintenance inspection method of the tenth invention, a maintenance inspection work route is formed by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, The moving direction display, comprising: a camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes a direction indicated by the moving direction display, and is recognized by the image processing device. The instruction direction on the image is displayed on the remote operation monitor, and after the operator switches the maintenance inspection robot from automatic operation to remote operation, the operator can remotely move to the installation position of the electronic storage medium to return to the original automatic operation. When the maintenance / inspection robot is moved by operation, the finger on the moving direction display image recognized by the image processing apparatus is viewed while viewing the display on the remote operation monitor. By direction changing the direction of the maintenance robot by remote control to a predetermined direction, characterized by combining a direction facing the indication direction of the moving direction indicator of the maintenance robot.
[0019]
Further, the maintenance inspection method of the eleventh aspect of the invention forms a maintenance inspection work route by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and follows the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot The two antennas of the electronic storage medium reading device provided on the side each have an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. The identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, and one or more electrons located on one side of the central part The identification information for orientation of the storage medium is read only through one of the two antennas, and one or more electronic storage media located on the other side of the central portion are read. The identification information for facing is arranged so as to be read only through the other antenna of the two antennas, and the operator switches the maintenance / inspection robot from automatic operation to remote operation and then returns to the original automatic operation. When the maintenance / inspection robot is moved to the installation position of the electronic storage medium by remote control, the maintenance / inspection robot receives the identification information for orientation only from the central electronic storage medium via the one antenna. When the identification information for orientation is read only from the central electronic storage medium via the other antenna, the maintenance inspection robot is not oriented in the direction of the electronic storage medium to be read next. And automatically turning and using the two antennas the identification information for orientation of one or more electronic storage media located in the central portion. The identification information for alignment of one or more electronic storage media located on one side of the central portion is read only through one of the two antennas, and is located on the other side of the central portion. When the identification information for orientation adjustment of one or a plurality of electronic storage media is read only through the other antenna of the two antennas, the maintenance inspection robot determines the direction of the electronic storage media to be read next. The turning is stopped when it is determined that the vehicle is facing.
[0020]
The maintenance inspection method according to the twelfth aspect of the present invention is to form a maintenance inspection work route by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, and direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot side Each of the two antennas of the electronic storage medium reading device provided has an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. When the identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, one or more electronic storage media located on one side of the central part The direction identification information is read only through one of the two antennas, and the direction information of one or more electronic storage media located on the other side of the central portion is read. The identification information for use is arranged so as to be read only through the other antenna of the two antennas, and the identification information for alignment of the electronic storage medium read through the two antennas is displayed on the remote control monitor, After the operator switches the maintenance / inspection robot from automatic operation to remote operation, the remote inspection operation moves the maintenance / inspection robot to the installation position of the electronic storage medium in order to return to the original automatic operation. As seen from the display on the operation monitor, the direction identification information is read only from the central electronic storage medium via the one antenna, and only from the central electronic storage medium via the other antenna. When it is confirmed that the alignment identification information has been read, the maintenance inspection robot is not facing the direction of the electronic storage medium to be read next. The maintenance / inspection robot is turned by remote operation, and the direction identification information is read from the electronic storage medium in the central portion via the two antennas, and is positioned on one side of the central portion. The identification information for orientation of one or more electronic storage media is read only via the one antenna, and the identification information for orientation of one or more electronic storage media located on the other side of the central portion is read by the other If it is confirmed that the data is read only through the antenna, it is determined that the maintenance / inspection robot faces the direction of the electronic storage medium to be read next, and the turning is stopped.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this embodiment, the case where the present invention is applied to maintenance inspection work of a nuclear power plant will be described as an example. In the following, the overall configuration of the maintenance / inspection system will be described first, followed by switching the maintenance / inspection robot from automatic (autonomous) operation to remote operation (manual operation), and returning to the original automatic operation. And will be described.
[0022]
FIG. 1 is an explanatory diagram for explaining an overall configuration of a maintenance / inspection system according to an embodiment of the present invention, and FIG. 2 is a perspective view showing a maintenance / inspection work situation by a maintenance / inspection robot of the maintenance / inspection system. 3, 4, and 5 are explanatory diagrams of switching from automatic (autonomous) operation to remote operation (manual operation) of the maintenance inspection robot and returning to the original automatic operation. FIG. 6 is a perspective view showing a modification of the maintenance / inspection system.
[0023]
As shown in FIG. 1, the maintenance / inspection system of the present embodiment includes a plurality of IC tags 10 (electronic storage media) in which read data including work instructions and identification information are recorded, and these IC tags 10 are connected to nuclear power. A maintenance / inspection work route 11 formed discretely at each position in the plant, and two legs that read the read data from each IC tag 10 while moving along the maintenance / inspection work route 11 and act according to the work instructions A walking-type maintenance inspection robot 12, a terminal 13 storing map data in which the placement of each IC tag 10 is recorded, and a local communication relay base station 14 responsible for wireless transmission and reception between the terminal 13 and the maintenance inspection robot 12. And is configured.
[0024]
Each IC tag 10 is a tag incorporating an information processing IC circuit (not shown) driven by a high frequency signal from an IC tag read / write device 15 (electronic storage medium read / write device) provided on the maintenance inspection robot 12 side. Yes, each is affixed to the floor of a nuclear plant facility. Since these IC tags 10 use radio waves for communication from the IC tag read / write device 15 as an energy source, they do not require wiring or a power source for laying, and can be easily installed simply by being attached to the floor surface. It is possible.
[0025]
The IC tag read / write device 15 is provided, for example, on the back surface of the maintenance inspection robot 12 and includes an antenna 15a having a relatively narrow communication area. The IC tag 10 that is closest (for example, within 60 cm) from the IC tag 10 via the antenna 15a. The read data (information) can be read without contact. Examples of the read data include those listed below.
[0026]
(1) The identification information (P11, P12,...); Information allocated to determine the coordinate position in the entire maintenance / inspection work route 11. In this way, each IC tag 10 to which each coordinate position (identification information) is given is sequentially pasted on the floor surface from the starting point of the maintenance inspection work to each final maintenance inspection work place through the maintenance inspection work place. The installation of the maintenance / inspection work route 11 is completed. The IC tag 10 is affixed by an operator in advance before the maintenance / inspection work, but once the IC tag 10 is pasted and the maintenance / inspection work route 11 is formed, the maintenance / inspection work route 11 is attached. The (IC tag 10) is repeatedly used as it is unless the maintenance / inspection work procedure is changed.
[0027]
(2) Maintenance inspection work instructions; maintenance inspection items to be performed by the maintenance inspection robot 12 at each position (for example, temperature measurement of parts, photography, or bolt tightening torque inspection), and which coordinate position is next This is information regarding a movement instruction or the like indicating how fast the vehicle should travel.
[0028]
(3) Traveling route information: Route status such as whether the current location is a straight route or an intersection, the connection of the route from the current location to the east, west, north, and south, and the location information of the obstacle viewed from the current location , Navigation information such as whether the route going from now on is a hoistway, and other information such as whether overtaking is possible when other moving objects exist.
[0029]
The read data described above is unique to each position, and can appropriately give work instructions and the like to be performed at each position to the maintenance inspection robot 12. That is, if the maintenance inspection robot 12 reads the read data from the IC tag 10, the operation (maintenance inspection work, turning operation, etc.) at the place where the read data is read from the read data and the next destination (next) (Where the IC tag 10 to be read is provided).
[0030]
Further, in addition to providing such read data to the maintenance inspection robot 12, each IC tag 10 receives the progress of the operation of the maintenance inspection robot 12 that has arrived (for example, what time and what time it passes here, what speed and where it is). It ’s also possible to memorize myself.
