JP2013112028A - Moving body for unmanned running for investigation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To develop a moving body for unmanned running suitable for investigation of a disaster area such as the inside of a nuclear power facility.SOLUTION: In the moving body E for unmanned running, control equipment for running or the like is accommodated in a central internal space portion of a body A covered with crawlers D, sensor equipment for investigation or the like is mounted in an upper part, thereby improving protection for running control equipment, running performance on a troublesome site and an investigation capability under a high-radioactivity environment. A sensor for investigation is provided in a center base bar C, and the moving body E is manipulated in a wireless and/or wired manner.

Description

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

  Nuclear facility accidents, from partial contents such as radioactive contamination leaks due to joint degradation, reactor damage such as the Three Mile Island nuclear plant, Chernobyl nuclear plant accident, Fukushima nuclear plant accident, and the entire facility will be destroyed There are various types of accidents. In an accident involving the destruction of a nuclear power plant building, existing sensors do not function, and the state of radioactivity in the building and the degree of damage cannot be grasped. Several inventions have been proposed that perform on-site inspections in response to accidental damage at nuclear facilities.

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

In Patent Document 3 (Japanese Patent Laid-Open No. 6-168017), an operation panel of a mobile robot system, a relay panel for relaying long-distance communication from the operation panel, and a communication cable connected to the relay panel via a communication cable are disclosed. A switch for dividing the system into two or more systems, an amplifier for amplifying the communication signal for each system divided by the switch, and a signal cup for coupling the signals of each system output from the amplifier A remotely operated mobile robot system characterized by comprising a ring means, and discloses an invention that improves the stability and reliability of signal transmission during long-distance, multi-system communication.
Patent Document 4 (Japanese Patent Application Laid-Open No. 2002-254363) includes a crawler that is capable of following an uneven terrain, and is disposed on the traveling trolley that can travel on the rough terrain by the crawler. A traveling work robot including a multi-axis body part, a multi-joint arm provided in the body part, and a multi-joint imaging means provided in the body part, which is transmitted from a remote control side. The control means for controlling the operation of each part of the traveling work robot is received, the communication means for transmitting the operation state information of each part of the traveling work robot to the remote control side, and each part of the traveling work robot is operated. Power supply means for supplying power for power, and based on the control information received by the communication means, the crawler, the body part, the articulated arm, and the articulated arm Traveling working robot is disclosed that includes a control means for controlling the operation of the shadow means.
The present inventor has continued research and development of a crawler type traveling device suitable for traveling in a disaster area that is unstable and difficult to predict. It is necessary to conduct exploration and research activities in situations where it is difficult for people to enter, such as in a radioactive environment. In an accident at a nuclear facility or chemical plant, control of a space that requires shielding that does not allow radio communication is an issue. It is required to be able to travel stably on floors where equipment has been scattered due to explosions, etc. and narrow steep factory stairs.

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

  An object of the present invention is to provide an investigation mobile body that is difficult for humans such as a high-concentration radioactive space to enter and that can travel in a nuclear facility in which equipment is scattered.

  The present invention accommodates a traveling control device or the like in a main body part covered with a crawler belt, and attaches a survey sensor device or the like to the upper portion to protect the traveling control device and to improve the travelability and high concentration of obstacles. It is an invention that improves the investigation ability in a radioactive environment.

