JP2001179668A - Robot system for coping with accident - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot system for coping with accident capable of ensuring safety of workers and coping with various accidents quickly and flexibly. SOLUTION: Several movable robots including at least one robot for monitoring 10a, 10b which has a monitoring means such as a sensor to collect environmental information loaded to invest an accident spot or its surrounding or a travel route to the accident spot or a situation around there and at least one robot for working 10c, 10b which has a manipulator loaded to perform predetermined works are prepared. The robot for working 10c, 10b having a suitable function is selected on the basis of invested results by the robot for monitoring 10a, 10b or on the basis of invested results by a sensor mounted on the accident spot or its surrounding by the robot for working 10c, 10d to be brought into action from a command vehicle 1 to the accident spot.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to disasters such as fires or earthquakes at various plant facilities, which are used to understand the situation of incidents, suppress events from the viewpoint of preventing damage from spreading, save lives,
The present invention relates to a robot system for efficiently performing a series of operations related to a recovery operation at an occurrence site.

[0002]

2. Description of the Related Art Hitherto, various types of robots have been developed in order to deal with accidents that occur in a plant and cannot be approached by humans. As represented by extreme working robots, various kinds of robots for oil plants, nuclear plants, and submarine plants have already been developed. However, few are commercialized and widely used. This is because the environment of the place of use is limited, or the accident (work) that can be dealt with is limited.

[0003] With respect to this type of robot, if a person is left behind at the accident site or if it is unattended, an accident will cause a fire,
In the case of gas leaks, liquid leaks, radiation leaks or a combination thereof, if there is a possibility that harmful substances will be released to the outside, if there is a possibility that the atmosphere at the accident site may explode or generate harmful substances. If not, if the utilities and electricity provided in the plant are available, if not, if the site is closed (by doors, etc.)
In other cases, different functions are required in each case, such as when the distance to the site, the passage, the space at the site, and the floor condition can be dealt with by the wheeled robot.

[0004] It is impossible to handle all of these differences in accident situations with a single robot that is currently being developed. In addition, preparing a robot corresponding to the difference between these accident situations poses significant problems in terms of management and maintenance and cost. For this reason, many plants today
There is a need for a robot system that can flexibly respond to these differences in accident situations, and that is simple and easy to use.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and has been developed in order to grasp the accident situation by remote operation for an accident that cannot be approached by a person in a plant.
Provide a flexible system that responds safely, promptly and efficiently according to the accident situation, and is not limited to the environment of the place of use and the nature of the accident, and an accident response robot system that is simple and easy to use It is intended to provide.

[0006]

In order to achieve the above object, the present invention is provided with a monitor means for collecting environmental information, and investigates the state of the accident point or its surroundings, or the movement route to the accident point or its surroundings. A plurality of mobile robots including at least an integrated monitoring robot that performs a predetermined operation, and a plurality of mobile robots including a manipulator, and a first communication unit that performs communication between the mobile robot and the mobile robot A second communication unit capable of two-way communication with a predetermined command base, a control device for remotely controlling the mobile robot via the first communication unit, and a storage unit for storing the mobile robot And a means for moving the command base, the control base comprising: Tsu bets based on the findings by the accident point or sensor installed around the way, the work robot having the proper features provide emergency response robot system, characterized in that it is selected.

[0007] The system may further include a power generation means or a power supply means for supplying power to the mobile robot and the first and second communication means.

[0008] The control device may include an overall control unit that determines a work procedure of each of the mobile robots based on information on an accident point or a surrounding area obtained by the monitoring robot. Can be.

[0009] Further, the storage section includes a housing having a door in which the mobile robot is stored and through which the mobile robot passes, and a seal provided around a door outside the housing and capable of airtightly adhering to a wall surface. And a mechanism.

The system is provided around a door that houses the mobile robot and has a door through which the mobile robot passes, means for lifting and lowering the storage body, and a door outside the storage body. In addition, it is possible to further comprise a movable intrusion support means having a sealing mechanism capable of airtightly adhering to the wall surface.

At least one of the monitoring robots is equipped with a sensor for acquiring environmental information around the monitoring robot and a communication device capable of communicating with a first communication device of the command base. A first robot having a function of collecting environmental information at or around an accident point or a moving route to or around the accident point and transmitting the information to the command base, and at least one of the working robots A second robot equipped with the manipulator, a sensor for acquiring environment information for controlling the movement of the work robot, and a communication device capable of communicating with a first communication device of the command base. , The first
And the second robot acquires environment information from different positions and transmits the information to the command base, and the control device of the command base is obtained by at least one sensor of the first and second robots. Based on the obtained environment information, a command can be issued to the second robot to perform the work.

At least one of the working robots may be equipped with a relay module for relaying communication between the mobile robot and the command base. In this case, the working robot Installs the relay module at an appropriate point between the command base and the accident location.

[0013] The system may further comprise a local sensor module fixed to the accident point or its vicinity or a moving route to the accident point or its vicinity, and transmitting the acquired environmental information to the command base. In this case, at least one of the working robots has the local sensor module mounted thereon in a state that the local sensor module can be separated from the working robot. The local sensor module can be installed on a movement route to or around the movement route. Note that a relay module that relays communication performed between the mobile robot and the command base may be attached to the local sensor module.

[0014] The local sensor module may be provided with a power supply unit having a solar cell or power generation means.

Further, at least one of the monitoring robots is provided with an image acquiring means and a distance measuring means, and the control device is configured to execute an accident based on information from the image acquiring means and the distance measuring means. A function of creating and displaying two-dimensional information or three-dimensional information of a point or its surroundings may be provided.

Further, the present system has a video acquisition means and a distance measurement means, and is a local sensor fixed to the accident point or its vicinity, or a moving route to the accident point or its vicinity, and transmitting an environmental condition to the command base. A module may be further provided, and at least one of the monitoring robots may be configured to include an image acquisition unit and a distance measurement unit,
The control device creates and displays two-dimensional information or three-dimensional information at or near the accident site based on information transmitted from the image acquisition unit and the distance measurement unit of the local sensor module and the monitoring robot. It can also have the function of performing

Here, the control device transmits the data such as temperature, radiation dose, harmful substance concentration and the like acquired by the sensor mounted on the local sensor module and the sensor mounted on the monitoring robot to the two-dimensional information. Alternatively, it is preferable to have a function of superimposing and displaying the three-dimensional information. Further, it is preferable that the control device has a function of displaying a change with time of the accident situation.

Further, the control device displays the information transmitted from a sensor mounted on the mobile robot or a local sensor module attached to a predetermined location in a manner superimposed on information from the sky such as aerial photograph data. A means for performing a mapping process may be provided.

Further, the present system can further comprise a movable support robot for assisting at least one of the mobile robots, and the support robot is provided with a device mounted on the mobile robot. A spare device or a replacement device, a means for supplying power to the mobile robot, or a replacement battery is mounted.

At least one of the mobile robots may be provided with a means for installing a landmark or a means for guiding the mobile robot.

The system may further comprise a local sensor module which is fixed on or around the accident point or around the movement route to or near the accident point, and transmits the environmental status to the command base. In this case, in this case, the local sensor module is a unitized sensor unit that senses environmental information around the local sensor module, and a unitized unit that is coupled to the sensor unit and adjusts the position and orientation of the sensor unit. A moving mechanism unit, and a fixture coupled to the moving mechanism unit for attaching the sensor unit and the moving mechanism unit to a structure, wherein the sensor unit, the fixture and the moving mechanism unit are coupled and It is preferable that they are connected to each other via a separating means capable of being separated.

The system may further comprise a local sensor module which is fixed on or around the accident point or around the moving route to the accident point or transmits the environmental situation to the command base. The local sensor module includes a sensor that senses environmental information around the local sensor module, a unitized sensor unit having a signal processor that processes a signal detected by the sensor, and the sensor unit. And a shutter which can be opened and closed for protection.

The monitoring robot has a flight means,
A robot having a sensor attached to the flight means may be included.

Further, a display means for displaying information acquired by a sensor may be provided at least integrally with the monitoring robot.

Further, means for collecting at least one of gas, floating dust, liquid, surface deposits, and solids can be provided at least integrally with the mobile robot.

Further, at least integrally with the monitoring robot, a radiation resistant camera may be provided as a visual sensor, and a dose equivalent rate measuring device for γ-rays, X-rays and neutrons may be provided as a radiation sensor.

At least one of the mobile robots may be provided with a sensor unit connected to a plurality of sensors or a long sensor unit capable of measuring distribution, which can be separated from the mobile robot. A robot lays down while moving the sensor means.

At least one of the mobile robots can be provided with a plurality of sensors having communication means and a power supply which can be separated from the mobile robot, and in this case, the mobile robot moves the sensors. In addition, it is possible to mount at least one of the mobile robots with a moving path that can be separated from the mobile robot and a sensor that can move the moving path. After the mobile robot is installed while moving along the moving path, a sensor can move along the moving path to perform measurement.

Also, at least one of the mobile robots can be configured by arranging electronic devices in a space surrounded by a lead storage battery.

[0030] The first communication means can be configured to include a flexible signal transmission member in a transmission path of the communication signal. In this case, the signal transmission member is near the accident site. A communication signal is transmitted from one side of the door to the opposite side. Further, the first communication means may further include two wireless communication transmitting / receiving sections electrically connected to each other by the signal transmission member. Are disposed on one side and the opposite side of the door, respectively.

Further, the system can further include a power supply unit installed near a moving area of the mobile robot, and at this time, the mobile robot has
It is preferable to include a unit for receiving power from the power supply unit. Here, the power supply unit can be electrically connected to a power generation unit or another power source provided at the command base by a power cable, and at least a part of the power cable has flexibility. The flexible portion can be configured to transmit power from one side of the door near the accident site to the opposite side.

[0032] The work robot may be provided with a door operating device that can be installed on the door or its periphery independently of the work robot and that can be remotely operated to open a door of a building. Can be. The door operating device,
It is also preferable to have a function of opening and closing the door. Further, the door operation device can be configured to include a knob turning module for turning a knob of the door, and a door driving module for driving the door.

Further, the manipulator of the working robot has a function of turning a knob of the door, while the door operating device has a door driving module for driving the door. While turning the knob, the door operating device drives the door to execute the operation of opening the door.

The door operating device may include a fixing means capable of installing the door operating device itself on the door or a structure at a peripheral portion thereof. The fixing can be performed by at least one of vacuum suction, adhesion, and welding.

Further, the fixing means includes: a suction disk for fixing the door operating device on the door or a structure at a peripheral portion thereof; a container having an internal pressure reduced to below atmospheric pressure; And a valve that opens and closes the flow path.

[0036]

Embodiments of the present invention will be described below with reference to the drawings.

[First Embodiment] FIG. 1 is a diagram showing a configuration of an accident response robot system (hereinafter, also simply referred to as "system") according to a first embodiment of the present invention.

This system includes a plurality of self-propelled mobile robots. The mobile robot is equipped with (1) a monitoring means for collecting environmental information, and a monitoring robot for investigating a state of the accident point or its vicinity, a moving route to the accident point or its surroundings, and (2) a manipulator. , And at least an integrated work robot that performs a predetermined operation on or around the accident site or on the movement route to or near the accident site.

It is needless to say that a robot having both a function as a monitoring robot and a function as a working robot is included.

In this embodiment, this system includes a monitoring robot 10a and a measuring robot 10b as monitoring robots, and a light working robot 10c and a heavy working robot 10d as working robots. ing.

It should be noted that here, the monitoring robot 1
Reference numeral 0a denotes a robot equipped with sensors for performing measurements for simply determining the situation at the accident site, and the measurement robot 10b performs surveying for obtaining detailed information at the accident site.
This is a robot equipped with measurement and image acquisition means. Also, here, the light work robot 10c and the heavy work robot 1
The difference of 0d is distinguished by the magnitude of the output.