[0031]
Thus, for example, when a plurality of maintenance / inspection robots 12 are used, when one maintenance / inspection robot 12 stops at the laying position of the IC tag 10, the IC tag read / write device 15 of the first maintenance / inspection robot 12 is placed at the position. By writing to the information processing IC circuit of the IC tag 10, the passage record of the first maintenance / inspection robot 12 remains in the IC tag 10 at the position. Therefore, when another maintenance / inspection robot 12 stops here, the trend of the maintenance / inspection robot 12 of 1 is recorded, and the other maintenance / inspection robot 12 records the passage record from the IC tag 10 by the IC tag read / write device 15. You can read and understand.
[0032]
The maintenance / inspection robot 12 receives a work instruction from the IC tag 10 encountered during traveling by the IC tag read / write device 15 acquiring the read data, and the IC to be next (read) according to the work instruction. It is programmed to move toward the tag 10 or to perform maintenance and inspection work on the equipment at the position of the IC tag 10. That is, the maintenance / inspection robot 12 acts according to the instruction of the IC tag 10 encountered.
[0033]
The terminal 13 stores map data in which the arrangement of each IC tag 10 on the maintenance / inspection work route 11 is recorded. When there is an inquiry from the maintenance / inspection robot 12 side, A part (a part around the current position of the maintenance / inspection robot 12 for which an inquiry has been made) or the whole is transmitted to the maintenance / inspection robot 12 via the local communication relay base station 14. The on-premises communication relay base station 14 is a communication device installed in the nuclear power plant facility, and is capable of wireless communication with both the terminal 13 and the maintenance / inspection robot 12.
[0034]
A maintenance and inspection method in the maintenance and inspection system of the present embodiment described above will be described below.
[0035]
First, the maintenance / inspection robot 12 arranged at the maintenance / inspection work start point (movement start point) acquires the read data from the first IC tag 10 and also transmits the read data from the terminal 13 via the local communication relay base station 14. Get map data. Then, the maintenance inspection robot 12 compares the read data with the map data, thereby grasping its own current position on the maintenance inspection work route 11 and at the next coordinate position (next IC tag 10 to be advanced). ) Start running (walking) towards.
[0036]
FIG. 1 shows the maintenance / inspection robot 12 during the traveling movement, and is in the coordinate position P11 in the illustrated state. When the destination for the next maintenance / inspection work is, for example, the coordinate position of P32, the data read from the IC tag 10 at the coordinate position P11 indicates “This is P11. Maintain a linear travel speed of 2 km / h. P12. The maintenance inspection robot 12 executes the instruction. In P12, “Here is P12. Keep the straight running speed 2Km / h. Go straight to P13.” In the next P13, “Here is P13. Set the running speed to 1Km / h. Go to P34. Turn right here and go straight. "In P34," Here is P34. Maintain a straight running speed of 2 Km / h. Go straight to P33. ", In P33," Here is P33. Straight running speed 2 Km / h. “Maintain h. Go straight to P34”, and the maintenance inspection robot 12 executes accordingly. The maintenance / inspection robot 12 arriving at the destination P32 in this way performs the maintenance / inspection work of the device 16 as shown in FIG. 2, for example, and then moves to the next destination as necessary.
[0037]
As described above, in the maintenance / inspection system according to the present embodiment, the plurality of IC tags 10 in which the read data is recorded, the maintenance / inspection work route 11 formed by discretely arranging these IC tags 10, and the maintenance / inspection. A configuration comprising a maintenance / inspection robot 12 that moves along the work route 11 and acts in accordance with the work instructions of the read data is adopted.
[0038]
According to this, even if it is necessary to change the work contents during the maintenance and inspection work of the equipment, the read data of each IC tag 10 is rewritten, or the other IC tags 10 to which new work contents are written. It is only necessary to replace them. Furthermore, even if the maintenance / inspection work route 11 is changed, it is possible to cope with it by simply re-attaching each IC tag 10 along the route. In addition, the number of maintenance inspection robots 12 can be easily changed. That is, according to the present embodiment, the conventional centralized maintenance type maintenance and inspection system requires rewriting of the centralized management program, and therefore the number of robots, work content, and movement content have been changed with great effort and difficulty. On the other hand, since it is not necessary to rewrite the centralized management program, it is possible to respond flexibly.
[0039]
The maintenance / inspection system according to the present embodiment includes a terminal 13 for storing map data in which the arrangement of each IC tag 10 is recorded, and the maintenance / inspection robot 12 performs maintenance by comparing the map data with the identification information. A configuration for grasping the current position on the inspection work route 11 was adopted. According to this, the maintenance / inspection robot 12 can accurately grasp its current position on the maintenance / inspection work route 11 without providing a centralized management program in the maintenance / inspection system proposed in the past on the terminal 132 side. Become.
[0040]
Further, in the maintenance / inspection system of the present embodiment, a configuration is adopted in which each IC tag 10 can record the operation progress of the maintenance / inspection robot 12. According to this configuration, when one maintenance / inspection robot 12 stops by writing to the IC tag 10, the passage record of the one maintenance / inspection robot 12 remains in the IC tag 10 at this position. When another maintenance / inspection robot 12 stops here, the other maintenance / inspection robot 12 can grasp the trend of the one maintenance / inspection robot 12. In this way, it is possible to exchange the work progress of each maintenance inspection robot 12 with each other.
[0041]
Subsequently, switching from automatic (autonomous) operation to remote operation (manual operation) of the maintenance / inspection robot in this maintenance / inspection system and return to the original automatic operation will be described with reference to FIGS. 3, 4, and 5. explain.
[0042]
FIG. 3 exemplifies the case of a circulation route that makes a round from the movement start point and returns to the movement start point as an example of the maintenance / inspection work route. More specifically, in the example shown in FIG. 3, the piping 31 is arranged so as to make a circuit in the building 30 of the nuclear power plant, and each identification information P <b> 11 to P <b> 26 is given to each position along the piping 31 inside the piping 31. By arranging the IC tags 10 in a discrete manner, a maintenance / inspection work route 11 serving as a patrol route is formed.
[0043]
Accordingly, in the maintenance / inspection work route 11, for example, assuming that the position P11 is a work start point, the maintenance / inspection robot 12 reads the read data of each IC tag 10 in order from the position P11 of the work start point, and based on the read data. While performing the predetermined maintenance inspection work, each position of P11, P12,..., P26 is sequentially moved along the maintenance inspection work route 11 as indicated by an arrow A, and then returns to the work start point P11 again.
[0044]
Then, in accordance with the inspection status or sudden abnormal situation during the automatic (autonomous) operation that operates according to the read data from each IC tag 10, maintenance inspection is performed on work that is not on the maintenance inspection work route 11. When it is necessary to remotely operate (manually operate) the maintenance / inspection robot 12 for the robot 12 to perform, the operator 32 shown in FIG. 1 uses a mouse 33 attached to the terminal 13 or a keyboard (not shown). By operating the operation device, the maintenance inspection robot 12 can be switched from automatic operation to remote operation (manual operation) by wireless communication via the on-site communication relay base station 14 to perform remote operation. .
[0045]
For example, after the maintenance / inspection robot 12 during automatic operation performs some maintenance / inspection work (measurement of pressure of fluid flowing through the piping 31) at the P24 position, the maintenance / inspection robot 12 needs to perform some maintenance / inspection work at the B position. (For example, when the valve measured at the B position needs to be closed because the pressure measured at the P24 position is abnormal), the operator 32 remotely operates the maintenance inspection robot 12 from automatic operation. The remote control is manually moved to the position B as indicated by an arrow C1, and the maintenance / inspection robot 12 is caused to perform some operation such as a valve operation. Note that the remote operation of the maintenance / inspection robot 12 is performed by, for example, a video image of the equipment taken by a camera provided in the maintenance / inspection robot 12 (such as a camera provided as the eyes of the robot) or a camera provided in the equipment subject to maintenance / inspection. The operation is performed while the operator 32 is watching on the remote operation monitor 34 shown in FIG.