The gist of the present invention is as follows.
1. A box-shaped main body (A) and pulleys (B) are attached to the front and rear of the main body, and a center base bar (C) for equipment attachment is provided in the longitudinal direction of the center of the machine body. An unmanned traveling vehicle (E) for traveling under an environment in which a human is difficult to invade, provided with left and right traveling crawlers (D) hung around the entire width of the aircraft except for
The main body (A) is made of metal and has a central internal space that can be sealed, and the side is provided with a storage space that can be opened and closed laterally.
It is equipped with an internal situation grasp sensor and a survey sensor (S) for the mobile body,
The survey sensor (S) is provided on the center base bar (C).
A moving body for unmanned traveling, characterized in that the moving body is wirelessly controlled and / or wired controlled.
2. As a survey sensor (S), a wireless antenna, sound collection microphone, hygrometer, radioactive dosimeter, camera facing in the front-rear direction, overhead camera covering the periphery of the aircraft, rotation axis angle fixed with respect to the aircraft traveling direction 1. A distance measuring sensor, a three-dimensional distance measuring sensor whose rotation axis is a rotation type, a thermometer, and a lighting fixture are provided. The unmanned traveling vehicle for investigation described.
3. In the center base bar (C), a column (H) for mounting sensors to be arranged above the fuselage is erected,
The column (H) is equipped with at least one of a camera facing in the front-rear direction, a bird's-eye view camera that covers the periphery of the aircraft, a radio antenna, a radioactivity dosimeter, and a γ camera. The unmanned traveling vehicle for investigation described.
4). It is equipped with a rotatable arm-shaped sub crawler unit (G) on the left and right sides of the aircraft,
The sub crawler is characterized in that a crawler belt is stretched between a base end pulley on the airframe side and a front end pulley having the same diameter or a larger diameter than the base end pulley. ~ 3. An unmanned traveling vehicle for inspection according to any one of the above.
5. The internal condition grasping sensor is housed in the main body or in a sealed drive source, and includes a 3-axis gyro, 3-axis acceleration sensor, speedometer, inertial measurement device, encoder, sub-crawler elevation sensor, and power source load detection sensor. It is characterized by having mounted 1. ~ 4. An unmanned traveling vehicle for inspection according to any one of the above.
6). At least one of the pulleys (B) provided at the front and rear is provided with a wheel-in motor with a built-in crawler driving motor. ~ 5. An unmanned traveling vehicle for inspection according to any one of the above.
7). The pulleys (B) provided at the front and rear are pivotally supported by shafts provided between the center frame and the side frames on both sides, and the center frame and the side frames are connected to the front and rear walls of the fuselage. 1. (C) is connected to the center frame. ~ 6. An unmanned traveling vehicle for inspection according to any one of the above.
8). The storage space provided on the side of the fuselage is a battery storage unit. ~ 7. An unmanned traveling vehicle for inspection according to any one of the above.
9. It is for nuclear power plant facilities. ~ 8. An unmanned traveling vehicle for inspection according to any one of the above.

1. The mobile unit for unmanned traveling investigation of the present invention is excellent in radioactivity blocking and direct impact since the metal sealed body containing the information sensor and control equipment of the mobile unit is covered with a crawler belt. It has a low center of gravity and excellent stable obstacle running performance. By mounting the survey sensors on the center upper part of this moving body, it is possible to easily grasp the situation in the survey target facility.
2. Attach sensors for investigation such as cameras, antennas, microphones, distance sensors, distance sensors, radioactivity dosimeters, thermometers, hygrometers, gas sensors, etc. to the center base bar with sensors provided at the center of the body width . Equipment is attached to the center base bar by adopting a fitting structure that is slidable in the longitudinal direction and prevented from coming out upward, so that the equipment can be prevented from falling off due to vibration or the like, and safety is improved.
3. Because it can be operated by radio or wire based on the aircraft information and environmental information, it can run even in facilities where people cannot enter.
4). By using the sub-crawler, the uneven floor surface on which the objects are scattered and the staircase running ability are improved. Increasing the lifting / lowering ability of inclined surfaces such as stairs can be improved by increasing the diameter of the pulley on the front end side. Furthermore, if the weight, such as attaching a weight to the front end pulley, is increased, the frictional force of engagement increases and the maneuvering performance is improved. As a result, the elevating performance of the stairs and the like is improved, and the freedom of investigation is improved.
5. Since the mobile unit for unmanned traveling is motor-driven, it can travel even in a puddle in an environment of non-combustible gas or combustible gas. By adopting the wheel-in motor, a device storage space can be secured inside the main body. Providing a heat dissipation mechanism on the peripheral wall of the storage space can suppress an increase in the internal temperature and prevent a failure of the control device. Since the battery serving as the power source is housed in the side space of the main body, it is easy to dissipate the heat of the battery. Since the motor is quiet, it is also suitable for investigation by sound.
6). This unmanned vehicle is suitable for investigation inside the nuclear facility where the accident occurred. In particular, the main equipment is housed inside the highly sensitive main body, so it is easy to decontaminate after the activity. In addition, since the sensors are attached to the center base bar, the sensors can be easily removed, and thus the decontamination and separation processing of the attached devices is easy.