In the following description, each robot 10
When there is no need to distinguish between types a to 10d, it is simply referred to as “mobile robot (or mobile robot 10)”.

The system includes a storage / control command vehicle (command base) 1 (hereinafter, simply referred to as “command vehicle 1”). The command vehicle 1 is connected to a towing vehicle 130 as moving means for moving the command vehicle 1. The towing vehicle 130 can move on a road or on uneven ground by itself or while the towing vehicle 1 is towed.

The command vehicle 1 may be formed in a container shape without wheels, and the towing vehicle 130 may be a transport device such as a truck on which the container command vehicle can be mounted.
The command vehicle 1 itself may be able to run by itself. That is, the command vehicle 1 and the towing vehicle 130 can be appropriately replaced with a combination of a member such as an appropriate housing having a function of storing the mobile robot 10 and a command function and an appropriate means for moving the member. .

A storage section 140 for storing the mobile robot 10 is provided at the rear of the command vehicle 1. A control device 120 that controls the operation of each mobile robot 10 and processes data transmitted from the mobile robot is mounted on the front of the command vehicle 1. Control device 120
Has an overall control unit 170. This general control unit 1
70 has a function of drafting a work plan and the like as described later.

Further, the command vehicle 1 has an external communication device 110 for two-way communication with a command base provided at a position distant from the accident site, such as a disaster response headquarters or a disaster prevention center.
Is provided. Further, the towed vehicle 131 includes a communication device 100 that transmits a control signal for remotely controlling the mobile robot 10 generated by the robot control device 120 to the mobile robot and receives information transmitted from the mobile robot 10. Is provided.

Below the floor of the command vehicle 1, a generator 150 is mounted as power supply means. The generator 150 includes the control device 120, the overall control unit 170, the communication devices 100 and 110
Supply driving power. Further, the generator 150 can supply power to the charger 160 installed in the storage section 140. The charger 160 is used to charge the battery 13 mounted on each mobile robot 10. That is, the generator 150 can supply power to all devices required for this system.

Next, the operation will be described.

When an accident occurs, first, the external communication device 110
Thus, for example, accident information is received from the disaster prevention center, the accident situation is grasped, the type and the number of the required mobile robots 10 are selected based on the accident information, and stored in the storage section 140 of the command vehicle 1. Further, information on the accident is stored in a storage device (not shown) provided in the overall control unit 170.

Next, the command vehicle 1 is towed and moved by the towing vehicle 130 from the deployed location to the vicinity of the accident location. During the movement, accident information is continuously collected using the external communication device 110, and new information is further accumulated in a storage device provided in the general control unit 170. The control device 120, the communication device 100, and the charger 160 are operated by the electricity generated by the generator 150,
At the same time as charging the battery 13 of each mobile robot 10, the operation of each mobile robot 10 is confirmed.

When the vehicle arrives near the location of the accident, a control signal is sent from the control device 120 to each mobile robot 10 via the communication device 100, and each mobile robot 10
Get off the ground from 40.

Next, first, the monitoring robot 10a of the mobile robots 10 is moved to the vicinity of the building where the accident has occurred. The monitoring robot 10a monitors the state from the command vehicle 1 to the location where the accident occurred and the location where the accident occurred and its vicinity by using the sensor 11 (for example, a television camera or a radiation detector) mounted on the monitoring robot 10a. The signal shown is transmitted to the command vehicle 1 via the communication device 101 mounted on the robot 10a and the communication device 100 mounted on the command vehicle 1. The information transmitted from the robot 10a to the command vehicle 1 is transferred by the external communication device 110 to a remote command site such as a disaster prevention center.

The general control unit 170 of the command vehicle 1 analyzes the information from the monitoring robot 10a and the already recorded information, creates a sequence until the accident ends based on the analysis result, and then performs the sequence. Determine your work.

It is to be noted that the general control section 170 can completely automatically determine the work content based on the database relating to the accident processing sequence stored therein,
It is also possible to receive an instruction of the work content from the disaster prevention center via the external communication device 110 and determine the work content based on the instruction. That is, when the work content is determined only by the judgment function of the general control unit 170, when the work content is determined by appropriately combining the judgment of the general control unit 170 and the judgment of the disaster prevention center, the work content is determined only by the judgment of the disaster prevention center. (In this case, the overall control unit 170 functions as a means for simply transmitting a command from the disaster prevention center).

The overall control unit 170 determines the measuring robot 10b and the light work robot 10c according to the determined work contents.
By controlling one or more of the heavy work robots 10d using the control device 120, the inspection,
Monitor or perform work.

During this time, information from the monitoring robot 10a and the measuring robot 10b is sequentially sent to the control device 120 via the communication device 100, and the control device 120 sends the information to the general control section 170 in a predetermined data format. The next action of each mobile robot 10 is corrected based on the data collected by the overall control unit 170. The overall control unit 170 having such a judgment function can optimize the restoration sequence, and can end the accident in a short time to reduce
Material damage can be minimized. In addition, it is possible to flexibly cope with a situation that changes over time by modifying the sequence with sequentially selected data.

As described above, by using the accident response robot system according to the present invention, it is possible to promptly prepare a response robot for investigating an accident, processing the accident, and recovering at the accident site in an environment where infrastructure is not maintained. And can flexibly respond to unpredictable accident situations.

Further, since the contents of work to be performed next and the work means can be determined from the information obtained by the monitoring robot, efficient accident processing can be performed.

Also, by transmitting data to a remote disaster prevention center or the like using an external communication device, it is possible to comprehensively and properly grasp the accident situation by utilizing the knowledge of a database and experts. Prevent the spread of accidents and take appropriate measures.

[Second Embodiment] Next, a second embodiment will be described with reference to FIG. In the second embodiment,
The configuration of the storage unit 140 is different from that of the first embodiment, and the other configuration is the same as that of the first embodiment. In the second embodiment, the same portions as those in the first embodiment are denoted by the same reference numerals, and duplicate description will be omitted.

As shown in FIG. 2, the accident response robot system according to the present embodiment is provided with a sealing mechanism 180 which is in close contact with the wall of a building 478 provided outside the housing of the storage section 140 of the command vehicle 1 to maintain airtightness. , A door 181 serving as an entrance through which the robot passes to the storage unit 140
A movable path 182 to the floor of the building that allows the robot to enter the building 478, and a blower 183 for exhausting the air in the storage 140 to the outside of the storage 140 via the filter 184. It has more.

Next, the operation of the present embodiment will be described. Here, a case where the heavy work robot 10d among the mobile robots 10 is sent into the building 487 will be described.

First, the command vehicle 1 containing the heavy work robot 10 d is brought close to the entrance 185 of the building 478. At this time, the opening / closing opening 181 of the storage section 140 is closed.

Next, the seal mechanism 180 is operated so that the seal mechanism is brought into close contact with the outer surface of the building 478, and the atmosphere in the building 487 and the storage section 140 is cut off from the outside atmosphere.

When the air conditioning on the building 478 side is operating normally, the opening / closing port 181 is opened without operating the exhaust fan 183. The opening / closing opening 181 is opened / closed by, for example, winding up the upper part like a shutter.

On the other hand, when the air-conditioning facility in the building 478 does not operate normally and the pollutant is discharged from the building 478 to the outside, the exhaust fan 183 is operated to remove the pollutant from the inside of the building 478. Prevent release to

Next, the movable passage 182 is operated to extend from the storage section 140 to the floor of the building 478 to form a passage for the heavy work robot 10d. At this time, building 4
When the door 186 is provided at 78, the door 186 may be opened by the manipulator 12 of the mobile robot 10.

Next, the heavy work robot 10d is operated from the control device 120 via the communication device 100 to
It is sent to the inside of the building 478 via 2.

According to the present embodiment, the situation of the accident can be grasped and the termination work can be performed while minimizing the spread of contamination. In addition, the atmosphere in the building can be improved.

[Third Embodiment] Next, FIG. 3 and FIG.
The third embodiment will be described with reference to FIG. The third embodiment relates to an intrusion support vehicle additionally provided in the systems described in the first and second embodiments.

As shown in FIG. 3, the intrusion support vehicle 195 is
It has a container 196 with wheels, that is, a storage section, and an elevator 165 that moves the container 196 up and down. As shown in FIG. 4, the elevator 165 is preferably configured by a foldable link mechanism.

The building 4 is located outside the container 196.
A seal mechanism 190 is provided that is in close contact with the wall surface of the seal 78 and maintains airtightness. The container 196 further includes an opening / closing port 191 serving as an entrance / exit of the robot, and a robot 478 in a building 478.
A mobile passageway 192 to the floor of the building, which allows access to the inside;
An exhaust fan 193 that exhausts the air in the container 196 to the outside of the container 196 via the filter 194 is provided. Container 196 can be driven by towing vehicle 131.

In the container 196, the communication device 1 of the command vehicle 1 is provided.
A communication device 111 capable of communicating with the mobile robot 10 and a communication device 101 capable of communicating with the mobile robot 10 are provided. The container 196 has a charger 161 for charging the battery of the mobile robot 10 and a generator 151 for supplying power to the charger 161. The generator 151 can supply electric power to all the incidental equipment of the container 196.

Next, the operation of the present embodiment will be described. Here, the case where the mobile robot 10 enters the higher floor of the building 478 will be described.

Based on the information of the monitoring robot 10a, when it is found that the mobile robot 10 such as the measuring robot 10b, the light work robot 10c, and the heavy work robot 10d cannot be sent into the building by the normal invasion method. The mobile robot 10 mounted on the intrusion support vehicle 195 is selected based on the work procedure.

Next, the opening / closing opening 191 of the intrusion support vehicle 195 is opened, and the mobile robot 10 is moved and mounted in the container 196 by using the control device 120 of the command vehicle 1 using the movable path 192. .

Next, the intrusion support vehicle 195 is pulled by the towing vehicle 131.
Then, the elevator 165 is operated to raise the container 196 to a predetermined floor height. Next, the seal mechanism 190 is operated to bring the seal mechanism 190 into close contact with the outer surface of the building 478, and the atmosphere in the building 487 and the inside of the container 196 are cut off from the outside atmosphere.

When the air conditioning on the building 478 side is operating normally, the opening / closing opening 191 is opened without operating the exhaust fan 193. On the other hand, when the air-conditioning facility in the building 478 is not operating normally, the air blower 193 is operated to keep the invasion support unit at a lower pressure than the outside air so that the contamination is not diffused to the outside air.

Next, the mobile passage 192 is made to enter the building. Then, using the mobile passage 192, the command vehicle 1
The control signal generated by the control device 120 is transmitted to the mobile robot 10 via the communication device 100 of the command vehicle 1 and the communication devices 111 and 101 of the container, and the mobile robot 10 is operated and moved into the building 478. Perform measurements and work.

As described above, according to the present embodiment, the mobile robot 10 that cannot go up and down the stairs can be loaded into the higher floor of the building, and detailed and wide-ranging information can be collected. Time response is quick and meticulous. Therefore, drafting of the accident termination sequence is facilitated, and the accident is terminated quickly. In addition, since information can be collected and restored by the mobile robot 10 without increasing contamination of the building, safety is ensured.

In this embodiment, the towing vehicle 13
1, that is, the means for moving the container 196 may be a vehicle driven by a person or an unmanned vehicle remotely controlled by the command vehicle 1. In particular, in the latter case, there is no need for a person to approach a dangerous building, so that safety is further improved.

[Fourth Embodiment] Next, a fourth embodiment will be described with reference to FIG. In a fourth embodiment,
4 shows a specific work procedure performed by the accident response robot system according to the present invention. Since the outline of each component of the system used in the present embodiment has already been described in the first embodiment, a description overlapping with the description relating to the first embodiment will be omitted here.