[0046]
Thereafter, the operator 32 remotely moves the maintenance / inspection robot 12 to a position P19 where the IC tag 10 near the B position is installed as indicated by an arrow C2, for example, whereby the IC tag read / write device 15 of the maintenance / inspection robot 12 is moved. After reading the read data from the IC tag 10 at the P19 position, the maintenance inspection robot 12 is switched from remote operation to automatic operation.
[0047]
As a result, the maintenance inspection robot 12 automatically moves to the next P20 position based on the read data from the IC tag 10 at the P19 position, and thereafter reads the read data from each IC tag 10 to P21, P22, .., P26 and P11 are sequentially moved. In this case, the maintenance inspection robot 12 moves redundantly in the section from the P19 position to the P24 position. However, since the operation history of the maintenance inspection robot 12 is recorded in the IC tag 10, By reading a record (eg, what time and what time the maintenance inspection work at that position was performed) from the IC tag 10, the maintenance inspection robot 12 can avoid performing the maintenance inspection work redundantly. it can. When returning the maintenance / inspection robot 12 from the B position to the position on the maintenance / inspection work route 11 by remote operation, the return position is not necessarily limited to the P19 position, and may be, for example, the P14 position or the P20 position. Good.
[0048]
That is, in the maintenance / inspection system according to the present embodiment, a plurality of IC tags 10 are arranged to form a maintenance / inspection work route 11, and the maintenance / inspection robot 12 behaves according to instructions from each IC tag 10 (automatic operation is performed). Therefore, after the maintenance / inspection robot 12 is switched from automatic operation to remote operation, it is easy to return to the original automatic operation.
[0049]
However, for example, when the maintenance / inspection robot 12 reaches the P19 position by moving the maintenance / inspection robot 12 from the B position in the direction of the arrow C2 by remote control as shown in FIG. 3, the maintenance / inspection robot 12 is directed in the direction of the arrow C2. Therefore, a deviation of the angle θ occurs between the direction in which the maintenance inspection robot 12 faces and the direction from the P19 position toward the P20 position (the installation position of the IC tag 10 to be read next). On the other hand, when the IC tag 10 is read during automatic operation, the maintenance / inspection robot 12 is premised on reading in a state in which the IC tag 10 faces the next moving destination direction (the direction of the IC tag 10 to be read next). For this reason, if switching to automatic operation with a deviation between the direction in which the maintenance inspection robot 12 faces and the direction from the P19 position toward the P20 position, the maintenance inspection robot 12 moves in the direction of the arrow C2. , It will deviate from the maintenance inspection work route 11.
[0050]
Specifically, for example, in the IC tag 10 at the P19 position, coordinate information in the x-axis direction (left-right direction in FIG. 3) and y-axis direction (up-down direction in FIG. 2) of the installation position P20 of the IC tag 10 to be read next. As P12 (3000,0) (relative coordinate information of the P20 position starting from the P19 position). The maintenance inspection robot 12 is assumed to read the IC tag 10 (read data) at the P19 position in a state where the maintenance inspection robot 12 is oriented in the direction of the P20 position (x-axis direction) at the P19 position. Is moved from the P19 position by 3000 mm in the x-axis direction (left direction in FIG. 3) and moved by 0 mm in the y-axis direction (that is, from the P19 position). Go straight in the x-axis direction (left direction in FIG. 3)) and reach the next P20 position.
[0051]
However, if there is a deviation between the direction in which the maintenance / inspection robot 12 faces and the direction from the P19 position toward the P20 position as described above, the maintenance / inspection robot 12 moves 3000 mm in the direction of the arrow C2 to perform maintenance. This greatly deviates from the inspection work route 11.
[0052]
Therefore, when returning from remote operation to automatic operation, means for easily aligning the direction in which the maintenance / inspection robot 12 faces and the next destination direction (the direction of the IC tag 10 to be read next). Is required. For this reason, the maintenance / inspection system according to the present embodiment includes any one of the following means (1) to (3) as the direction adjusting means.
[0053]
(1) Information on the IC tag 10 used for navigation (information indicating where to move next) (x, y-axis coordinates (x, y) of the next movement destination starting from the read IC tag 10) y), orientation θ _t ) Means.
(2) Information on the IC tag 10 used for navigation (information indicating where to move next) (x, y-axis coordinates (x, y) of the next movement starting from the read IC tag 10) y)) and means for detecting the orientation by the camera.
(3) Information on the IC tag 10 used for navigation (information indicating where to move next) (x, y-axis coordinates (x, y) of the next movement destination starting from the read IC tag 10) y)) and means for detecting the orientation by using a plurality of IC tags.
[0054]
First, the direction adjusting means (1) will be described in detail. In this direction matching means, the information indicating the position of the IC tag 10 to be read next in the information processing IC circuit of each IC tag 10 is set as the next destination IC tag 10 starting from the read IC tag 10. Relative position coordinates (x, y) and azimuth θ in the x-axis direction and y-axis direction regarding the position _t Data (x, y, θ _t ) Is stored. For example, the IC tag 10 at the P19 position stores (3000, 0, north) as information on the installation position P20 of the IC tag 10 to be read next when the P20 position is north as viewed from the P19 position. . The direction θ _t For example, the north may be used as a reference, the north may be 0 °, the west 90 °, the south 180 °, and the east 270 °.
[0055]
On the other hand, the direction θ that the maintenance inspection robot 12 faces _r Is detected by absolute azimuth detecting means. Then, the maintenance / inspection robot 12 has its own direction θ detected by the absolute direction detecting means. _r Is read from the IC tag 10 and the orientation θ of the IC tag 10 to be read next _t (Θ _r → θ _t ) Automatically change direction.
[0056]
In this case, not only automatic driving, but also the operator 32 may change the direction of the maintenance inspection robot 12 by remote control. That is, the direction θ of the maintenance / inspection robot 12 detected by the absolute direction detection means. _r And the orientation θ of the IC tag 10 to be read next read from the IC tag 10 _t Is displayed on the remote operation monitor 34 shown in FIG. 1, and the operator 32 observes the display on the remote operation monitor 34 and remotely operates the maintenance inspection robot 12 itself in the direction θ. _r The position information orientation θ _t (Θ _r → θ _t The direction of the maintenance inspection robot 12 is changed as follows.
[0057]
For example, by moving the maintenance inspection robot 12 to the P19 position by remote operation and reading the read data from the IC tag 10 at the P19 position, the information of the installation position P20 of the IC tag 10 to be read next is (3000, 0, north ) Is obtained. Then, the direction θ of the maintenance inspection robot 12 detected by the absolute direction detection means _r Is read from the IC tag 10 at the P19 position, and the orientation θ of the IC tag 10 (P20 position) to be read next is read. _t The direction of the maintenance inspection robot 12 is changed automatically or remotely so as to match (north).
[0058]
Therefore, when the maintenance / inspection system is provided with the direction adjusting means (1), when the maintenance / inspection robot 12 is switched from the automatic operation to the remote operation and then returned to the original automatic operation, the maintenance / inspection robot 12 can be easily operated. The maintenance inspection robot 12 can be returned to the automatic operation with the direction directed to the direction of the IC tag 10 to be read next.
[0059]
As the absolute azimuth detecting means, a known absolute azimuth detecting device or absolute azimuth detecting method can be appropriately used. For example, as a known absolute azimuth detecting device, a geomagnetic azimuth meter, a gyroscope, an acceleration sensor (integrating the detected acceleration value to obtain a turning angle), an image processing device (preliminarily recorded scenery and camera of the maintenance inspection target equipment) As a known absolute direction detection method, an internal sensor such as odometry (a robot wheel rotation angle (in the case of a robot that moves by a wheel such as a vehicle robot)) can be used. And the calculation of the cumulative direction change command value). Further, a combined system of these absolute direction detection devices and absolute direction detection methods may be used.
