JP2013105186A5

JP2013105186A5 -

Info

Publication number: JP2013105186A5
Application number: JP2011246229A
Authority: JP
Filing date: 2011-11-10
Publication date: 2014-03-06
Anticipated expiration: 2031-11-10

Description

この発明による走行ロボットは、
車体と、
前記車体に設けられ、前記車体を移動させる移動手段と、
前記車体に設けられ、ワイヤ若しくはケーブルを巻取り及び送り出し得る巻取装置と、
前記車体に設けられ、前記車体の進行方向の傾斜角度を検出する角度検出器と、
前記移動手段と前記巻取装置の駆動を制御する制御装置と、
を備え、
前記ワイヤ若しくはケーブルの一端は、前記車体が少なくとも階段を上昇又は下降するときは、前記階段の上方部に固定され、
前記制御装置は、少なくとも前記車体が前記階段を上昇若しくは降下するとき、前記角度検出器が検出した前記傾斜角度に基づいて、前記巻取装置による前記ワイヤ若しくはケーブルの巻取りの停止と巻取りの開始と送り出しと、のうちの少なくとも一つを制御して前記車体の転倒を防止する、
ことを特徴とするものである。
The traveling robot according to the present invention is:
The car body,
A moving means provided on the vehicle body for moving the vehicle body;
A winding device provided on the vehicle body and capable of winding and delivering a wire or cable;
An angle detector that is provided in the vehicle body and detects an inclination angle in a traveling direction of the vehicle body;
A control device for controlling driving of the moving means and the winding device;
With
One end of the wire or cable is fixed to the upper part of the stairs when the vehicle body goes up or down at least the stairs,
The control device is configured to stop and wind the wire or cable by the winding device based on the inclination angle detected by the angle detector at least when the vehicle body moves up or down the stairs. Controlling at least one of start and delivery to prevent the body from overturning,
It is characterized by this.

Claims

The car body,
A moving means provided on the vehicle body for moving the vehicle body;
A winding device provided on the vehicle body and capable of winding and delivering a wire or cable;
An angle detector that is provided in the vehicle body and detects an inclination angle in a traveling direction of the vehicle body;
A control device for controlling driving of the moving means and the winding device;
With
One end of the wire or cable is fixed to the upper part of the stairs when the vehicle body goes up or down at least the stairs,
The control device is configured to stop and wind the wire or cable by the winding device based on the inclination angle detected by the angle detector at least when the vehicle body moves up or down the stairs. Controlling at least one of start and delivery to prevent the body from overturning,
A traveling robot characterized by that.

Fixed to one end of the vehicle body in the traveling direction, and provided with a protrusion that can come into contact with the step of the stairs when the stairs are raised or lowered.
The traveling robot according to claim 1.

The control device includes a first mode and a second mode in which the traveling direction of the vehicle body is set in a reverse direction, and the vehicle body is turned by switching between the first mode and the second mode. Without reversing the direction of travel,
The traveling robot according to claim 1, wherein the traveling robot is characterized.

The control device is separated from the vehicle body;
The traveling robot according to any one of claims 1 to 3, wherein

The moving means includes at least a pair of sprockets and a crawler attached to the pair of sprockets.
The traveling robot according to any one of claims 1 to 4, wherein:

The moving means includes propulsion means for obtaining a propulsive force on or in water.
A traveling robot according to any one of claims 1 to 5, wherein

The vehicle body includes a float that can float on water.
A traveling robot according to any one of claims 1 to 6, wherein

The cable is a cable for supplying power to or communication with the control device and the electrical equipment on which the vehicle body is mounted.
A traveling robot according to any one of claims 1 to 7, wherein