In the present embodiment, when an accident occurs in the plant 480 that makes it impossible for a person to approach, as an initial process, the measurement robot 10b for investigating the accident situation and the light work robot 10c for light work perform the accident. A situation in which the user goes to the building of the plant 480, which is a location, and performs the process of preventing and calming the accident from spreading will be described. In the present embodiment, the monitoring robot 10a, the measuring robot 10b, and the light work robot 10c are used for the investigation of the accident situation and the processing for preventing and calming the accident from spreading.

The monitoring robot 10a has a sensor module for grasping the environmental condition and a communication device 454 for communicating with the control device 120 of the command vehicle 1. The monitoring robot 10a moves to a target position by remote control from the command vehicle 1. Then, data for grasping the environmental situation around the accident site during the movement and at the target position can be collected, and the collected data can be transmitted to the command vehicle 1.

The measuring robot 10b includes a sensor module 404 having a sensor for obtaining surrounding position information and a plurality of sensors for sensing the surrounding environment, and a positioning mechanism 4 for positioning the sensor module 404 at an arbitrary position and orientation.
05, and a communication device 454, and moves to a target position (here, an accident location 418) by remote control from the control device 120 of the command vehicle 1, moving to the accident occurrence location 418, and At the occurrence location 418, data for grasping the surrounding environmental situation and data for controlling the robot are collected, and the collected data is transmitted to the command vehicle 1 by the communication device 454.
Can be sent to

The light work robot 10c includes a manipulator 12 for performing light work, a sensor module 404 for collecting control data necessary for movement and manipulation control, and a positioning mechanism for setting the sensor module 404 to an arbitrary position and orientation. 405 and a communication device 454
The control means 120 of the storage / control command vehicle 1
The robot moves to a target position (here, an accident location 418) by remote control from the user, performs work such as prevention and calming of the accident, and collects control data of the light work robot 10c and the sensor module 404. The data can be transmitted to the command vehicle 1 by the communication device 454.

The control device 120 of the command vehicle 1 has, as data processing functions, a function of summarizing and displaying investigation results of accident situations from data obtained by sensing surrounding environment conditions transmitted from the monitoring robot 10a and the measurement robot 10b, and a database. (Survey of similar accident cases, emergency measures and disaster prevention methods, plant operation procedures, configuration and arrangement of equipment and structures at the accident site, possibility of accident expansion, dangerous treatment items,
Function for elucidating the details of accidents using countermeasures), information used for robot control using surrounding position information and robot control data (robot self-position identification, obstacle detection, route generation, moving environment map generation) , Work environment map generation,
It has a function of generating a movement control plan, a generation of a work control plan, etc.), a function of controlling communication with the inside and outside of the robot system, and a man-machine interface function that enables easy cooperative work with an operator. Some of these functions are implemented by the overall control unit 170.

The control device 120 investigates the situation of the accident and executes the process of preventing and calming the accident by the following procedure.
First, the control device 120 controls the monitoring robot 10a and the measurement robot 10b via the communication device 100,
A command is issued to move around the accident site and to the accident location 418.

The monitoring robot 10a and the measuring robot 10b control the target position (here, the vicinity of the accident site and the accident occurrence location 41) by remote control from the command vehicle.
Move to 8), collect data necessary for investigating the accident situation during the movement and at the target position, and transmit it to the command vehicle 1. Note that the monitoring robot 10a and the measurement robot 10b may have one
There may be cases where not a single unit but a plurality of units are dispatched.

Next, the control device 120 of the command vehicle 1 processes the surrounding environment status data sent from the monitoring robot 10a and the measuring robot 10b via the communication device, and moves to the accident location 418 and In addition to compiling the investigation results of the accident situation around the occurrence location 418, an environmental situation map is generated, the generation result is displayed, and the contents of the accident are clarified using the database.

Further, the control device 120 determines that the accident location 4
In cooperation with humans, a map and a travel route are generated before the vehicle moves to 18, and a plan for preventing the accident from spreading by a robot is made in cooperation with humans.
Next, the control device 120 selects a work robot to be dispatched based on the result of the investigation of the accident situation, the result of elucidating the details of the accident, and the result of planning the accident expansion prevention measures by the robot (here, the light work robot 10c is selected). Work robot 1
0c is commanded and dispatched to the accident occurrence location 418.

The light work robot 10c is dispatched according to a command from the control device 120 of the command vehicle 1, and moves to a target position (here, an accident location 418) by remote control from the command vehicle 1.

Next, the control device 120 sets the accident location 41
8 measuring robot 10b and light work robot 10
Instruct c to investigate the cause of the accident, prevent the accident from spreading, and calm it.

The light work robot 10c has the
At 18, remote control from the command vehicle 1 starts a work to investigate the cause of the accident, prevent the accident from spreading, and calm the accident.

FIG. 5 shows the operation of opening and closing the valve to prevent the accident from spreading. Light work robot 1
In order to easily and surely perform the work performed by Oc at high speed, information that can grasp the situation of the work target and the positional relationship between the manipulator and the surroundings, for example, video and position information are indispensable. If such information is obtained only by the sensor module 404 provided in the light work robot 10c itself, the manipulator 12 becomes a hindrance, and an intelligible image and accurate positional relationship information cannot be obtained. It is necessary to have a situation video of the work target from another viewpoint and information that can grasp the positional relationship between the manipulator and the surroundings.

Therefore, in the present embodiment, a method is adopted in which the measuring robot 10b and the light work robot 10c are cooperated to realize the work easily, reliably and at high speed. That is, the measurement robot 10b is equipped with a sensor that obtains position information of an object around the measurement robot 10b, and can obtain information that can grasp the situation of the work target and the positional relationship between the surroundings and the manipulator. Therefore, the measurement robot 10b is moved to an appropriate position, and the measurement robot 10b
To grasp the positional relationship between the light work robot 10c and the work target, and to perform sensing of various types of environmental information.
The data obtained by the measuring robot 10b is transmitted to the command vehicle 1
To the control device 120.

The control device 120 of the command vehicle 1 processes the data transmitted from the measuring robot 10b, and displays images, position information, and animations of the light work robot 10c and the work object.

Based on this information, it is possible to automatically generate a work procedure (simulation), generate an approach posture to the work object, and check the interference with the structure. Can be easily and reliably realized at high speed.

As described above, by operating the measuring robot 10b and the work robot 10c in cooperation with each other by remote control of the command vehicle 1, a series of accident response operations as described below can be easily and reliably performed at high speed. It becomes possible.

That is, the monitoring robot 10a and the measurement robot 10b are moved to the vicinity of the accident site and to the location where the accident occurred, and the data necessary to grasp the situation up to the accident site and the situation at the accident site can be measured and collected. it can. And then process the collected data,
Investigate the situation up to the accident site and the situation at the accident site, display the results of the investigation and process the collected data to clarify the details of the accident, investigate the accident cases and countermeasures using the database, and communicate with the operator. Working together to determine the cause of the accident, prevent the spread of the accident, and formulate measures to calm it down,
Select a work robot with the function and configuration that can respond to the accident situation, move it to the site, and coordinate the measurement robot 10b and the light work robot 10c to investigate the cause of the accident, prevent the accident from spreading, and calm the work Can be efficiently implemented.

Further, since the measuring robot 10b which first moves to the place where the disaster occurs collects the situation data up to the place where the disaster occurred, a moving environment map and a moving route can be generated, so that the later working robot is necessary for the movement control. It is possible to move to a disaster occurrence location while minimizing the mounting of sensors. For this reason, the configuration of the work robot is simplified, and the size, the reliability, and the cost can be reduced. Further, based on the result of investigating the situation at the accident site, a work robot is selected and dispatched according to the situation, so that a secondary disaster does not occur and a reliable and efficient accident response is possible.

[Fifth Embodiment] Next, a fifth embodiment will be described with reference to FIGS. The fifth embodiment shows a specific work procedure performed by the accident response robot system according to the present invention. The outline of each component of the system used in the present embodiment has already been described in the first embodiment.
The description which overlaps with that of the embodiment is omitted here.

FIG. 6 shows a work robot 401 (this work robot is a light work robot 10c) as an initial process when an accident that cannot be approached by a person occurs in the plant 480.
However, the heavy work robot 10d may be used alone to go to the accident location 418 to collect accident situation investigation data,
This figure shows the process of preventing and calming the accident.

When the accident situation is as shown in FIG. 5 (fourth embodiment)
Are different from the following two points. (1) The accident site is far from the stop position of the storage / control command vehicle 1. (For example, when the area that is inaccessible to a person is wide, when there is no passage that can move the car, etc.), (2) The work space at the accident site is narrow.

When an accident situation as described above occurs,
In the case of (1), securing a communication network becomes a problem. In the present embodiment shown in FIG. 6, as one of measures to secure a communication network between the command vehicle 1 and the mobile robot, a method of providing a relay robot and a portable repeater from the command vehicle 1 to the site is provided. Is used.

In the case of (2), since the work area is small, a method of arranging a plurality of measurement robots 10b and a plurality of work robots as shown in FIG.
There is a high possibility that interference between the robot and the structure at the site or between robots will occur, which is a problem.

Accordingly, in a situation where the work area is small,
In the present embodiment, a method of combining a work robot and a portable local sensor module is used so that data necessary for grasping the situation of the site can be measured in the same manner as when the measurement robot 10b is used. Used.

That is, in the present embodiment, a portable communication device 454 as a repeater and a relay robot 10e, which is a type of a mobile robot, are provided around the movement path from the command vehicle 1 to the accident location 418. As a result, a communication network is secured, and a portable local sensor unit 450 is attached around the location where the accident has occurred to collect data necessary for grasping the situation at the site.

The relay robot 10e is located at
A communication device for relaying communication between the vehicle 18 and the command vehicle 1 is mounted. The communication device moves to a target position by remote control from the command vehicle 1 and switches a communication band and a modulation mode by remote control. And a function of modulating and demodulating data to transmit and receive data to and from another communication device.

In FIG. 6, the relay robot 1
Although only one device 0e is used, a plurality of devices may be used depending on the situation around the movement route and the distance to the accident location. Also, depending on the situation, the relay robot 10
There may be a case where a communication network is secured by appropriately arranging a portable communication device 454 without using e.

The portable communication device 454 includes means for realizing a function of switching a communication band and a modulation mode by remote control;
It comprises means for realizing the function of modulating / demodulating data and transmitting / receiving data, and a power supply unit. As in the case of the relay robot 10e, the location and quantity of the portable communicators 454 differ depending on the situation around the moving route and the distance to the accident location.

In the embodiment shown in FIG. 6, the portable communication device 454 is attached to a tree, a wall of a building, a fence or a fence, a pillar, or the like. Further, depending on the situation, the portable communication device 454 can be used in combination with a portable local sensor unit described later.

The portable communication device 454 is mounted on a predetermined carrier or the like provided on the working robot 401, and is attached to an arbitrary position by manipulating using the manipulator 402 provided on the working robot 401. Operated.

In the embodiment shown in FIG. 6, the communication between the command vehicle 1 and the portable communication device 454 and the communication between the command vehicle 1 and the relay robot 10e are performed by wireless communication. As shown in FIG. 7, the communication may be performed by wired communication (using the communication cable 431). It is preferable to use wired communication in a place where the communication cable 431 can be laid, because more wireless band can be used.

A portable local sensor unit (fixed sensor unit) 450 includes a plurality of types of sensors, a mechanism for adjusting the position and orientation of the sensor, a mechanism for attaching to a structure or the like, a communication device, and a power supply unit. And consists of
The remote control from the command vehicle 1 collects environmental status information of a point and an atmosphere designated. In addition, the portable local sensor unit 450 is formed as a unit, and it is possible to appropriately select a device equipped with a sensor adapted to the accident that has occurred and to take it to the site.

A portable local sensor unit 450
Is mounted on the work robot 401 as in the case of the portable communication device 454, and is operated by being manipulated by using the manipulator 402 provided in the work robot 401, at an arbitrary position.