[0060]
Further, the x and y coordinates of the IC tag 10 to be read next are not limited to the relative coordinates between the IC tags 10 as described above, but may be absolute coordinates. However, in this case, it is necessary to grasp the position of the maintenance inspection robot 12 in absolute coordinates.
[0061]
Next, the direction adjusting means (2) will be described in detail. In this direction alignment means, a movement direction display (arrow) 10a is displayed on the surface of the IC tag 10 as illustrated in FIG. This moving direction display 10a indicates the direction of the IC tag 10 to be read next. In the case of the illustrated example, the IC tag 10 at the P19 position displays a moving direction display 10a indicating the direction of the IC tag 10 (P20 position) to be read next, and the IC tag 10 at the P20 position displays the IC tag to be read next. A moving direction display 10a indicating the direction of 10 (P21 position; see FIG. 3) is displayed.
[0062]
On the other hand, the maintenance / inspection robot 12 is equipped with a camera 35 and an image processing device 36 for processing the image signal of the camera 35. For example, the maintenance / inspection robot 12 is moved to the P19 position by remote operation, and the IC at the P19 position is provided. When reading the read data from the tag 10, the camera 35 simultaneously captures the moving direction display 10 a displayed on the IC tag 10 at the P19 position, and the image processing device 36 moves the moving direction display 10 a transmitted from the camera 35. The direction indicated by the moving direction display 10a is recognized by performing known image processing such as pattern matching on the image signal.
[0063]
The maintenance / inspection robot 12 automatically changes the direction so that the indicated direction on the image of the moving direction display 10a recognized by the image processing device 36 becomes a predetermined direction, thereby changing the direction indicated by the moving direction display 10a. Match the direction in which the maintenance inspection robot 12 is facing.
[0064]
That is, the instruction direction on the screen of the movement direction display 1a recognized by the image processing device 36 changes depending on the relative positional relationship between the movement direction display 10a and the camera 35 (that is, the maintenance inspection robot 12). Therefore, for example, an instruction direction on the image of the moving direction display 10a recognized by the image processing device 36 when the maintenance inspection robot 12 faces the P20 position at the P19 position is set in advance. Then, if the direction of the maintenance inspection robot 12 is changed so that the indicated direction on the image of the moving direction display 10a recognized by the image processing device 36 becomes the preset indicated direction, the indicated direction of the moving direction display 10a The direction in which the maintenance inspection robot 12 faces is matched.
[0065]
Also in this case, not only automatic driving, but also the operator 32 may change the direction of the maintenance inspection robot 12 by remote control. That is, the instruction direction on the image of the movement direction display 10 a recognized by the image processing device 36 is displayed on the remote operation monitor 34. Then, the operator 32 can perform a remote operation while viewing the display on the remote operation monitor 34 so that the indicated direction on the image of the moving direction display 10a recognized by the image processing device 36 becomes a preset indicated direction. By changing the direction of the maintenance / inspection robot 12, the indicated direction of the movement direction display 10a is matched with the direction in which the maintenance / inspection robot 12 is facing.
[0066]
Note that the moving direction display 10a is not necessarily limited to the display on the surface of the IC tag 10, and is displayed on the surface of a plate attached to the floor in the vicinity of the IC tag 10 or near the IC tag 10. You may display directly on the floor.
[0067]
Therefore, when the maintenance / inspection system is provided with the direction adjusting means (2), when the maintenance / inspection robot 12 is switched from the automatic operation to the remote operation and then returned to the original automatic operation, the maintenance / inspection robot 12 can be easily operated. The maintenance inspection robot 12 can be returned to the automatic operation with the direction directed to the direction of the IC tag 10 to be read next.
[0068]
Next, the direction adjusting means (3) will be described in detail. In this direction adjusting means, as shown in FIG. 5, three IC tags 10A, 10B, 10C are arranged in a row at positions P19, P20 on the maintenance / inspection work route 11 along the maintenance / inspection work route 11. And ID (identification) numbers 1, 0, and -1 which are identification information (direction numbers) for direction alignment are recorded in the information processing IC circuits of the IC tags 10A, 10B, and 10C, respectively. Has been.
[0069]
The IC tag read / write device 15 on the maintenance inspection robot 12 side is equipped with two antennas 15a-1 and 15a-2. These antennas 15a-1 and 15a-2 have oval communication areas 37a-1 and 37a-2, respectively, and are arranged vertically so that a part of the antennas 15a-1 and 15a-2 overlap each other in the horizontal direction. A part of the regions 37a-1 and 37a-2 overlaps in the horizontal direction. For example, when the maintenance inspection robot 12 is facing the P20 position where the IC tag 10 to be read next is installed at the position P19, as shown in FIGS. 5A and 5B, the antenna 15a is used. IC tag 10A (ID number 1) and IC tag 10B (ID number 0) are placed in communication area 37a-1 of -1, and IC tag 10B (ID number) is placed in communication area 37a-2 of antenna 15a-2. 0) and IC tag 10C (ID number -1).
[0070]
Accordingly, for example, when the maintenance / inspection robot 12 is moved by remote operation and reaches the position P19, if the IC tag read / write device 15 of the maintenance / inspection robot 12 faces the P20 position, the IC tag read / write device 15 in FIG. As shown in FIG. 5B, ID numbers 1 and 0 are read from the IC tags 10A and 10B via the antenna 15a-1, and ID numbers 0 and-are read from the IC tags 10B and 10C via the antenna 15a-2. 1 is read, and from this result, it can be determined that the maintenance inspection robot 12 is facing the direction of the P20 position.
[0071]
On the other hand, as illustrated in FIG. 3, when the maintenance inspection robot 12 does not face the direction of the P20 position at the P19 position (when there is a deviation of the angle θ), for example, the state shown in FIG. In the IC tag read / write device 15 of the maintenance inspection robot 12, the ID number 0 is read only from the IC tag 10B via the antenna 15a-1, and the ID number 0 is read only from the IC tag 10B via the antenna 15a-2. It will be. Therefore, from this result, it is determined that the maintenance inspection robot 12 does not face the direction of the P20 position, and turns (turns) counterclockwise (or clockwise) as indicated by an arrow D. Then, as shown in FIGS. 5A and 5B, the ID number 1, 0 is read from the IC tags 10A, 10B via the antenna 15a-1 by the IC tag reader / writer 15 of the maintenance inspection robot 12, and When the ID numbers 0 and -1 are read from the IC tags 10B and 10C via the antenna 15a-2, the maintenance / inspection robot 12 determines that it is directed to the P20 position and stops turning. Thus, the maintenance inspection robot 12 can automatically change the direction toward the P20 position.
[0072]
Also in this case, not only automatic driving, but also the operator 32 may change the direction of the maintenance inspection robot 12 by remote control. That is, the ID numbers 1, 0, −1 of the IC tags 10A, 10B, 10C read by the IC tag read / write device 15 via the antennas 15a-1, 15a-2 are displayed on the remote operation monitor 34. Then, from the display on the remote operation monitor 34, the operator 32, for example, at the position P19, the IC tag read / write device 15 of the maintenance inspection robot 12 receives the ID numbers 1 and 0 from the IC tags 10A and 10B via the antenna 15a-1. When reading and confirming that ID numbers 0 and -1 have been read from the IC tags 10B and 10C via the antenna 15a-2, it is determined that the maintenance inspection robot 12 is facing the P20 position. The maintenance inspection robot 12 is switched from remote operation to automatic operation.
