JP2000197441A - Work vehicle for underfloor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underfloor work vehicle loading a tank for storing a chemical agent, capable of being freely traveled by the use of a wireless circuit, a TV camera and a monitor display, used for controlling termites, etc., and having excellent travel stability even on an uneven road surface at a low cost. SOLUTION: This underfloor work vehicle loading a tank for storing a chemical agent and capable of being freely traveled using a wireless circuit, a TV camera and a monitor display is provided with a travel means comprising at least three independently suspended and all-driven wheels, with a laser pointer 10 and an ultrasonic wave generating means 11 for expressing the direction of the vehicle frame, and, if necessary, further with an emulsifying and dispersing means and/or a hammering diagnostic means. The underfloor work vehicle can eliminate the problems of self-traveling vehicles for spraying chemical agents, and can efficiently spray the chemical agent under the floors.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can safely and efficiently spray (spray) chemicals such as termiticides, preservatives, paints and disinfectants under the floor of a building such as a wooden house. The present invention relates to an underfloor work vehicle capable of detecting a state of damage caused by a pest of a building or a cavity caused by corrosion.

[0002]

2. Description of the Related Art Conventionally, there is a chemical method as one of the methods for preventing damage to buildings such as houses by pests such as termites and bark beetles. This is a method of using a building member that has been treated in advance with a chemical such as a termiticide or a preservative, or spraying or applying a chemical to a wooden part under the floor of a building and / or about 1 m from the floor rising. .

In the latter method, an operator wears a protective mask, goes under the floor, and sprays or applies a medicine. However, this method is unfavorable for the health of workers due to long hours of work while the medicine is being filled.
In addition, in the case of existing buildings, some have extremely low floors ignoring the Building Standards Law, and have a problem in terms of work efficiency. In addition, this construction method requires visual observation of the state of damage or corrosion of the building, making it difficult to obtain objective and accurate information.

[0004]

As an improvement over the above prior art, Japanese Patent Laid-Open No. 7-95841 discloses a television camera, an illuminating lamp, a nozzle for injecting a pesticide, etc., which can be remotely operated by a monitor. It is proposing an underfloor pest control vehicle equipped with it. However, the underfloor pest control vehicle is driven by a front wheel equipped with an electric steering device and a rear wheel connected to the driving device, so that the vehicle cannot be driven if the vehicle runs over an uneven road surface and fails to straddle. Disadvantages.

Japanese Patent Application Laid-Open No. 7-197554 discloses an apparatus for using a termite control agent for underfloor termites of a building equipped with a termite-controlling agent tank and having a transmitting / receiving radio circuit and a self-propelled means. In addition, an autonomous mobile intelligent work robot that connects a transmission / reception control computer and a wireless modem to the host is proposed. However, as a result of pursuing advanced functions such as arithmetic functions (CPU memory), the work robot is expensive, large in size and increased in weight, and leaves a problem in workability under the floor where small turns are difficult. Further, the work robot has a risk of malfunction due to the influence of electromagnetic waves from a television, a personal computer, a mobile phone, a microwave oven and the like in the home. Also, the work robot has a mechanism in which a pair of horizontally revolving caterpillars are driven by a DC gear motor. Therefore, when the work robot encounters an uneven floor surface under the floor, it becomes unstable and rolls over, or a foreign object such as a discarded wire. And the vehicle may become unable to travel.

The above-mentioned prior art discloses a method of catching a living sound peculiar to a termite with an acoustic sensor as one of means for detecting the existence part of the termite. However, the disclosed method is a method of indirectly knowing the existence of cavities and gaps due to damage and corrosion of termites, and has a disadvantage that it is difficult to obtain accurate information due to living sounds and external noise.

The present invention solves the various drawbacks of the self-propelled drug spraying technology as described in the above-mentioned prior art.
Small and inexpensive with excellent running stability even on uneven road surfaces,
Moreover, it is an object of the present invention to provide a self-propelled under-floor work vehicle capable of detecting, as necessary, a state of damage to a building or a cavity due to corrosion.

[0008]

According to the present invention, the above object can be attained by the following underfloor work vehicle. In other words, the present invention is a traveling means equipped with a drug storage tank, a traveling means having wheels composed of at least three wheels on one side independently suspended and all-wheel driven in a underfloor working vehicle freely traveling by a radio circuit, a television camera and a monitor, and a vehicle body. The present invention relates to an underfloor work vehicle including a laser pointer indicating a traveling direction and a traveling surface confirmation unit including an ultrasonic transmission unit.

[0009] The underfloor working vehicle of the present invention is provided with an emulsifying and dispersing means, for example, an ultrasonic transmission element, in a medicine storage tank for the purpose of further homogenizing the medicine emulsion as required.
An emulsifying and dispersing means comprising a conduit for introducing a drug can be provided in the parabolic mirror for focusing the ultrasonic waves and the ultrasonic excitation section focused by the parabolic mirror.