In the embodiment shown in FIG. 6, a portable local sensor unit 450 is provided at two locations around the location where an accident has occurred.
Is installed. Here, the portable local sensor unit 450 is used to connect trees and building walls around the accident site,
It is attached to a fence, fence, or pillar near the robot passage, and in a work area (an accident location in the plant), information from a different viewpoint from the sensor unit 404 mounted on the work robot 401 can be obtained. It is attached to the ceiling (view from above) and the pipe (horizontal view) so that it can be done.

The portable local sensor unit 450 is attached to the vicinity of the accident site, near the passage of the passage robot, and at the place where the accident occurs in the plant, and data for investigating the accident situation is collected. It is possible to obtain the classification and distribution of dangerous places and safe places.

By using the portable local sensor unit 450 incorporating a video sensor and a distance sensor for measuring positional information of surrounding objects, it is possible to generate a map in which the location of the accident site and the peripheral devices and structures can be understood. Therefore, by pasting the distribution of the data obtained by investigating the accident situation on the map, it is possible to automatically obtain the position of the dangerous spot and the movable area of the robot.

Further, by mounting the portable local sensor unit 450 in the vicinity of the path of the robot, based on the data collected by the image sensor of the local sensor unit 450 and the distance sensor for measuring the surrounding position,
Since the position and orientation of the moving robot can be confirmed, the movement control becomes very easy.

Further, by determining the distance between the sensor unit 404 mounted on the work robot 401 and the local sensor unit 450 and the distance between the local sensor units 450, the arrangement coordinates of the local sensor unit 450 and the robot The position can be accurately obtained, and a layout map of peripheral devices and structures can be accurately generated.

Before starting the work, the work robot 401
By using the robot hand 403 of the manipulator 402, another portable local sensor unit 450 and the sensor unit 404 mounted on the work robot 401 can be grasped and data necessary for grasping the situation of the site can be collected.

In order to easily and reliably perform the manipulation by the work robot 401, information that can grasp the situation of the work object and the positional relationship between the surroundings and the manipulator 402, for example, video and position information are indispensable.
By using the local sensor unit 450 as shown in this embodiment, even if the measuring robot 10b is not provided, information that can grasp the situation of the work target from another viewpoint and the positional relationship with the surroundings can be obtained. Thus, reliable manipulation can be easily performed.

As described above, in a situation where the accident location 418 is far from the stop position of the command vehicle 1 or an accident occurs in a situation where the work space is narrow, the relay robot 10e,
Portable communication device 454 and local sensor unit 4
By appropriately using 50, it is possible to go to the accident occurrence location 418 with the work robot 401 alone, collect the investigation data of the accident situation, and perform the process of preventing and calming the accident.

In the embodiment shown in FIGS. 6 and 7, the portable communication device 454 and the local sensor unit 450 are mounted on the main body of the working robot 401. However, as shown in FIG. A support robot 407 for assisting the work robot 401 may be provided, and the communicator 454 and the local sensor unit 450 may be mounted on the support robot 407. Some communicators and electrical components are vulnerable to specific environments (environments such as high heat, toxic gas, and radiation). Then some need to be replaced regularly. Accordingly, the support robot 407 is located behind the work robot 401 (far side from the accident occurrence point), and the work robot 401 is returned to the position of the support robot 407 as necessary to hold the communication device 454 and the local sensor unit 450. By doing so, such sensors and communicators can be used in good conditions. Also,
Since the work robot 401 does not need to return to the command vehicle 1, improvement in work efficiency can be expected.

The support robot 407 includes the communication device 4
The configuration may include a charger 405 and a generator 406 for charging a battery mounted on the local sensor unit 450. In this way, a device with large power consumption can be used for a long time.

[Sixth Embodiment] Next, FIGS.
The sixth embodiment will be described with reference to FIG.

FIGS. 9 and 10 show an initial process when an inaccessible accident occurs in the plant 480.
When the work robot 401 alone goes to the accident location 418 and collects investigation data on the accident situation and performs the process of preventing and calming the accident, the robot's self-position is located around the route on the way to the accident occurrence location 418. While attaching landmarks or attaching electromagnetic induction wire, magnetic tape or light reflecting tape for identification and movement control,
Alternatively, the embodiment moves while emitting a mark (paint) that can be easily identified such as a fluorescent paint.

FIG. 9 shows that a work robot 401 is provided with a landmark 438 for checking the self-positions of itself and a plurality of other robots and for controlling the travel at an arbitrary position on the way to the destination position. In this case, it is shown that it is attached to an arbitrary place such as a corner.

The landmark 438 shown in FIG. 9 is of a passive type which is marked using a color different from the surroundings. The image data collected by the image sensor mounted on the work robot 401 is taken in by the control device 120 of the command vehicle 1, and the image processing is performed to detect the landmark 438, and the positional relationship between the landmark 438 and the work robot 401. Is obtained, whereby the self-position identification of the work robot 401 is performed.

The configuration of the landmark is not limited to that shown in FIG. In the case of the passive system, a landmark can be formed by a shape, a combination of reflection / non-reflection, and a combination of irregularities, in addition to a color using a color different from the surrounding color. It is also possible to use an active landmark, for example, a landmark using a light emitting element or an ultrasonic oscillator with a selected wavelength.

In FIG. 9, the landmark 43 independent of the portable local sensor unit 450 and the communication device 454 is shown.
8 is used, but the present invention is not limited to this, and the local sensor unit 450 or the communication device 454 may be combined with a landmark, or the shape of the portable local sensor unit 450 or the communication device 454 itself may be marked. The landmarks may be formed by adopting the following shape.

Also, the portable local sensor unit 4
A landmark may be formed in combination with a display device of 50 measured values, for example, temperature, humidity, gas concentration, and radiation level, a display panel for coordinates and guidance, and an audio output device. This landmark can also be used effectively as a warning or guidance to a person when the accident has ended and the atmosphere is such that a person can go to the accident site.

FIG. 10 (a) shows a guide line 432 for use in the work robot 401 for checking the self-positions of itself and other mobile robots and for controlling the travel at an arbitrary position in the course of moving to the target position. , Magnetic tape (not shown)
Or a drum 433 wrapped with a light reflecting tape (not shown)
Is mounted on a moving path of a mobile robot.

The traveling control by the guide line 432 is performed by detecting electromagnetic induction electromotive force from the guide line with a plurality of detection coils attached to the bottom of the mobile robot, and controlling the position so that the detected position is always constant. This enables movement control along the guide line. This method has a feature that traveling can be controlled by a simple method. By using the guide wire as an antenna cable (weak electric field wireless system), it is possible to construct a communication network dedicated to the robot.

FIG. 10 (b) shows a work robot 401 for checking the self-positions of itself and a plurality of other robots at arbitrary positions on the way to the target position, and using the same as a mark for traveling control. An easily distinguishable paint such as a fluorescent paint 435 and a tank 434 containing the paint and the discharge nozzle 43
6 shows an embodiment in which a vehicle 6 is mounted and is sprayed on or around a route from the command vehicle 1 to the vicinity of the destination position.

The video data collected by the video sensor mounted on the mobile robot is captured by the control device 120 of the command vehicle 1, image processing is performed to detect fluorescent paint, and the position of the robot is determined, so that the robot travels. Control becomes possible.

As described above, according to the present embodiment, the movement control of the mobile robot to the target position can be realized with a simple method, reliably, easily, at high speed, and at low cost.

[Seventh Embodiment] Next, FIGS.
The seventh embodiment will be described with reference to FIG. This embodiment relates to a configuration of a sensor module mounted on a mobile robot and a processing procedure of data obtained by the sensor module.

First, the configuration of the sensor module 404 will be described with reference to FIG. Sensor module 40
Reference numeral 4 includes a video sensor 420, an infrared sensor 423, an acoustic sensor 421, and a radiation sensor 424 as means for sensing environmental conditions, and performs horizontal turning and swinging up and down as means for sensing surrounding positional information. A laser range finder 422 for measuring the distance around the mobile robot while the tilt sensor 425 detects the tilt angle at the time of measurement by the range finder. These sensors are configured as a unit so that they can be replaced with sensors adapted to the required performance and usage environment. Note that this configuration is a portable local sensor module 45.
0 is also applicable.

It is to be noted that at least one of the sensor modules 404 mounted on at least one of the mobile robots 401 (which may be a work robot or a monitor robot) is provided with a means for sensing the above-described environmental conditions and a method for sensing surrounding positional information. Means.

Next, with reference to the schematic diagram of FIG. 12 and the flowchart of FIG. 13, the control device 120 of the command vehicle 1 performs two-dimensional or three-dimensional processing by processing data collected and transmitted by the sensor module 404. For example, a procedure for creating information such as a map, identifying a self-position, detecting an obstacle, generating a route, and generating an environmental status map will be described.

Data is collected while performing horizontal turning and swinging up and down with the scanning laser distance meter 422 (FIG. 1).
In step S1 of 3), the collected data is transmitted to the control device 120 of the command vehicle 1. The control device 120 performs a coordinate transformation and a data interpolation process on the data to generate a two-dimensional and three-dimensional map. Generate. In addition, since the moving position of the robot can be accurately obtained from the distance data of the local sensor module and the like, the distance data distribution of the scanning laser rangefinder 422 collected while moving indicates the position of the robot around the moving route and the accident occurrence point. A three-dimensional and three-dimensional map can be generated (step S2 in FIG. 13).

Further, based on the mounting height of the scanning laser distance meter 422 at the time of data collection, the floor surface in the map is automatically detected by the control device 120 (step S3 in FIG. 13). Further, an obstacle is detected from this map (step S4 in FIG. 13), and if there is a weir at the site, it is determined whether or not the robot can get over the weir (step S5 in FIG. 13). ). The control device 120 obtains the movement path of the robot based on the floor surface information, the obstacle information, and the information on whether or not the vehicle can get over (step S6 in FIG. 13).

Further, control device 120 displays a three-dimensional map as an image (step S7 in FIG. 13).

The T collected by the image sensor 420
By matching the display condition of the generated three-dimensional map with the viewpoint and angle of view of the V video, the texture mapping of the TV video is performed on the three-dimensional map (step S8 in FIG. 13).
Further, the distribution data collected by the infrared sensor 423 is superimposed and displayed in the same manner as the texture mapping of the TV image (step S9 in FIG. 13).

It is also useful to further superimpose environmental status data collected from the measuring robot 10b, the portable local sensor module 450, and the like. In this way, it is easier to grasp the situation of the accident, and it is possible to quickly and accurately draft a plan for work to prevent the spread of the accident by the work robot.

As described above, according to the present embodiment, the laser rangefinder 422 for measuring the distance around the mobile robot while performing horizontal turning and swinging up and down, and the tilt for detecting the tilt angle at the time of measurement by the rangefinder. Work robot 40 provided with sensor module 404 having sensor 425
By using the data collected by step 1, two-dimensional and three-dimensional maps can be obtained at high speed and accurately, and it is possible to generate movement control information and grasp a movement atmosphere.
An accident response robot system that can easily control the movement of another mobile robot can be realized.

It is also preferable to perform data processing using a combination of distance data and environmental status investigation data collected by the work robot 401 and information such as aerial photograph data and images taken from the sky. In this way, two-dimensional and three-dimensional maps can be obtained at high speed and accurately, the movement control information can be generated, the movement atmosphere can be grasped, and the movement control of another mobile robot can be easily performed. A compatible robot system can be realized.

[Eighth Embodiment] Next, an eighth embodiment will be described with reference to FIG. FIG. 14 is a configuration diagram illustrating an embodiment of the relay robot 10e and the portable relay module 415.

As shown in FIG. 14, the portable relay module 415 is a combination of a relay communicator 454 for securing a communication network between a plurality of mobile robots and the command vehicle 1 and a portable local sensor unit 450. It is configured. As described above, by combining the relay communication device 454 and the portable local sensor unit into an integrated configuration, the configuration is simplified, the operation is facilitated, and a highly reliable accident response robot system can be realized.