[0073]
On the other hand, the operator 32 looks at the display on the remote operation monitor 34, and the IC tag read / write device 15 of the maintenance inspection robot 12 reads the ID number 0 only from the IC tag 10B via the antenna 15a-1, and the antenna 15a- 2, when it is confirmed that the ID number 0 is read only from the IC tag 10B, it is determined that the maintenance inspection robot 12 does not face the direction of the P20 position, and the remote operation is performed counterclockwise as indicated by the arrow D ( Alternatively, the direction of the maintenance / inspection robot 12 is changed (clockwise) (the maintenance / inspection robot 12 is turned). Then, the operator 32 reads the ID number 1, 0 from the IC tags 10A and 10B via the antenna 15a-1 by the IC tag read / write device 15 of the maintenance inspection robot 12, and the IC tag via the antenna 15a-2. After confirming that ID numbers 0 and -1 have been read from 10B and 10C, it is determined that the maintenance inspection robot 12 has turned to the P20 position, and the remote operation (turning operation) is stopped. To automatic operation.
[0074]
Therefore, when the maintenance / inspection system is provided with the direction adjusting means (3), when the maintenance / inspection robot 12 is switched from the automatic operation to the remote operation and then returned to the original automatic operation, the maintenance / inspection robot 12 can be easily operated. The maintenance inspection robot 12 can be returned to the automatic operation with the direction directed to the direction of the IC tag 10 to be read next.
[0075]
In the above, the three IC tags 10A, 10B, and 10C are arranged along the maintenance / inspection work route 11. However, the present invention is not limited to this, and the IC tags 10A, 10B, and 10C are not necessarily limited to this. The antennas 15a-1 and 15a-2 are arranged so that the communication areas 37a-1 and 37a-2 as described above and the IC tags 10A, 10B, and 10C have a relationship according to the arrangement direction. Just decide.
[0076]
In the above description, the three IC tags 10A, 10B, and 10C are arranged. However, the present invention is not necessarily limited to this, and the number of IC tags arranged at each position may be three or more. When the maintenance inspection robot 12 faces the direction of the IC tag to be read next, the ID number of one or a plurality of IC tags (IC tag 10B in FIG. 5) located at the center of the array is the both antennas. 15a-1 and 15a-2 are read, and the ID number of one or more IC tags (IC tag 10A in FIG. 5) located on one side of the central portion is read only via the antenna 15a-1. The ID number of one or a plurality of IC tags (IC tag 10C in FIG. 5) located on the other side of the central portion may be read only through the antenna 15a-2.
[0077]
In the above embodiment, the robot that performs the maintenance inspection work is the biped walking type maintenance inspection robot 12. However, the robot is not limited to this, and for example, an unmanned traveling vehicle that is a vehicle type maintenance inspection robot as shown in FIG. Of course, 20 (AGV; automatic guided vehicle) may be adopted.
[0078]
In the above embodiment, the case where the place where the maintenance inspection work is performed is a nuclear power plant has been described as an example. However, the present invention is not limited to this, and the present invention is applied to the maintenance inspection work of other equipment such as a manufacturing plant. Of course, it is also good.
[0079]
【The invention's effect】
As described above in detail with the embodiment, the maintenance and inspection system according to the first aspect of the present invention includes a plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, and these electronic storage media are dispersed. Maintenance comprising a maintenance inspection work route formed and a maintenance inspection robot that reads the read data from each electronic storage medium and moves in accordance with the work instruction while moving along the maintenance inspection work route In the inspection system,
The electronic storage medium is also recorded with the orientation of the installation position of the electronic storage medium to be read next, and is provided with an absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot. After switching from automatic operation to remote operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the maintenance inspection robot detects the absolute direction. The direction of the maintenance / inspection robot itself detected by the means is automatically changed to match the orientation of the electronic storage medium to be read next after reading from the electronic storage medium.
[0080]
Therefore, according to the maintenance and inspection system of the first aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult because the conventional centralized maintenance and inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0081]
The maintenance and inspection system of the second invention includes a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance and inspection work route formed by discretely arranging these electronic storage media. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
The electronic storage medium also records the orientation of the installation position of the electronic storage medium to be read next, and includes absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot, and is detected by the absolute orientation detection means. The direction of the maintenance inspection robot itself and the orientation of the installation position of the electronic storage medium to be read next read from the electronic storage medium are displayed on a remote operation monitor, and the operator starts the maintenance inspection robot from automatic operation. After switching to the remote operation, when the maintenance / inspection robot is moved by remote operation to the installation position of the electronic storage medium to return to the original automatic operation, the remote operation is performed while watching the display of the remote operation monitor. The direction of the maintenance / inspection robot itself is changed to match the direction of the installation position of the electronic storage medium to be read next. The features.
[0082]
Therefore, according to the maintenance / inspection system of the second aspect of the present invention, the number of robots, work contents, and movements, which were extremely troublesome and difficult because the conventional centralized maintenance / inspection system required rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0083]
A maintenance inspection system according to a third aspect of the invention includes a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance inspection work route formed by disposing these electronic storage media in a discrete manner. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, A camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes the direction indicated by the moving direction display. After switching to the operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the moving direction display is imaged by the camera. An image signal is image-processed by the image processing device to recognize a direction indicated by the moving direction display, and the maintenance inspection robot is moved by the image processing device. It is configured to automatically change the direction so that the indicated direction on the display image is a predetermined direction, and to match the indicated direction of the moving direction display with the direction of the maintenance inspection robot. And
[0084]
Therefore, according to the maintenance and inspection system of the third aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult because the conventional centralized maintenance and inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0085]
According to a fourth aspect of the present invention, there is provided a maintenance / inspection system comprising a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance / inspection operation route formed by discretely arranging these electronic storage media. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, The moving direction display, comprising: a camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes a direction indicated by the moving direction display, and is recognized by the image processing device. The instruction direction on the image is displayed on the remote operation monitor, and after the operator switches the maintenance inspection robot from automatic operation to remote operation, the operator can remotely move to the installation position of the electronic storage medium to return to the original automatic operation. When the maintenance / inspection robot is moved by operation, the finger on the moving direction display image recognized by the image processing apparatus is viewed while viewing the display on the remote operation monitor. The direction of the maintenance / inspection robot is changed by remote control so that the direction becomes a predetermined direction, and the instruction direction of the movement direction display is configured to match the direction in which the maintenance / inspection robot faces. To do.
[0086]
Therefore, according to the maintenance / inspection system of the fourth aspect of the present invention, the number of robots, work contents, and movements, which have been extremely troublesome and difficult since the conventional centralized maintenance / inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0087]
A maintenance inspection system according to a fifth aspect of the invention includes a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance inspection work route formed by disposing these electronic storage media in a discrete manner. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot The two antennas of the electronic storage medium reading device provided on the side each have an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. The identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, and one or more electrons located on one side of the central part The identification information for orientation of the storage medium is read only through one of the two antennas, and one or more electronic storage media located on the other side of the central portion are read. The identification information for facing is arranged so as to be read only through the other antenna of the two antennas, and the operator switches the maintenance / inspection robot from automatic operation to remote operation and then returns to the original automatic operation. When the maintenance / inspection robot is moved to the installation position of the electronic storage medium by remote control, the maintenance / inspection robot receives the identification information for orientation only from the central electronic storage medium via the one antenna. When the identification information for orientation is read only from the central electronic storage medium via the other antenna, the maintenance inspection robot is not oriented in the direction of the electronic storage medium to be read next. And automatically turning and using the two antennas the identification information for orientation of one or more electronic storage media located in the central portion. The identification information for alignment of one or more electronic storage media located on one side of the central portion is read only through one of the two antennas, and is located on the other side of the central portion. When the identification information for orientation adjustment of one or a plurality of electronic storage media is read only through the other antenna of the two antennas, the maintenance inspection robot determines the direction of the electronic storage media to be read next. It is characterized in that it is determined to have faced and the turning is stopped.