[0010] The underfloor work vehicle of the present invention is a hammering diagnosis means, particularly a boom extension / storage for the purpose of grasping the damage situation of a building by termites or the presence of a cavity due to corrosion, if necessary. It is possible to add a tapping sound diagnosis means using a coil made of a shape memory alloy.

[0011]

[Function] The under-floor work vehicle working under the floor monitors the image based on the image of the provided TV camera. However, there is a possibility that the moving direction of the vehicle body and the positional relationship between the front and rear may be lost in the image from the television camera moving in all directions and up and down regardless of the vehicle body. Therefore, in the present invention, the traveling direction can be confirmed by a method in which the television camera captures the laser light from the pair of left and right laser light transmitters mounted in a direction parallel to the traveling direction of the vehicle body, that is, the laser pointer. Further, the relationship between the direction of the vehicle body and the monitor television can be confirmed by monitoring the strength of the sound waves emitted from two types of ultrasonic wave transmitting means having different frequencies provided in front and behind the vehicle body.

[0012] The underfloor work vehicle of the present invention is provided with a wheel composed of at least three wheels on one side which is independently suspended and driven by all wheels.
Stable and reliable running is guaranteed even on complex uneven road surfaces. As the number of wheels increases, the load applied to each wheel decreases, and the distribution of the inclination angle with respect to the uneven surface is averaged, which is more advantageous in keeping the body level.

[0013] The addition of the emulsifying and dispersing means means that the medicine can be more uniformly dispersed on the target building, that the medicine having poor emulsification stability can be used with ease, and that the use of additives such as an emulsion stabilizer can be reduced. Has advantages.

The addition of the tapping sound diagnostic means enables the user to know the damage status (e.g., food damage, cavities, etc.) of the building in conjunction with the spraying of the medicine, and is extremely effective in damage control.

[0015]

EXAMPLES The present invention will be specifically described. FIG. 1 is a perspective view of an underfloor work vehicle 1 of the present invention. FIG. 2 is a detailed plan view of the wheel drive unit. FIG. 3 is a detailed side view of the wheel drive unit. Each of the wheels 2 (2a, 2b, 2c, 2d) includes an independent suspension mechanism 23 as shown in FIG. The wheels 2 transmit a thrust from a drive motor (not shown) for independently driving left and right wheels stored in a box 50 provided behind the vehicle body, a transmission shaft 24, a worm gear 20, and a worm wheel 2.
It is driven by a mechanism that informs 5. The course change of the vehicle body can be performed only by changing the rotation direction of the left and right drive motors without requiring a special steering mechanism.

FIG. 4 is a front view of the underfloor work vehicle of the present invention. A base 3 which is freely movable in the horizontal and vertical directions by a horizontal rotation motor 4 and a vertical drive motor 5 is provided at an upper part of the vehicle body. A TV camera (C
A CD camera 6, a medicine spray nozzle 9, a tapping sound diagnosing means 8 and the like are provided. Reference numeral 7 denotes a wiper for removing dirt from the lens of the television camera, and reference numeral 12 denotes an illuminator. The television camera 6 is coaxially linked with the illuminator 12 and can clearly capture an object in a dark portion under the floor. The information of the television camera can be received by a monitor (television) at hand of the remote operator via a transmitter (not shown) stored in a box 50 provided at the rear of the vehicle body. By remote control of the horizontal rotation motor 4 and the vertical drive motor 5, various parts inside the underfloor can be projected, and the medicine can be surely sprayed to the target portion via the medicine spray nozzle. The agent used in the present invention is not particularly limited, and may be appropriately selected depending on the purpose, such as termite control, insect repellent, and preservative. For example, chlorbicphos, phoxime and other organic phosphorus-based or insecticide and insecticide such as hiba oil and tar-based preservatives. Agents can be exemplified. The drug is used as it is or in the form of an emulsion or suspension diluted with an organic solvent or water.

The traveling direction of the vehicle body is confirmed by laser light emitted from a pair of left and right laser pointers 10. The projection angle of the laser beam from the laser pointer 10 has a slight dip so that the building surface (base, pillar, etc.) corresponding to the traveling road surface and the traveling path can be projected. Numeral 11 denotes an ultrasonic wave transmitting means, and a monitor can confirm the orientation relationship with the television camera 6 on the base 3 with another ultrasonic wave transmitting means provided at the rear part having a different frequency. That is, the present invention can be implemented by monitoring and receiving the strength of sound waves transmitted from two types of ultrasonic wave transmitting means having different frequencies provided in front and behind the vehicle body. With this running surface checking means, the situation inside the floor can be accurately grasped even from the image on the monitor, and the work vehicle can be freely guided to a target place by remote control.

FIGS. 5 and 6 are a detailed side view and a perspective view of the emulsifying and dispersing means. The pump 16 guides the medicine in the medicine storage tank 13 to the medicine spray nozzle 9. In the medicine storage tank 13, a parabolic mirror 150 in the shape of a cone that focuses ultrasonic waves radiated from the ultrasonic transmitting element 14 stored in a box 50 (not shown) provided at the rear of the vehicle body, and the parabolic mirror 150 A conduit 15 is provided in the excitation section at which the maximum focusing density is obtained. The drug passing through the conduit 15 is excited and becomes a more finely divided emulsion.