The communication device 454 includes a sensor unit coupling connector 449 for exchanging data with the local sensor unit 450, a modulator 443, a demodulator 445,
Distributor 441, signal amplifier 440, antenna 439
And a modulation switching controller 442. In addition, the communication device 454 includes a portable local sensor module 45.
0, a mixing processing circuit 444 for inputting sensor data obtained by sensing the environmental condition of the surrounding environment collected at 0.
have.

In the portable relay module 415, the power supply unit 465 of the portable relay module 415 combined with the local sensor unit 450 has a battery 446 and a solar cell 448 in addition to the external power supply terminals 426a and 426b. Is provided. Solar cell 4
48 and the power supply terminals 426a and 426b are connected to a power supply circuit 448. The power supply circuit 448 is connected to a charger 405, and the charger 405 is connected to a battery 446. Note that a generator (not shown) may be used in addition to or instead of the solar cell 448.

By providing the portable relay module 415 with the solar cell 448, the consumption of the battery 446 is reduced, and continuous use for a long time becomes possible. In addition, when used in a dark atmosphere, the function of the solar cell 446 cannot be expected. In such a case, by using the relay module 415 having a configuration including a generator, continuous use for a long time can be performed. .

As described above, the portable relay module 41
5, the battery is equipped with a battery and a solar cell or a generator in addition to a terminal for supplying power from the outside, so that it can be used continuously for a long time with a simple structure, and the power supply process is flexible. A highly reliable accident response robot system can be realized.

[Ninth Embodiment] Next, a ninth embodiment will be described with reference to FIG. This embodiment relates to a specific configuration of a portable local sensor unit.

As shown in FIG. 15, a portable local sensor unit 450 includes a mounting tool 451 for mounting on a structure, a local sensor moving mechanism 452 for adjusting the position and orientation of a sensor, and a local sensor module peripheral environment. Unit 453 that senses environmental conditions
And is provided with attaching / detaching means that can be detachably connected to each other. In this example, the attachment / detachment means is formed by grooves and projections that fit together.

The local sensor moving mechanism 452 and the sensor unit 453 include a power supply unit 455.
a, 455b, and 455c, and communication devices 454a and 454b, respectively. This makes it possible to easily replace the sensor unit according to the situation of the accident.

The sensor unit 453 is provided with a sensor signal processor 458. Further, the sensor unit 45
3 has a storage shutter 456 for covering the sensor 457 on the front surface thereof. By closing the storage shutter 456 except when sensing, the sensor maintains its function even when the surrounding environmental conditions are severe. According to the present embodiment, flexible operation adapted to the installation location or accident situation And a highly reliable accident response robot system with excellent environmental resistance can be realized.

[Tenth Embodiment] Next, a tenth embodiment will be described with reference to FIGS. In the present embodiment, a fixture and a moving means of the portable local sensor unit 450 will be described.

FIG. 16 shows the structure of the fixture, and FIG.
It is a figure which shows the state attached to the fixed object using each fixture shown in FIG.

At the accident site, since the form of the attachment portion is not uniform, it is preferable to provide various types of attachments. In FIG. 16, the upper left corner is a grip type fixture 451, the lower left is a magnet type fixture 461, and the lower right is a suction type fixture 462.
Are respectively shown. These attachments 451, 46
Reference numerals 1 and 462 are used in combination with the local sensor moving mechanism 452 and the sensor unit 453 (see also the ninth embodiment).

FIG. 18 shows an example in which the holding fixture 451 is attached to the vent 471, the magnet attachment 452 is attached to the pipe 472, and the suction attachment 453 is attached to the wall 473. The configuration of the attachments 451, 461, and 462 can be appropriately changed according to the state of a place where the sensor unit is to be attached.

FIG. 17 shows an example in which a portable local sensor unit 450 is attached to an airship 463. The airship 463 is a communication device 454 that performs communication with the command vehicle 1.
Power supply unit 465, controller 466, flight sensors 467a and 467b, and flight drive mechanism 46.
8a and 468b. At the lower part of the airship 463, a fixture is provided. As shown in FIG. 19, the local sensor moving mechanism 452 and the sensor unit 453 are sequentially coupled to the fixture and used.

As described above, by connecting the airship 463 and the local sensor unit 450, a flightable monitoring robot capable of investigating the situation of an accident from above can be configured.

As described above, by applying a suitable mounting tool and moving means to the portable local sensor unit, a flexible operation applied to the mounting location can be realized, so that a simple and highly reliable accident response robot can be realized. System can be provided.

[Eleventh Embodiment] Next, an eleventh embodiment will be described with reference to FIG. This embodiment relates to a modification of the monitoring robot 10a.

As shown in FIG. 20, the robot system according to the present embodiment includes a plurality of monitoring robots 10a.
Each monitoring robot 10a is provided with a sensor having a radiation dose equivalent rate measuring function and a display means 506 for displaying the measured dose equivalent rate.

The monitoring robot 10a measures the dose rate while waiting or moving to an arbitrary position around the site area 503, and displays the measurement result on the site by the display means 506 comprising a large display panel. Such display means 5
By preparing the monitoring robot 10a provided with the 06, it is possible to recognize in advance or during work the danger of a human approaching even without special communication means.

[Twelfth Embodiment] Next, a twelfth embodiment will be described with reference to FIG. The present embodiment relates to an example of the configuration of the measurement robot 10b.

As shown in FIG. 21, the measuring robot 10b according to the present embodiment comprises a communication device 101, a television camera 11
a, a temperature sensor 11b, an acoustic sensor 11c, and a gas sampler 500.

The measuring robot 10 having such a configuration
b shows a plurality of measuring robots 10 around and in the site at the time of a serious accident such as a fire accident in a chemical plant.
b is arranged to grasp the situation at the site.

Television camera 11a for knowing the situation on site
Sensor 11 for detecting video information and sound from
The acoustic information from b and the temperature information from the temperature sensor 11c for detecting heat due to a fire or a chemical reaction are sequentially transmitted from the measurement location by the communication function 101. In addition, the atmosphere at the site is collected by the gas sampler 500, and after the collection, the presence or absence of a harmful gas or the like is analyzed in detail.

The measuring robot 10b is driven by a built-in battery, collects information at a plurality of locations while moving, or monitors changes in the situation while staying at one location. From these information, it is possible to grasp the situation at the site. In addition, by mapping data of a plurality of points, useful data can be obtained for estimating the location and cause of an accident, setting an approach route when planning a recovery operation, and studying an operation method and the like. The sensors to be mounted are not limited to those described above, and may be mounted in advance by selecting necessary sensors according to the information from the monitoring robot 10a and the type of facility or accident to be applied.

According to the present embodiment, it is possible to obtain necessary information even in a situation where a human cannot easily approach, to remotely and safely grasp the situation of the site, and to collect gas at the site. By providing the function, it is possible to determine whether there is a harmful gas that cannot be measured at the site by collecting the collected material and then analyze the gas, and to obtain the detailed information of the atmospheric component to determine whether or not to perform the on-site work. In addition to the gas sampler 500, a function of collecting floating dust, liquid, surface deposits, solids, and the like may be provided as necessary.

As described above, since the mobile robot that performs measurement or light work is provided with at least one kind of collecting means of gas, floating dust, liquid, surface deposit, or solid matter, the collected matter is collected and analyzed. By doing so, it is possible to obtain information that cannot be measured on site or to obtain more detailed information.

[Thirteenth Embodiment] Next, a thirteenth embodiment will be described with reference to FIGS.
The present embodiment relates to another example of the configuration of the measurement robot 10b.

As shown in FIG. 22, the measuring robot 10b according to the present embodiment comprises a communication device 101, a radiation-resistant camera 1
1d, γ / X-ray sensor 11e and neutron beam sensor 11
f.

The measurement robot 10b according to the present embodiment
Used mainly in high-dose radiation environments. CCD
A general television camera 10a such as a camera is vulnerable to radiation, the image is deteriorated as the dose increases, and the function is completely lost when the integrated dose exceeds about 100 Gy, so that it cannot be used in a high dose place. .

However, if the radiation resistant camera 11d using an image pickup tube or the like is used, it is possible to use the integrated dose up to about 100,000 Gy. The most problematic in an accident involving radiation emission is that gamma rays (X
) And a neutron beam, the measurement robot 10b of the present embodiment uses a γ / X-ray sensor 11e using an ionization chamber and bF
The dose equivalent rate is timely measured by the neutron beam sensor 11f using the three detectors, and information is transmitted by the communication device 101.

As described above, the radiation-resistant camera 11d is used as a visual sensor, and the γ / X-ray sensor 11 is used as a radiation sensor.
By preparing a measuring robot 10b having a function of measuring the dose equivalent rate using the e and neutron sensors 11f,
It is possible to acquire radiation information in a high-dose radiation environment such as a criticality accident.

It is preferable that the γ / X-ray sensor 11e be configured so as to be covered with only one end exposed by a lead-shaped cylindrical collimator 501 as shown in FIG. With such a configuration, in the γ / X-ray sensor 11e, radiation incident from a portion other than the opening serving as a noise source is attenuated by the collimator 501 to reduce detection efficiency, and is generated from the radiation source in the opening direction. Since the detection efficiency is high with respect to radiation, the radiation intensity can be measured for each direction by measuring the opening in various directions.

Therefore, by detecting the direction in which the radiation is strongest at two or more points, it is possible to identify the position of the radiation source (the place where the abnormality has occurred). By giving the radiation sensor directivity in this way, it is possible to block information that is a source of noise in the surroundings and obtain information for specifying the position of the abnormality source. It should be noted that other sensors mounted on the measurement robot can also have the same directivity.

[Fourteenth Embodiment] Next, a fourteenth embodiment will be described with reference to FIG. The present embodiment relates to still another example of the configuration of the measurement robot 10b.

As shown in FIG. 24, the measuring robot 10b according to the present embodiment has an optical fiber sensor 11g and a signal processing section 502 mounted thereon. Measurement robot 10b
Has other sensors and a communication device in the same manner as the measurement robot according to the other embodiments, but detailed description is omitted here.

The optical fiber sensor 11g generates an optical signal corresponding to the radiation dose at a plurality of positions along the optical fiber, and at the same time, responds to non-powered γ-rays and X-rays transmitted to the end through the optical fiber sensor 11g. It is a radiation sensor.

Although the optical signal is a very weak one called a scintillation light, the optical signal is converted into an electric signal by the signal processing unit 502 connected to the end of the optical fiber sensor 11g that has exited the site area 503. And processed.

The measurement robot 10b collects information and simultaneously lays the optical fiber sensor 11g while moving in the site area 503.
As a result, information on a plurality of places can be obtained as appropriate.

According to this embodiment, an optical fiber sensor 11g separable from the measuring robot 10b and capable of measuring the distribution is used as the radiation dose equivalent rate measuring means, and the measuring robot 10b is laid while moving the optical fiber sensor 11g. Thus, it is possible to acquire information at a plurality of locations at any time even after the measurement robot 10b completes the work.

Further, since it is not necessary for the measurement robot 11b to stay in the high-dose site area 503 for a long time to perform measurement, it is possible to suppress the influence of radiation.

The optical fiber sensor 11g can measure temperature, humidity, and strain in addition to radiation. The same effect can be obtained not only by optical fiber but also by a type in which individual sensors are connected in a line at intervals. Is obtained. In addition, not only the measurement robot 10b but also another mobile robot may be configured in the same manner as described above, and the same operation may be performed.

[Fifteenth Embodiment] Next, a fifteenth embodiment will be described with reference to FIG. The present embodiment relates to still another example of the configuration of the measurement robot 10b.

As shown in FIG. 25, the measuring robot 10b according to the present embodiment incorporates a wireless communication means and a power supply and has a plurality of γs which can be separated from the mobile robot 10b.
/ X-ray sensor 11e, and a signal processing unit 502 having wireless communication means for the plurality of γ / X-ray sensors 11e. The measurement robot 10b includes other sensors, a communication device, and the like in the same manner as the measurement robot according to the other embodiments, but a detailed description thereof will be omitted.