[0088]
Therefore, according to the maintenance / inspection system of the fifth aspect of the invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult because the conventional maintenance / inspection system of centralized management requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0089]
According to a sixth aspect of the present invention, there is provided a maintenance / inspection system comprising a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and a maintenance / inspection operation route formed by discretely arranging these electronic storage media. A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium while moving along the maintenance inspection operation route and acts according to the operation instructions;
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, and direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot side Each of the two antennas of the electronic storage medium reading device provided has an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. When the identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, one or more electronic storage media located on one side of the central part The direction identification information is read only through one of the two antennas, and the direction information of one or more electronic storage media located on the other side of the central portion is read. The identification information for use is arranged so as to be read only through the other antenna of the two antennas, and the identification information for alignment of the electronic storage medium read through the two antennas is displayed on the remote control monitor, After the operator switches the maintenance / inspection robot from automatic operation to remote operation, the remote inspection operation moves the maintenance / inspection robot to the installation position of the electronic storage medium in order to return to the original automatic operation. As seen from the display on the operation monitor, the direction identification information is read only from the central electronic storage medium via the one antenna, and only from the central electronic storage medium via the other antenna. When it is confirmed that the alignment identification information has been read, the maintenance inspection robot is not facing the direction of the electronic storage medium to be read next. The maintenance / inspection robot is turned by remote operation, and the direction identification information is read from the electronic storage medium in the central portion via the two antennas, and is positioned on one side of the central portion. The identification information for orientation of one or more electronic storage media is read only via the one antenna, and the identification information for orientation of one or more electronic storage media located on the other side of the central portion is read by the other When it is confirmed that the data is read only through the antenna, it is determined that the direction of the electronic storage medium to be read next is determined by the maintenance / inspection robot to stop, and the turning is stopped.
[0090]
Therefore, according to the maintenance / inspection system of the sixth aspect of the invention, the number of robots, work contents, and movements, which were extremely troublesome and difficult because the conventional centralized maintenance / inspection system required rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program in response to changes in content, it becomes possible to respond flexibly. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0091]
According to a seventh aspect of the present invention, there is provided a maintenance / inspection method in which a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
The electronic storage medium is also recorded with the orientation of the installation position of the electronic storage medium to be read next, and is provided with an absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot. After switching from automatic operation to remote operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the maintenance inspection robot detects the absolute direction. The direction of the maintenance / inspection robot itself detected by the means is automatically changed to match the orientation of the electronic storage medium to be read next after reading from the electronic storage medium.
[0092]
Therefore, according to the maintenance / inspection method of the seventh aspect of the invention, the number of robots, work contents and movements that have been extremely troublesome and difficult because the conventional maintenance / inspection system of centralized management requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0093]
In the maintenance inspection method of the eighth invention, a maintenance inspection work route is formed by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
The electronic storage medium also records the orientation of the installation position of the electronic storage medium to be read next, and includes absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot, and is detected by the absolute orientation detection means. The direction of the maintenance inspection robot itself and the orientation of the installation position of the electronic storage medium to be read next read from the electronic storage medium are displayed on a remote operation monitor, and the operator starts the maintenance inspection robot from automatic operation. After switching to the remote operation, when the maintenance inspection robot is moved to the installation position of the electronic storage medium by remote operation to return to the original automatic operation, the remote operation is performed by looking at the display on the remote operation monitor. Changing the direction of the maintenance / inspection robot so that the direction of the maintenance / inspection robot itself matches the direction of the installation position of the electronic storage medium to be read next And it features.
[0094]
Therefore, according to the maintenance and inspection method of the eighth aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult because the conventional centralized maintenance type maintenance and inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0095]
According to the ninth aspect of the present invention, a maintenance inspection work route is formed by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, A camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes the direction indicated by the moving direction display. After switching to the operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the moving direction display is imaged by the camera. An image signal is image-processed by the image processing device to recognize a direction indicated by the moving direction display, and the maintenance inspection robot is moved by the image processing device. Changing the specified direction is automatically oriented to a predetermined direction on the display of the image, wherein the combining the direction facing the indication direction of the moving direction indicator of the maintenance robot.
[0096]
Therefore, according to the maintenance and inspection method of the ninth aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult because the conventional maintenance and inspection system of the centralized management system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0097]
In the maintenance inspection method of the tenth invention, a maintenance inspection work route is formed by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, The moving direction display, comprising: a camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes a direction indicated by the moving direction display, and is recognized by the image processing device. The instruction direction on the image is displayed on the remote operation monitor, and after the operator switches the maintenance inspection robot from automatic operation to remote operation, the operator can remotely move to the installation position of the electronic storage medium to return to the original automatic operation. When the maintenance / inspection robot is moved by operation, the finger on the moving direction display image recognized by the image processing apparatus is viewed while viewing the display on the remote operation monitor. By direction changing the direction of the maintenance robot by remote control to a predetermined direction, characterized by combining a direction facing the indication direction of the moving direction indicator of the maintenance robot.
[0098]
Therefore, according to the maintenance and inspection method of the tenth aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult since the conventional centralized maintenance and inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0099]
Further, the maintenance inspection method of the eleventh aspect of the invention forms a maintenance inspection work route by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and follows the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot The two antennas of the electronic storage medium reading device provided on the side each have an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. The identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, and one or more electrons located on one side of the central part The identification information for orientation of the storage medium is read only through one of the two antennas, and one or more electronic storage media located on the other side of the central portion are read. The identification information for facing is arranged so as to be read only through the other antenna of the two antennas, and the operator switches the maintenance / inspection robot from automatic operation to remote operation and then returns to the original automatic operation. When the maintenance / inspection robot is moved to the installation position of the electronic storage medium by remote control, the maintenance / inspection robot receives the identification information for orientation only from the central electronic storage medium via the one antenna. When the identification information for orientation is read only from the central electronic storage medium via the other antenna, the maintenance inspection robot is not oriented in the direction of the electronic storage medium to be read next. And automatically turning and using the two antennas the identification information for orientation of one or more electronic storage media located in the central portion. The identification information for alignment of one or more electronic storage media located on one side of the central portion is read only through one of the two antennas, and is located on the other side of the central portion. When the identification information for orientation adjustment of one or a plurality of electronic storage media is read only through the other antenna of the two antennas, the maintenance inspection robot determines the direction of the electronic storage media to be read next. The turning is stopped when it is determined that the vehicle is facing.
[0100]
Therefore, according to the maintenance inspection method of the eleventh aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult because the conventional centralized maintenance type maintenance inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[0101]
The maintenance inspection method according to the twelfth aspect of the present invention is to form a maintenance inspection work route by discretely arranging a plurality of electronic storage media on which read data having at least work instructions and identification information are recorded, and along the maintenance inspection work route. In the maintenance / inspection method, the maintenance / inspection robot moves the maintenance / inspection robot and causes the maintenance / inspection robot to perform work based on the read data from each electronic storage medium at each position.