The hitting sound diagnosing means 200 comprises a diagnosing section and a boom. FIG. 7 is a plan view (cross section XX of FIG. 8) of the diagnostic unit. Reference numeral 17 denotes a megaphone-shaped or bowl-shaped container for blocking external noise. The material of the container 17 is not particularly limited as long as it can be in close contact with the sample, and examples thereof include a soft synthetic resin, natural or synthetic rubber, and the like. Reference numeral 18 denotes a percussion machine made of an electromagnetic solenoid, and 19 denotes a microphone that collects diagnostic sounds. The sound waves collected by the microphone 19 are transmitted from a transmitter (not shown) stored in a box 50 provided at the rear of the vehicle body to a receiver at hand of an operator, and the waveform is analyzed by a spectrum analyzer. From the results of the waveform analysis, the damage of the termites and the like and the state of corrosion (cavities, gaps, cracks, etc.) can be determined.

FIG. 8 is a structural view of the boom. The hitting sound diagnosing means 200 can be stored below the medicine spraying nozzle 9 so as not to disturb the medicine spraying nozzle 9 during the spraying of the medicine. It is joined to the spherical joining member 24 at the tip of the boom 8 having the function of extending closer to the site. The boom 8 includes an outer shaft A and an inner cylinder B. A coil a and a coil b are disposed in the inner cylinder B. In order to quickly extend and store the boom 8, it is preferable to use a shape memory alloy coil that operates at different temperatures as the coil a and the coil b. The extension of the boom 8 is performed by raising the temperature of the coil b to the shape-memory temperature by means of energization heat generation or heating of a heat source by an optical cable. On the other hand, the storage of the boom 8 may wait for the natural contraction of the coil b due to leaving cooling.
The coil a is heated and extended by the same method as in the case of the extension of the coil b, and the contraction time of the coil b can be reduced by this force. Since the tapping sound diagnosis means of the present invention does not use a power machine such as a motor, the hitting sound diagnosis means has an advantage that it can be made compact and space-saving, and has less trouble occurrence.

[0021]

According to the present invention, the underfloor work vehicle is self-propelled and the medicine is sprayed automatically, so that it is not necessary for the worker to go under the floor and spray the medicine as in the conventional case, and the worker can be sprayed. Does not impair health. Further, according to the present invention, 1) since three or more wheels are provided on one side, each of which is independently suspended and driven by all the wheels, it is possible to run stably even on an uneven road surface.
By providing the running surface confirmation means including the laser pointer and the ultrasonic wave transmitting means, the work vehicle can be guided freely even by remote control. 3) By adding the emulsifying and dispersing means, the medicine can be sprayed more effectively. 4) The addition of the tapping sound diagnosis means has various advantages such as making it easy to take measures against damage.

[Brief description of the drawings]

FIG. 1 is a perspective view of an underfloor work vehicle according to the present invention.

FIG. 2 is a detailed plan view of a wheel drive unit.

FIG. 3 is a detailed side view of a wheel drive unit.

FIG. 4 is a front view of the underfloor work vehicle of the present invention.

FIG. 5 is a detailed sectional view of the emulsifying and dispersing means.

FIG. 6 is a perspective view of the emulsifying and dispersing means.

FIG. 7 shows a diagnosis unit of a tap sound diagnosis unit.

FIG. 8 is a structural diagram of a boom portion of the tapping sound diagnosing means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Underfloor work vehicle 2 (2a, 2b, 2c, 2d) Wheel 8 Boom 10 Laser pointer 11 Ultrasonic transmission means 13 Drug suspension tank 14 Ultrasonic transmission element 15 Conduit 150 Parabolic mirror 200 Hit sound diagnosis means

Claims (5)

[Claims] 1. An underfloor work vehicle equipped with a medicine storage tank and freely traveling by a radio circuit, a television camera and a monitor, a traveling means including wheels composed of at least three wheels on one side independently suspended and driven by all wheels, and a vehicle body An underfloor work vehicle comprising: a running surface confirmation unit including a laser pointer indicating a traveling direction and an ultrasonic transmission unit. 2. An underfloor working vehicle according to claim 1, wherein an emulsifying and dispersing means is added to the medicine storage tank of the underfloor working vehicle. 3. A parabolic mirror for emulsifying and dispersing an ultrasonic wave, and a conduit for introducing a drug is disposed in an ultrasonic excitation section focused by the parabolic mirror. An underfloor working vehicle according to claim 2. 4. The underfloor work vehicle according to claim 1, 2 or 3,
An underfloor working vehicle, characterized by adding a tapping sound diagnostic means for detecting a pest eating state or a cavity caused by corrosion. 5. The underfloor working vehicle according to claim 4, wherein the boom of the hammering diagnosis means is extended and retracted and stored by a coil made of a shape memory alloy.