The measurement robot 10b installs the γ / X-ray sensor 11e while moving the site area 503 while collecting information. After installation, the γ / X-ray sensor 1
By 1e, information on a plurality of places can be obtained as appropriate.

The γ / X-ray sensor 11e continuously or intermittently measures the radiation dose at each position, and transmits it to the signal processing unit 502 by wireless communication. The signal processing unit 502 installed outside the site area 503 obtains dose information at each position from the received information.

According to the present embodiment, the γ / X-ray sensor 11e which is separable from the measuring robot 10b and incorporates a wireless communication means and a power source is used as a radiation dose equivalent rate measuring means.
By installing this sensor while moving the measuring robot 10b, it is possible to obtain information at a plurality of locations at any time even after the robot has completed its work.

Further, since the measurement robot 10b does not need to stay in the high-dose field area 503 for a long time to perform measurement, it is possible to suppress the influence of radiation. γ
The / X-ray sensor 11e can include a plurality of sensors for appropriately measuring other physical quantities other than radiation.

It is to be noted that not only the measuring robot 10b but also other mobile robots may be configured in the same manner as described above to perform similar operations.

[Sixteenth Embodiment] Next, a sixteenth embodiment will be described with reference to FIG. This embodiment relates to a modification of the configuration of the light work robot.

As shown in FIG. 26, the light work robot 11c according to the present embodiment has a sensor control unit 505 installed outside the site area 503, and data storage means (not shown).
And a mobile γ / X-ray sensor 11e (not shown) incorporating a power supply and a sensor moving path 504 laid by the light work robot 10c.

The light work robot 11c is located at the site area 50.
3, lays the sensor movement path 504 and exits from the site area 503. The sensor control unit 5 is also provided on the other end side of the sensor moving path 504 similarly to the one end side (the illustrated side).
05 is connected.

The sensor moving path 504 has a hollow elastic hose shape. The γ / X-ray sensor 11e is driven in the sensor moving path 504 by air pressure from the sensor control unit 505. The mobile γ / X-ray sensor 11e measures the radiation dose at a plurality of positions continuously or intermittently while moving. The measurement data is stored in the data storage means. The mobile γ / X-ray sensor 11e is collected by the sensor control unit 505 after moving in the field area 503, and the measurement data stored in the data storage unit is read. The data is transmitted to the command vehicle 1 by a communication device (not shown) built in the sensor control unit 505.

According to the present embodiment, the light work robot 11
It is possible to obtain information at a plurality of places at any time even after c has completed the work. Also, since the light work robot 10c and the mobile γ / X-ray sensor 11e do not need to stay in the high-dose field area 503 for a long time to perform measurement,
It is possible to reduce the effects of radiation.

Incidentally, the mobile γ / X-ray sensor 11e may include a plurality of sensors for appropriately measuring other physical quantities other than radiation.

As described above, the moving path for the sensor to be moved by the mobile robot is set, and after the setting, the sensor moves and measures the moving path as needed. It becomes possible.

[Seventeenth Embodiment] Next, a seventeenth embodiment will be described with reference to FIG. The present embodiment relates to a protection measure for a radiation-sensitive device among devices mounted on a mobile robot.

[0207] As shown in FIG.
Battery 601 as a power source for driving and controlling the
a, 601b, 601c, 601d, 601e... The lead batteries 601a, 601b, 601c, 60
By 1d, 601e..., Electronic devices which are sensitive to radiation, such as the drive control circuit 602, the wireless circuit 603, and the CCD / image processing circuit 606 constituting the television camera are surrounded.

The drive control circuit 602 is connected to actuators and sensors (not shown) of the mobile robot. An antenna 605 is connected to the wireless circuit 603 via a cable 604. CCD / image processing circuit 6
Reference numeral 06 denotes a lens 608 via an image fiber 607.
Is connected. The image fiber 607 and the lens 608 are mounted on the camera base 609, and can be turned, swung,
It is a configuration that can be moved up and down.

According to the present embodiment, by arranging a lead battery having a large radiation shielding effect around an electronic device which is not susceptible to radiation that does not need to be exposed to the outside, highly reliable measurement and operation can be performed even in a high radiation atmosphere. Becomes possible.

[Eighteenth Embodiment] Next, an eighteenth embodiment will be described with reference to FIGS.
The present embodiment relates to a method for securing a communication network between a mobile robot and a command vehicle 1 when working in a building having a high radio wave shielding property. That is, the purpose of this embodiment is to obtain a communication means that can more reliably communicate with the outside even if the door is closed to prevent the diffusion of contaminants after the mobile robot has passed through the door around the accident site. And Here, the communication signal includes a control signal to the mobile robot, a signal of a sensor mounted on the mobile robot, and the like.

In this embodiment, a relay device 700 as shown in FIG. 28 is used as a communication means, and relays wireless communication before and after the door 704. As shown in FIG.
The repeater 700 includes two transmission / reception units 701 and 702, and a flexible board 703 that transmits signals between the transmission / reception units 701 and 702.

The flexible substrate 703 is formed by covering a thin conductive film with an insulating film, and can be manufactured in a thickness of 0.1 mm. The transmission / reception units 701 and 702 are electrically coupled to each other by a flexible substrate 703, and transmit / receive communication contents received by the transmission / reception unit 701.
2 and vice versa, the communication content received by the transmitting / receiving unit 702 can be transmitted from the transmitting / receiving unit 701.

Each of the transmitting / receiving units 701 and 702 has a fixing means (not shown), and can be easily fixed to the door surface. As the fixing means, a magnet can be used when the door is made of iron, and an adhesive means such as a double-sided tape or a suction disk can be used when the door is made of another material.

In order to perform the above-mentioned relaying by the relay machine 700, the door 704 is opened from the state shown in FIG.
As shown in FIG. 8C, the transmitting / receiving unit 701 is fixed to one surface of the door 704, and the transmitting / receiving unit 702 is fixed to the other surface. This fixing work can be easily performed by the above-mentioned fixing means, so that the mobile robot itself can perform the fixing work. However, if the worker enters for a short time, the worker may perform the fixing work.

Since the flexible board 703 can be made thinner than the gap between the door 704 and the door frame 705, the door 704 can be easily closed as in the normal case as shown in FIG. Even in the case of a closed type door provided with a part, good sealing performance can be maintained.

In this manner, as shown in FIG. 28 (e), wireless communication is performed between the mobile robot 706 and the transmission / reception unit 702, and the flexible substrate 703 is used between the transmission / reception unit 701 and the transmission / reception unit 702. Signals can be transmitted by wireless communication between the transmission / reception unit 701 and the external control unit 707 by wire communication. Therefore, in the communication between the mobile robot 706 and the control means 707 (for example, the control device 120 of the command vehicle 1), the signal does not deteriorate due to attenuation caused by the passage of the radio wave through the door.

Note that the wired signal transmitting means is not limited to the flexible substrate, but may be a method of closing the door when sandwiched between the door and the door frame 705, such as an assembly of thin wires. Any material other than a flexible substrate may be used as long as it has a size that allows the substrate to have flexibility.

In the embodiment shown in FIG. 28,
Communication between the transmission / reception units 701 and 702 and the external device is wireless, but is not limited thereto. In FIG. 29, as another configuration example, the control unit 70
7 (for example, the control device 120 of the command vehicle 1) and the transmission / reception unit 71
0 indicates a configuration electrically connected by a communication cable 711. The communication cable 711 may be formed of the flexible board, or may be a flexible board only at a portion passing through the door, and the other portions may be a normal communication cable. The same effect can also be obtained by this method. In the present embodiment, the flexible board is arranged in the gap between the door 704 and the door frame 705. However, in the case of a double door, the flexible board is arranged between the two doors. Of course, it is possible. In the case where there are a plurality of doors, it is possible to cope by installing the repeater 700 at each door.

By using this repeater, even if the door around the accident site is made of a material that attenuates radio waves and the door is closed, wireless communication can be reliably performed. This makes it possible to more reliably perform communication between the mobile robot and the outside while minimizing the diffusion of contaminants.

[Nineteenth Embodiment] Next, a nineteenth embodiment will be described with reference to FIG. The present embodiment relates to a power supply unit that enables a mobile robot to receive power for operation while being in a contaminated area.

As shown in FIG. 30, the power supply means includes a power supply section 720 temporarily installed in a contaminated area, a power supply 727, and a power cable 72 for electrically connecting them to the power supply 727.
Consists of three. The power source 727 refers to a generator provided in the accident response robot system of the present invention or another available power source.

The power cable 723 is partially or entirely formed of a flexible board (not shown). The flexible substrate is formed by covering a thin conductive film with an insulating film, and can be manufactured in a thickness of 0.1 mm. Even when the door 724 is provided between the power supply 727 and the power supply unit 720, the flexible substrate can be manufactured to be thinner than the gap between the door 724 and the door frame 725, so that the door 724 can be easily closed as in a normal case. , And good sealing performance can be maintained even in the case of a closed door having a seal portion. The power cable 723 is not limited to a flexible board, but may be made of another thin electric wire or an aggregate thereof as long as it has a size capable of closing a door and has flexibility. May be.

The power supply section 720 preferably includes a fixing means (not shown). In this case, the power supply section 720 can be easily fixed to the door surface. As the fixing means, a magnet can be used when the door is made of iron, and an adhesive means such as a double-sided tape or a suction disk can be used when the door is made of another material.

The work of fixing the power supply section 720 and the work of laying the power cable 723 may be performed by the mobile robot itself, or may be performed by a worker if the worker can enter for a short time.

The power supply section 720 is provided with a power supply port 721 for a mobile robot and a general-purpose power supply port 722. On the other hand, the mobile robot 726 is provided with a power receiving port 728.
The power reception port 728 and the power supply port 721 for the mobile robot are formed of a generally known contact type or non-contact type electrical connector (not shown).

The mobile robot 726 moves to the position of the power supply section 720, and receives the power reception port 728 and the power supply port 7 for the mobile robot.
The power can be received by combining the electric connectors with each other. As a result, power can be stored in an on-board battery (not shown).

The general-purpose power supply port 722 is a connector similar to a general electric insertion port, and is configured to supply power to other devices and devices requiring power in a contaminated area. In this embodiment, the door 724 and the door frame 725 are used.
Although the flexible substrate is arranged in the gap between the two doors, it is of course possible to arrange the flexible substrate between the two doors in the case of two doors.

According to the present embodiment, the power supply unit can be temporarily installed in the contaminated area near the accident site, and the door that separates the contaminated area from the non-contaminated area can be prevented from being completely closed. Therefore, the mobile robot working in the contaminated area can receive power without returning to the non-contaminated area and continue working even if the power is cut off. Even if this power supply unit is installed, the door separating the contaminated area and the non-contaminated area can be closed as usual, and the spread of contamination can be suppressed to a minimum.

[Twentieth Embodiment] Next, a twentieth embodiment will be described with reference to FIGS.

The present embodiment relates to a means for opening and closing a door of a building at an accident site.

As shown in FIG. 31A, a mobile robot (for example, a light work robot) 735 has a door operating device 730 including a door driving module 731 and a knob turning module 732 mounted thereon.

As shown in FIG. 31A, when the mobile robot 735 approaches the door 733 through which it must pass,
As shown in FIG. 31 (b), the mounted operation arm 736
Door driving module 731 and knob turning module 7
32 is fixed to the door 733. FIG. 74 shows a state where the knob turning module 732 is fixed to the door 733. The knob turning module 732 includes fixing means 740,
It can be easily fixed to the surface of the door 733.

As a principle of fixing, when the door is made of iron, magnetic attraction can be used, and when the door is made of another material, adhesion with a double-sided tape or an adhesive, or vacuum suction with a suction disk can be used. The door member and the fixing means 7 are heated by heat.
For example, a method of fusing 40 with the same is also applicable.