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, and direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot side Each of the two antennas of the electronic storage medium reading device provided has an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. When the identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, one or more electronic storage media located on one side of the central part The direction identification information is read only through one of the two antennas, and the direction information of one or more electronic storage media located on the other side of the central portion is read. The identification information for use is arranged so as to be read only through the other antenna of the two antennas, and the identification information for alignment of the electronic storage medium read through the two antennas is displayed on the remote control monitor, After the operator switches the maintenance / inspection robot from automatic operation to remote operation, the remote inspection operation moves the maintenance / inspection robot to the installation position of the electronic storage medium in order to return to the original automatic operation. As seen from the display on the operation monitor, the direction identification information is read only from the central electronic storage medium via the one antenna, and only from the central electronic storage medium via the other antenna. When it is confirmed that the alignment identification information has been read, the maintenance inspection robot is not facing the direction of the electronic storage medium to be read next. The maintenance / inspection robot is turned by remote operation, and the direction identification information is read from the electronic storage medium in the central portion via the two antennas, and is positioned on one side of the central portion. The identification information for orientation of one or more electronic storage media is read only via the one antenna, and the identification information for orientation of one or more electronic storage media located on the other side of the central portion is read by the other If it is confirmed that the data is read only through the antenna, it is determined that the maintenance / inspection robot faces the direction of the electronic storage medium to be read next, and the turning is stopped.
[0102]
Therefore, according to the maintenance and inspection method of the twelfth aspect of the present invention, the number of robots, work contents, and movements that have been extremely troublesome and difficult since the conventional centralized maintenance and inspection system requires rewriting of the centralized management program. Since it is not necessary to rewrite the centralized management program for changing contents, it is possible to flexibly cope with the change. In addition, after switching the maintenance inspection robot from automatic operation to remote operation, when returning to the original automatic operation, the maintenance inspection robot is automatically directed to the direction of the electronic storage medium to be read next. It can be returned to operation.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram for explaining an overall configuration of a maintenance / inspection system according to an embodiment of the present invention.
FIG. 2 is a perspective view showing a maintenance / inspection work situation by a maintenance / inspection robot of the maintenance / inspection system.
FIG. 3 is an explanatory diagram of switching from automatic (autonomous) operation to remote operation (manual operation) and returning to the original automatic operation of the maintenance inspection robot.
FIG. 4 is an explanatory diagram regarding switching from automatic (autonomous) operation to remote operation (manual operation) of the maintenance inspection robot and returning to the original automatic operation.
FIG. 5 is an explanatory diagram regarding switching from automatic (autonomous) operation to remote operation (manual operation) of the maintenance inspection robot and returning to the original automatic operation.
FIG. 6 is a perspective view showing a modified example of the maintenance / inspection system.
FIG. 7 is an explanatory diagram showing an example of a conventionally proposed maintenance inspection system.
[Explanation of symbols]
10 IC tag
10A, 10B, 10C IC tag
11 Maintenance inspection work route
12 Maintenance inspection robot
13 Terminal
14 Local communication relay base station
15 IC tag read / write device
15a antenna
15a-1, 15b-2 antenna
16 devices
20 Maintenance inspection robot
30 building
31 Piping
32 Operator
33 mice
34 Remote operation monitor
35 cameras
36 Image processing device
37a-1, 37a-1 Communication area

Claims

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, a maintenance inspection work route formed by discretely arranging these electronic storage media, and moving along the maintenance inspection work route A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium and acts according to the work instructions,
The electronic storage medium is also recorded with the orientation of the installation position of the electronic storage medium to be read next, and is provided with an absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot. After switching from automatic operation to remote operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the maintenance inspection robot detects the absolute direction. Maintenance inspection characterized in that the direction of the maintenance inspection robot itself detected by the means is automatically changed to match the orientation of the electronic storage medium to be read next read from the electronic storage medium system.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, a maintenance inspection work route formed by discretely arranging these electronic storage media, and moving along the maintenance inspection work route A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium and acts according to the work instructions,
The electronic storage medium also records the orientation of the installation position of the electronic storage medium to be read next, and includes absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot, and is detected by the absolute orientation detection means. The direction of the maintenance inspection robot itself and the orientation of the installation position of the electronic storage medium to be read next read from the electronic storage medium are displayed on a remote operation monitor, and the operator starts the maintenance inspection robot from automatic operation. After switching to the remote operation, when the maintenance / inspection robot is moved by remote operation to the installation position of the electronic storage medium to return to the original automatic operation, the remote operation is performed while watching the display of the remote operation monitor. The direction of the maintenance / inspection robot itself is changed to match the direction of the installation position of the electronic storage medium to be read next. Maintenance and inspection system according to claim.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, a maintenance inspection work route formed by discretely arranging these electronic storage media, and moving along the maintenance inspection work route A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium and acts according to the work instructions,
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, A camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes the direction indicated by the moving direction display. After switching to the operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the moving direction display is imaged by the camera. An image signal is image-processed by the image processing device to recognize a direction indicated by the moving direction display, and the maintenance inspection robot is moved by the image processing device. It is configured to automatically change the direction so that the indicated direction on the display image is a predetermined direction, and to match the indicated direction of the moving direction display with the direction of the maintenance inspection robot. Maintenance inspection system.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, a maintenance inspection work route formed by discretely arranging these electronic storage media, and moving along the maintenance inspection work route A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium and acts according to the work instructions,
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, The moving direction display, comprising: a camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes a direction indicated by the moving direction display, and is recognized by the image processing device. The instruction direction on the image is displayed on the remote operation monitor, and after the operator switches the maintenance inspection robot from automatic operation to remote operation, the operator can remotely move to the installation position of the electronic storage medium to return to the original automatic operation. When the maintenance / inspection robot is moved by operation, the finger on the moving direction display image recognized by the image processing apparatus is viewed while viewing the display on the remote operation monitor. The direction of the maintenance / inspection robot is changed by remote control so that the direction becomes a predetermined direction, and the instruction direction of the movement direction display is configured to match the direction in which the maintenance / inspection robot faces. Maintenance inspection system.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, a maintenance inspection work route formed by discretely arranging these electronic storage media, and moving along the maintenance inspection work route A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium and acts according to the work instructions,
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot The two antennas of the electronic storage medium reading device provided on the side each have an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. The identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, and one or more electrons located on one side of the central part The identification information for orientation of the storage medium is read only through one of the two antennas, and one or more electronic storage media located on the other side of the central portion are read. The identification information for facing is arranged so as to be read only through the other antenna of the two antennas, and the operator switches the maintenance / inspection robot from automatic operation to remote operation and then returns to the original automatic operation. When the maintenance / inspection robot is moved to the installation position of the electronic storage medium by remote control, the maintenance / inspection robot receives the identification information for orientation only from the central electronic storage medium via the one antenna. When the identification information for orientation is read only from the central electronic storage medium via the other antenna, the maintenance inspection robot is not oriented in the direction of the electronic storage medium to be read next. And automatically turning and using the two antennas the identification information for orientation of one or more electronic storage media located in the central portion. The identification information for alignment of one or more electronic storage media located on one side of the central portion is read only through one of the two antennas, and is located on the other side of the central portion. When the identification information for orientation adjustment of one or a plurality of electronic storage media is read only through the other antenna of the two antennas, the maintenance inspection robot determines the direction of the electronic storage media to be read next. A maintenance / inspection system configured to stop the turning when it is judged to be suitable.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded, a maintenance inspection work route formed by discretely arranging these electronic storage media, and moving along the maintenance inspection work route A maintenance inspection system comprising a maintenance inspection robot that reads the read data from each electronic storage medium and acts according to the work instructions,