FIG. 32 shows the configuration of a knob turning module 732 having fixing means by vacuum suction. The knob turning module 732 has a small hermetic container 790, and the inside of the hermetic container 790 and a vacuum suction disk (fixing means) 740 are connected via a pipe 791. A valve 792 is provided in the middle of the pipe 791.

In advance, the pressure in the sealed container 790 is reduced from the atmospheric pressure, and the valve 792 is closed. When the knob rotation module 732 is fixed to the door 733, the vacuum suction disk 7
The valve 792 is opened and the pipe 791 is opened with the 40 kept on the surface of the door 733. Then, the air inside the vacuum suction disk 740 is sucked by the negative pressure inside the sealed container 790,
As a result, the vacuum suction board 740 is vacuum-sucked on the door 733. As described above, the hole 7 of the knob turning module 732 is
42 is fixed so that the knob 734 passes therethrough.

In general, it is possible to fix by suction using only the vacuum suction disk. However, according to the present embodiment, a relatively strong suction force can be obtained, and there is some air leakage from the vacuum suction disk. Also, a stable adsorption state can be maintained for a relatively long time.

If the valve 792 is driven by an electric circuit as an electromagnetic valve, wireless communication from the command vehicle 1 can be achieved.
Alternatively, suction and release of suction can be performed by remote control through wireless communication from the mobile robot 735.

The knob turning module 732 further has two knob turning rings 741. The knob turning ring 741 has a function of pinching the knob 734 from the side, rotating in synchronization with each other in that state, and rotating the knob 734. This function can be realized by general mechatronics technology. The control of this function can be performed by remote control through wireless communication from the command vehicle 1 of the accident response robot system or wireless communication from the mobile robot 735.

[0239] For example, an electric motor or the like can be used as power for driving the knob turning ring 741 or the like, and a battery can be used as the power source. Alternatively, power may be used as an air cylinder and high-pressure air stored in a small pressure storage container may be used as a drive source. In this way, the knob turning module 732 does not need to be connected to the mobile robot 735 or the outside with a signal cable or a power cable, and does not restrict the behavior of the mobile robot 735.

FIG. 33 shows the door driving module 731 connected to the door 73.
FIG. Door drive module 73
1 includes a fixing means 750 similar to the fixing means 740 of the knob turning module 732, and can be easily fixed to the surface of the door 733.

The door drive module 731 has a vertical drive mechanism 770 and a wheel drive mechanism (not shown).
The vertical drive mechanism 770 connects the drive wheel 751 to the floor 752
The wheel drive mechanism has a function to rotate the drive wheel 751. The door 733 can be moved by rotating the drive wheels 751 by pressing the wheels against the floor 752 by the vertical drive mechanism 770.

In some cases, a weir is provided at the door of a power generation facility or the like. In this case, the height of the driving wheel 751 is adjusted by the operation of the vertical driving mechanism 770 to attach the floor to the floor with an appropriate ground pressure. Can be pressed. These functions can be realized by general mechatronics technology. Further, control of this function can be performed by remote control through wireless communication from a control command unit of the accident response robot system or wireless communication from a mobile robot 735.

As a power source for the vertical driving mechanism 770 and the wheel driving mechanism, for example, an electric motor can be used, and a battery can be used as a power source. Alternatively, power may be used as an air cylinder and high-pressure air stored in a small pressure storage container may be used as a drive source. In this case, the door drive module 731 does not need to be connected to the mobile robot 735 or the outside with a signal cable or a power cable, and the behavior of the mobile robot 735 is not restricted.

FIG. 34 is a view showing another embodiment of the door drive module 731. The portion for fixing the door drive module 731 to the surface of the door 733 by the fixing means 750 is the same as that shown in FIG.

In the example of FIG. 34, the door drive module 731
The cylinder 773 is driven by the high-pressure air stored in the small pressure storage container 772 mounted on the, and the door 773 is driven by pushing the door frame 771 or its peripheral portion. Note that FIG.
34A shows a state in which the door drive module 731 is set on the door 773, and FIG. 34B shows a state in which the cylinder 773 of the door drive module 731 is driven to open the door 773.

The control of the cylinder 773 can be performed by remote control by wireless communication from the command vehicle 1 of the accident response robot system or wireless communication from the mobile robot 735 as in the case of FIG. Also in this case, the door drive module 731 does not need to be connected to the mobile robot 735 or the outside with a signal cable or a power cable, and does not restrict the behavior of the mobile robot 735.

As described above, the knob 734 is turned by the knob turning module 732, and the door 733 is turned by the door driving module 731.
The door can be opened and closed by moving. Each of these modules is a device whose function is narrowed down by turning a knob and specializing in driving a door, and thus can be easily reduced in size and weight.

Further, since these modules can be separated from the mobile robot 735, the mobile robot 735 does not need to be near the door 733 during opening and closing, and retreats to a position where there is enough space to open the door. Just wait for it to open. Therefore, even when the passage around the door is narrow or there is an obstacle around, the door operation device 730 interferes with the surroundings,
The door can be opened and closed without interfering with the door opened and closed by the mobile robot 735 itself.

According to the present embodiment, even if the passage around the door is narrow or there is an obstacle around the door, the mobile robot can open the door without fail and move quickly to the accident site to adjust the timing. It is possible to take measures not to be missed.

Note that the knob may be turned by the manipulator of the working robot and the door may be moved by the door drive module 731.

[Twenty-First Embodiment] Next, a twenty-first embodiment will be described with reference to FIG. This embodiment relates to a means for opening and closing a valve at an accident site.

As shown in FIG. 35, a mobile robot (for example, a working robot) 760 includes an operation arm 766 attached to the main body, an impact wrench 765 attached to the tip of the operation arm 766, and an impact wrench 76.
5 that is connected to the handle grip 764.

The mobile robot 760 is connected to the valve 7 of the pipe 761.
When it is necessary to open and close the valve handle 62, the operator approaches the valve handle 763, and then expands and contracts the operation arm 766 appropriately, and grips the valve handle 763 with the handle gripper 764. Then, the impact wrench 765 is operated to turn the valve handle 763 to open and close the valve 762.

Operation arm 766, impact wrench 76
The functions of the handle 5 and the handle grip 764 can be realized by general mechatronics technology. Control of this function can be performed by remote control through wireless communication or the like from the command vehicle 1 of the accident response robot system.

According to the present embodiment, it is possible to safely and reliably prevent the accident from spreading.

[0256]

By using the accident response robot system of the present invention, it is possible to respond quickly and flexibly to various accidents. For this reason, it is possible to prevent the accident from spreading and to end the accident early. In addition, by applying the robot system, it is possible to perform a safe treatment without causing the worker to work in a severe environment such as radiation.

[Brief description of the drawings]

FIG. 1 is a first diagram of an accident response robot system according to the present invention.
FIG.

FIG. 2 shows a second example of the accident response robot system according to the present invention.
FIG.

FIG. 3 is a third view of the accident response robot system according to the present invention.
FIG.

FIG. 4 is a third view of the accident response robot system according to the present invention.
FIG.

FIG. 5 is a fourth view of the accident response robot system according to the present invention.
FIG.

FIG. 6 is a fifth view of the accident response robot system according to the present invention.
FIG.

FIG. 7 is a fifth view of the accident response robot system according to the present invention.
FIG.

FIG. 8 is a fifth diagram of the accident response robot system according to the present invention.
FIG.

FIG. 9 is a sixth diagram of the accident response robot system according to the present invention.
FIG.

FIG. 10 is a diagram showing a sixth embodiment of an accident response robot system according to the present invention.

FIG. 11 is a view showing a seventh embodiment of an accident response robot system according to the present invention.

FIG. 12 is a diagram showing a seventh embodiment of an accident response robot system according to the present invention.

FIG. 13 is a diagram showing a seventh embodiment of an accident response robot system according to the present invention.

FIG. 14 is a diagram showing an eighth embodiment of an accident response robot system according to the present invention.

FIG. 15 is a diagram showing a ninth embodiment of the accident response robot system according to the present invention.

FIG. 16 is a diagram showing a tenth embodiment of the accident response robot system according to the present invention.

FIG. 17 is a diagram showing a tenth embodiment of the accident response robot system according to the present invention.

FIG. 18 is a diagram showing a tenth embodiment of the accident response robot system according to the present invention.

FIG. 19 is a diagram showing a tenth embodiment of the accident response robot system according to the present invention.

FIG. 20 is a diagram showing an eleventh embodiment of the accident response robot system according to the present invention.

FIG. 21 is a diagram showing a twelfth embodiment of an accident response robot system according to the present invention.

FIG. 22 is a view showing a thirteenth embodiment of the accident response robot system according to the present invention.

FIG. 23 is a diagram showing a thirteenth embodiment of the accident response robot system according to the present invention.

FIG. 24 is a diagram showing a fourteenth embodiment of an accident response robot system according to the present invention.

FIG. 25 is a diagram showing a fifteenth embodiment of the accident response robot system according to the present invention.

FIG. 26 is a view showing a sixteenth embodiment of the accident response robot system according to the present invention.

FIG. 27 is a diagram showing a seventeenth embodiment of the accident response robot system according to the present invention.

FIG. 28 is a diagram showing an eighteenth embodiment of the accident response robot system according to the present invention.

FIG. 29 is a view showing an eighteenth embodiment of the accident response robot system according to the present invention.

FIG. 30 is a diagram showing a nineteenth embodiment of the accident response robot system according to the present invention.

FIG. 31 is a diagram showing a twentieth embodiment of the accident response robot system according to the present invention.

FIG. 32 is a diagram showing a twentieth embodiment of the accident response robot system according to the present invention.

FIG. 33 is a diagram showing a twentieth embodiment of the accident response robot system according to the present invention.

FIG. 34 is a diagram showing a twentieth embodiment of the accident response robot system according to the present invention.

FIG. 35 is a diagram showing a twenty-first embodiment of the accident response robot system according to the present invention.

[Explanation of symbols]

Reference Signs List 1 ... Command vehicle (mobile command base), 10a ... Monitoring robot (monitoring robot), 10b ... Monitoring robot (measuring robot), 10c ... Working robot (light work robot), 10d ... Working robot (heavyweight) Work robot), 10e: relay robot, 11: sensor, 11a
... TV camera, 11b ... Temperature sensor, 11c ... Acoustic sensor, 11d ... Radiation resistant camera, 11d ... Radiation resistant camera, 11e ... γ / X-ray sensor, 11f ... Neutron beam sensor,
11g optical fiber sensor, 12, 402 manipulator, 13 battery, 100 communication device (first communication means), 110 external communication device (second communication means), 120
... Control device, 130 ... Transportation means (towing vehicle), 140 ...
Storage unit, 150: power generation means (generator), 160: charging means (charger), 165: elevating means (elevator), 170:
General control section, 180, 190 ... Seal mechanism, 182, 1
92: movable passage, 183, 193: exhaust fan, 184
194: filter, 185: doorway, 186: door, 1
Reference numeral 91: opening / closing opening, 193, exhaust fan, 195, intrusion support means (intrusion support vehicle), 401, mobile robot, 402, manipulator, 403, robot hand, 404, sensor unit, 405, charger, 406, power supply unit, 4
10: command vehicle (mobile command base), 411: operation panel,
412: Control panel, 413: External communication device, 414: Local communication device, 415: Portable relay module, 416
… Portable local sensor module, 417a… building,
417b: Tree, 417c: Fence / fence, 418: Accident location, 419: Plant equipment, 420: Image sensor, 4
21 ... Acoustic sensor, 422 ... Laser distance meter, 423 ... Infrared sensor, 424 ... Radiation sensor, 425 ... Tilt sensor, 426 ... Power supply terminal, 427 ... Signal processing circuit,
101: communication device, 500: gas sampler, 501: collimator, 502: signal processing unit, 503: field area, 5
04: sensor moving path, 505: sensor control unit, 506 ...
Display means, 600: mobile robot, 601a to 601e
... lead battery, 602 ... drive control circuit, 603 ... wireless circuit, 607 ... cable, 605 ... antenna, 606 ...
TV camera, 607: image fiber, 608: lens, 609: camera stand, 700: repeater, 701, 7
02 ... Transceiver unit, 703 ... Flexible board, 704 ...
Door, 705: door frame, 706: mobile robot, 707: control means, 710: transmitting / receiving unit, 711: communication cable, 7
20: Power supply unit, 721: Mobile robot power supply unit, 722
... General-purpose power supply port, 723 ... Power cable, 724 ... Door, 7
25 ... door frame, 726 ... mobile robot, 727 ... power supply, 7
28: power receiving port, 730: door operating device, 731: door operating module, 732: knob turning module, 733: door,
734: Door frame, 735: Mobile robot, 736: Operation arm, 740: Fixing means (vacuum suction disk), 741: Knob turning ring, 742: Hole, 790: Sealed container, 791 ...
Piping, 792 valves, 750 fixing means, 751 drive wheels, 752 floor, 770 vertical drive mechanism, 771
Door frame, 772: pressure vessel, 773: cylinder, 760 ...
Mobile robot, 761 piping, 762 valve, 763 valve handle, 764 handle gripper, 765 impact wrench, 766 operating arm

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kimura Motohiko 8 Shinsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside the Toshiba Yokohama Office (72) Inventor Masaki Yoda Shin-Sugita, Isogo-ku, Yokohama-shi, Kanagawa Eighth Town, Toshiba Yokohama Works (72) Inventor Hisashi Hozumi Hisashi Hozumi 8, Isogo-ku, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside Toshiba Yokohama Works (72) Inventor Takuya Uehara Isogo, Yokohama-shi, Kanagawa 8 Shinsugita-cho, Ward, Tokyo Toshiba Yokohama Office (72) Inventor Katsuhiko Sato 8 Shinsugita-cho, Isogo-ku, Yokohama, Kanagawa, Japan Toshiba Yokohama Office (72) Inventor Yasuhiro Yuguchi Yokohama, Kanagawa 8 Shinsugita-cho, Isogo-ku, Toshiba, Japan Toshiba Yokohama Office (72) Inventor Katsuhiko Naruse 8 Shinsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa 3F059 AA17 AA18 BB04 BB07 BC06 DA05 DB05 DC08 FB12 3F060 AA09 CA11 CA12 HA02

Claims (37)

[Claims] A monitor for collecting environmental information;
At least one integrated monitoring robot for investigating the state of the accident point or its surroundings or the movement route to the accident point or its surroundings, and at least one integrated working robot equipped with a manipulator and performing a predetermined work, A first communication unit that performs communication between the mobile robot and the mobile robot, a second communication unit that can perform two-way communication with a predetermined command base, and the first communication unit. A movable command base having a control device that remotely controls the mobile robot, and a storage unit that stores the mobile robot; and a unit that moves the command base. Has an appropriate function based on or based on a result of investigation by a sensor installed at or around the accident site by the working robot. Accident corresponding robot system wherein the work robot is selected. 2. The response to an accident according to claim 1, further comprising a power generation means or a power supply means for supplying power to said mobile robot and said first and second communication means. Robot system. 3. The control device according to claim 1, further comprising: an overall control unit that determines a work procedure of each of the mobile robots based on information on an accident point or a surrounding area obtained by the monitoring robot. The accident response robot system according to claim 1, wherein: 4. A housing for accommodating the mobile robot, the housing having a door through which the mobile robot passes, and a seal provided around a door outside the housing and capable of airtightly adhering to a wall surface. The accident response robot system according to claim 1, comprising: a mechanism. 5. A storage body for storing the mobile robot and having a door through which the mobile robot passes, means for raising and lowering the storage body, and provided around a door outside the storage body and airtight on a wall surface. The accident response robot system according to claim 1, further comprising a movable intrusion assisting means having a sealing mechanism capable of being in close contact with the robot. 6. At least one of the monitoring robots includes a sensor for acquiring environmental information around the monitoring robot, and a communication device capable of communicating with a first communication device of the command base. A first robot having a function of mounting and collecting environmental information at or near the accident point or a moving route to or near the accident point and transmitting the information to the command base; At least one is equipped with a manipulator, a sensor for acquiring environment information for controlling the movement of the work robot, and a communication device capable of communicating with a first communication device of the command base. The first and second robots acquire environmental information from different positions, transmit the information to the command base, and control the command base. The apparatus is configured to
The accident response robot system according to claim 1, wherein a command is issued to the second robot based on environmental information acquired by at least one sensor of the second robot and the second robot to perform a task. 7. At least one of the working robots includes a relay module for relaying communication performed between the mobile robot and the command base. The accident response robot system according to claim 1, wherein the relay module is installed at an appropriate point between the accident module and the accident point. 8. A local sensor module fixed to an accident point or its vicinity or a moving route to or around the accident point and transmitting acquired environmental information to the command base, wherein at least one of the working robots is integrated. Is mounted with the local sensor module in a separable state from the working robot, and the working robot places the local sensor module on or around the accident point or around the moving path to or near the accident point. The accident response robot system according to claim 1, wherein the accident response robot system is installed. 9. The accident response system according to claim 8, wherein a relay module for relaying communication performed between the mobile robot and the command base is attached to the local sensor module. Robot system. 10. The accident response robot system according to claim 8, wherein a power supply unit having a solar cell or power generation means is provided in said local sensor module. 11. At least one of the monitoring robots includes an image acquisition unit and a distance measurement unit, and the control device is configured to perform an operation based on information from the image acquisition unit and the distance measurement unit. 2. The accident response robot system according to claim 1, further comprising a function of creating and displaying two-dimensional information or three-dimensional information on or around the accident point. 12. A local sensor module having image acquisition means and distance measurement means and fixed to an accident point or its vicinity, or a moving route to or around the accident point, and transmitting an environmental condition to the command base. At least one of the monitoring robots includes an image acquisition unit and a distance measurement unit, and the control device includes: the image acquisition unit and the distance measurement unit of the local sensor module and the monitoring robot. The accident response robot system according to claim 1, further comprising a function of creating and displaying two-dimensional information or three-dimensional information on or around the accident point based on information transmitted from the robot. 13. The controller according to claim 1, wherein said controller acquires data such as temperature, radiation dose, and harmful substance concentration obtained by a sensor mounted on said local sensor module and a sensor mounted on said monitoring robot. Or 3
The accident response robot system according to claim 11, wherein the accident response robot system has a function of superimposing and displaying the dimension information. 14. The accident response robot system according to claim 13, wherein said control device has a function of displaying a temporal change of an accident situation. 15. The control device displays information transmitted from a sensor mounted on a mobile robot or a local sensor module attached to a predetermined location in a manner superimposed on information from the sky such as aerial photograph data. The accident response robot system according to claim 1, further comprising means for performing a mapping process. 16. The mobile robot further comprises a movable support robot for assisting at least one of the mobile robots, wherein the support robot is a spare device or a replacement device of a device mounted on the mobile robot, or power is supplied to the mobile robot. 2. The accident response robot system according to claim 1, further comprising: means for supplying a battery or a replacement battery. 17. The accident response robot system according to claim 1, wherein at least one of the mobile robots is provided with means for installing a landmark or a means for guiding the mobile robot. 18. A local sensor module which is fixed on or around an accident point or around or on a movement route to the accident point and transmits an environmental condition to the command base, wherein the local sensor module is a local sensor module. A unitized sensor unit for sensing environmental information of the surroundings, a unitized moving mechanism unit coupled to the sensor unit to adjust the position and orientation of the sensor unit, and a unitized moving unit coupled to the moving mechanism unit; And a fixture for attaching the sensor unit and the moving mechanism unit to a structure. The sensor unit, the attaching device, and the moving mechanism unit are coupled to each other via coupling means that can be coupled and separated. The accident response robot system according to claim 1, wherein: 19. A local sensor module which is fixed on or around an accident point or on or around a movement route to the accident point and transmits an environmental condition to the command base, wherein the local sensor module is a local sensor module. It has a unitized sensor unit having a sensor for sensing surrounding environment information, a signal processor for processing a signal detected by the sensor, and an openable / closable shutter for protecting the sensor unit. The accident response robot system according to claim 1, wherein: 20. The accident response robot system according to claim 1, wherein said monitoring robot includes a robot having a flying means and a sensor attached to said flying means. 21. The accident response robot system according to claim 1, wherein display means for displaying information acquired by a sensor is provided at least integrally with said monitoring robot. 22. At least one of said mobile robots,
The accident response robot system according to claim 1, further comprising means for collecting at least one of gas, suspended dust, liquid, surface deposits, and solids. 23. At least one of said monitoring robots is provided with a radiation resistant camera as a visual sensor and a dose equivalent rate measuring device for γ-rays, X-rays and neutrons as a radiation sensor. The accident response robot system according to 1. 24. At least one of the mobile robots is equipped with sensor means connected to a plurality of sensors or long sensor means capable of measuring distribution, which are separable from the mobile robot. 2. The accident response robot system according to claim 1, wherein the robot is laid while moving the sensor means. 25. At least one of the mobile robots is equipped with a plurality of sensors having communication means and a power supply which can be separated from the mobile robot, and the mobile robot installs the sensors while moving the sensors. The accident response robot system according to claim 1, wherein: 26. At least one of the mobile robots has a moving path separable from the moving robot and a sensor movable on the moving path, and the moving robot has the moving path. After installing while moving
The accident response robot system according to claim 1, wherein a sensor moves along the moving path to perform measurement. 27. The accident response robot system according to claim 1, wherein at least one of the mobile robots has an electronic device arranged in a space surrounded by a lead storage battery. 28. The first communication means includes a signal transmission member having flexibility in a transmission path of the communication signal, wherein the signal transmission member is provided from one side of a door near the accident site. The accident response robot system according to claim 1, wherein a communication signal is transmitted to the opposite side. 29. The first communication means further comprises two wireless communication transmitting / receiving sections electrically connected to each other by the signal transmitting member, and these wireless communication transmitting / receiving sections are provided on one side of the door. 3. The device according to claim 2, wherein the first and second surfaces are arranged on the opposite side.
10. The accident response robot system according to 9. 30. The mobile robot according to claim 1, further comprising a power supply unit installed near a moving area of the mobile robot, wherein the mobile robot has means for receiving power from the power supply unit. Accident response robot system. 31. The power supply unit is electrically connected to power generation means or another power source provided at the command base by a power cable, and at least a part of the power cable has flexibility. 31. The accident response robot system according to claim 30, wherein the flexible portion transmits power from one side of the door near the accident site to the opposite side. 32. The work robot is provided with a door operation device for opening a door of a building, which can be installed independently of the work robot on the door or a peripheral portion thereof and can be remotely operated. The accident response robot system according to claim 1, wherein: 33. The accident response robot system according to claim 32, wherein said door operating device has a function of opening and closing said door. 34. The accident response robot system according to claim 32, wherein said door operating device has a knob turning module for turning a knob of said door and a door driving module for driving said door. 35. The manipulator of the working robot has a function of turning a knob of the door, and the door operating device has a door drive module for driving the door. 33. The accident response robot system according to claim 32, wherein the operation of opening the door is performed by turning the knob while the door operating device drives the door. 36. The door operating device has fixing means capable of installing the door operating device itself on the door or a structure at a peripheral portion thereof, and the fixing means includes magnetic attraction and vacuum attraction. 4. The method according to claim 3, wherein the fixing is performed by at least one of the following methods.
2. The accident response robot system according to 2. 37. An adsorber for fixing the door operating device on the door or a structure at a peripheral portion thereof, wherein the fixing means comprises:
33. The response to the accident according to claim 32, comprising: a container having an internal pressure reduced to an atmospheric pressure or less, a flow path connecting the suction plate and the container, and a valve for opening and closing the flow path. Robot system.