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, and direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot side Each of the two antennas of the electronic storage medium reading device provided has an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. When the identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, one or more electronic storage media located on one side of the central part The direction identification information is read only through one of the two antennas, and the direction information of one or more electronic storage media located on the other side of the central portion is read. The identification information for use is arranged so as to be read only through the other antenna of the two antennas, and the identification information for alignment of the electronic storage medium read through the two antennas is displayed on the remote control monitor, After the operator switches the maintenance / inspection robot from automatic operation to remote operation, the remote inspection operation moves the maintenance / inspection robot to the installation position of the electronic storage medium in order to return to the original automatic operation. As seen from the display on the operation monitor, the direction identification information is read only from the central electronic storage medium via the one antenna, and only from the central electronic storage medium via the other antenna. When it is confirmed that the alignment identification information has been read, the maintenance inspection robot is not facing the direction of the electronic storage medium to be read next. The maintenance / inspection robot is turned by remote operation, and the direction identification information is read from the electronic storage medium in the central portion via the two antennas, and is positioned on one side of the central portion. The identification information for orientation of one or more electronic storage media is read only via the one antenna, and the identification information for orientation of one or more electronic storage media located on the other side of the central portion is read by the other The maintenance inspection is configured to stop the turning by determining that the maintenance inspection robot is facing the direction of the electronic storage medium to be read next after confirming that the reading is performed only through the antenna system.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, and the maintenance / inspection robot is moved along the maintenance / inspection work route, In the maintenance and inspection method for causing the maintenance and inspection robot to perform work based on the read data from each electronic storage medium,
The electronic storage medium is also recorded with the orientation of the installation position of the electronic storage medium to be read next, and is provided with an absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot. After switching from automatic operation to remote operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the maintenance inspection robot detects the absolute direction. A maintenance / inspection method characterized in that the direction of the maintenance / inspection robot itself detected by the means is automatically changed to match the orientation of the electronic storage medium to be read next read from the electronic storage medium.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, and the maintenance / inspection robot is moved along the maintenance / inspection work route, In the maintenance and inspection method for causing the maintenance and inspection robot to perform work based on the read data from each electronic storage medium,
The electronic storage medium also records the orientation of the installation position of the electronic storage medium to be read next, and includes absolute orientation detection means for detecting the absolute orientation of the maintenance inspection robot, and is detected by the absolute orientation detection means. The direction of the maintenance inspection robot itself and the orientation of the installation position of the electronic storage medium to be read next read from the electronic storage medium are displayed on a remote operation monitor, and the operator starts the maintenance inspection robot from automatic operation. After switching to the remote operation, when the maintenance inspection robot is moved to the installation position of the electronic storage medium by remote operation to return to the original automatic operation, the remote operation is performed by looking at the display on the remote operation monitor. Changing the direction of the maintenance / inspection robot so that the direction of the maintenance / inspection robot itself matches the direction of the installation position of the electronic storage medium to be read next Maintenance and inspection method which is characterized.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, and the maintenance / inspection robot is moved along the maintenance / inspection work route, In the maintenance and inspection method for causing the maintenance and inspection robot to perform work based on the read data from each electronic storage medium,
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, A camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes the direction indicated by the moving direction display. After switching to the operation, when the maintenance inspection robot is moved remotely to the installation position of the electronic storage medium in order to return to the original automatic operation, the moving direction display is imaged by the camera. An image signal is image-processed by the image processing device to recognize a direction indicated by the moving direction display, and the maintenance inspection robot is moved by the image processing device. Maintenance inspection characterized by automatically changing the direction so that the indicated direction on the display image becomes a predetermined direction, and matching the indicated direction of the moving direction display with the direction of the maintenance inspection robot Method.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, and the maintenance / inspection robot is moved along the maintenance / inspection work route, In the maintenance and inspection method for causing the maintenance and inspection robot to perform work based on the read data from each electronic storage medium,
Next, a moving direction indication indicating the direction of the electronic storage medium to be read is displayed on the surface of the electronic storage medium, the surface of the plate provided in the vicinity of the electronic storage medium, or the floor near the electronic storage medium, The moving direction display, comprising: a camera that captures the moving direction display; and an image processing device that processes an image signal of the camera and recognizes a direction indicated by the moving direction display, and is recognized by the image processing device. The instruction direction on the image is displayed on the remote operation monitor, and after the operator switches the maintenance inspection robot from automatic operation to remote operation, the operator can remotely move to the installation position of the electronic storage medium to return to the original automatic operation. When the maintenance / inspection robot is moved by operation, the finger on the moving direction display image recognized by the image processing apparatus is viewed while viewing the display on the remote operation monitor. A maintenance / inspection method characterized by matching the indicated direction of the movement direction and the direction of the maintenance / inspection robot by changing the direction of the maintenance / inspection robot by remote control so that the direction becomes a predetermined direction. .

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, and the maintenance / inspection robot is moved along the maintenance / inspection work route, In the maintenance and inspection method for causing the maintenance and inspection robot to perform work based on the read data from each electronic storage medium,
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot The two antennas of the electronic storage medium reading device provided on the side each have an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. The identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, and one or more electrons located on one side of the central part The identification information for orientation of the storage medium is read only through one of the two antennas, and one or more electronic storage media located on the other side of the central portion are read. The identification information for facing is arranged so as to be read only through the other antenna of the two antennas, and the operator switches the maintenance / inspection robot from automatic operation to remote operation and then returns to the original automatic operation. When the maintenance / inspection robot is moved to the installation position of the electronic storage medium by remote control, the maintenance / inspection robot receives the identification information for orientation only from the central electronic storage medium via the one antenna. When the identification information for orientation is read only from the central electronic storage medium via the other antenna, the maintenance inspection robot is not oriented in the direction of the electronic storage medium to be read next. And automatically turning and using the two antennas the identification information for orientation of one or more electronic storage media located in the central portion. The identification information for alignment of one or more electronic storage media located on one side of the central portion is read only through one of the two antennas, and is located on the other side of the central portion. When the identification information for orientation adjustment of one or a plurality of electronic storage media is read only through the other antenna of the two antennas, the maintenance inspection robot determines the direction of the electronic storage media to be read next. A maintenance / inspection method characterized in that the turning is stopped when it is judged to be suitable.

A plurality of electronic storage media in which read data having at least work instructions and identification information are recorded are discretely arranged to form a maintenance / inspection work route, and the maintenance / inspection robot is moved along the maintenance / inspection work route, In the maintenance and inspection method for causing the maintenance and inspection robot to perform work based on the read data from each electronic storage medium,
Three or more electronic storage media are arranged in a line at each position on the maintenance / inspection work route, and direction identification information is recorded on each of the three or more electronic storage media, and the maintenance / inspection robot side Each of the two antennas of the electronic storage medium reading device provided has an elliptical communication area, and the communication areas overlap each other in the horizontal direction so that the maintenance inspection robot faces the electronic storage medium to be read next. When the identification information for orientation of one or more electronic storage media located in the central part of the array is read via the two antennas, one or more electronic storage media located on one side of the central part The direction identification information is read only through one of the two antennas, and the direction information of one or more electronic storage media located on the other side of the central portion is read. The identification information for use is arranged so as to be read only through the other antenna of the two antennas, and the identification information for alignment of the electronic storage medium read through the two antennas is displayed on the remote control monitor, After the operator switches the maintenance / inspection robot from automatic operation to remote operation, the remote inspection operation moves the maintenance / inspection robot to the installation position of the electronic storage medium in order to return to the original automatic operation. As seen from the display on the operation monitor, the direction identification information is read only from the central electronic storage medium via the one antenna, and only from the central electronic storage medium via the other antenna. When it is confirmed that the alignment identification information has been read, the maintenance inspection robot is not facing the direction of the electronic storage medium to be read next. The maintenance / inspection robot is turned by remote operation, and the direction identification information is read from the electronic storage medium in the central portion through the two antennas, and is positioned on one side of the central portion. The identification information for orientation of one or more electronic storage media is read only via the one antenna, and the identification information for orientation of one or more electronic storage media located on the other side of the central portion is read by the other If it is confirmed that the data is read only through the antenna, the maintenance inspection method determines that the maintenance inspection robot faces the direction of the electronic storage medium to be read next, and stops the turning.