Schematic plan view of the unmanned traveling mobile body of the present invention Schematic side view of the unmanned traveling vehicle of the present invention The figure which shows the example of the moving body for unattended travel of this invention The figure which shows the state which removed the crawler belt of the moving body for unattended travel of this invention. The figure which shows the outline of the drive side mechanism Schematic diagram showing the sub-crawler unit installed The figure which shows the example of the radio control type moving body The figure which shows the example of the moving object of the wired operation type Conventional example (Japanese Patent Laid-Open No. 11-301354, FIG. 1) Conventional example (Japanese Patent Laid-Open No. 2008-143354, FIG. 1) Diagram showing an example of the platform assembly state Diagram showing an example of a cross-section of the platform Diagram showing an example platform The figure which shows the example which installed the support on the platform The figure which shows the example which attached the water level measuring device and the water sampling device to the support Diagram showing examples of struts, platforms, connecting members, etc. The figure which shows the example of the mechanism of the rotation prop The figure which shows the example of the water sampling device

In the present invention, a travel control device or the like is housed in a main body part covered with a crawler, and an investigation device such as an environmental sensor device for grasping the surrounding situation is attached to the upper center to protect the travel control device. It is an invention that improves the running ability of obstacles and the investigation ability under high-concentration radioactivity environment.
In particular, it is a traveling vehicle suitable for unmanned operation used for exploration and investigation in an unstable scaffolding immediately after a disaster, such as inside a building damaged by an earthquake or the like, and a dangerous environment. In the present invention, a control device or the like is housed and protected in a metal sealed space covered with a crawler and has a low center of gravity. For this reason, it is a structure which is hard to fall down, and the crawler can move while maintaining the ground contact state even on the slopes such as floors and stairs which are unstable due to scattering of equipment. The entire surface of the main body is covered with the left and right crawlers, and the support performance of the uneven surface is improved by the rotating sub crawler, and the elevating performance of the stairs is also improved.
A sound collecting microphone, a camera lens unit, a sensor sensing unit of a survey device such as a transmission / reception antenna, etc., which need to be exposed to the outside, can be attached to a center base bar attached to a device provided in the center. Since the sensing unit is attached to the center portion, the risk of failure such as a collision is small.
The electric motor drive can operate without being affected by combustible gas or incombustible gas with low noise.
The present invention is an unmanned traveling mobile body that moves by traveling according to a remote operation to a site that cannot be accessed by an operator in a radioactive leak accident at a nuclear facility, for example, and can collect information on the traveled portion in real time. is there. The present invention provides maneuverability that enables stable driving even on rough terrain, travel on slopes such as confined places and stairs, remote operation and flexible operability. Realize high reliability in time. In the present invention, the driving performance and the steering performance are mainly developed.
Further, the mobile device of the present invention is highly adaptable to decontamination after activities in a nuclear facility because main equipment is housed in a highly confidential main body.
It is preferable that the moving body is designed to have a weight of 20 to 40 kg, which can be transported by one or two people, a body width and a length capable of moving up and down the stairs and rotating the landing.

The moving body (E) for unmanned traveling of the present invention includes a box-shaped main body (A), pulleys (B) attached to the front and rear of the main body, and a center base bar (C) for equipment attachment provided in the longitudinal direction of the center of the machine body. ), And crawler belts for left and right running around the entire width of the aircraft. Further, a sub crawler unit (G) is provided. A sensor (F) for grasping the surrounding environment is mounted on the center base bar (C).
The drive mechanism employs a wheel-in motor, and adopts a wireless or wired control method based on information acquired by a sensor.
The center base bar is connected to the center frames of the front and rear pulleys, and is provided with one or more grooves for mounting devices in the longitudinal direction. The structure of the groove is such that the inner side is wider than the opening of the groove, and the connecting part on the mounting device side is engaged in a retaining state. The attached device is engaged without being disengaged even by vibration or tilting caused by running on rough terrain. The center base bar is narrower than the distance between the left and right crawlers. When connecting equipment larger than the width of the center base bar, attach a platform to the center base bar for expansion. By using a common mounting mechanism for the center base bar and the platform, the number of parts can be limited by using a common connector.

With reference to the drawings, an example of the traveling mobile body will be described.
<About the overall configuration>
FIG. 1 is a plan view and FIG. 2 is a side view as an outline of a moving body for unmanned traveling.
The illustrated unmanned traveling mobile body (E) is provided in a box-shaped main body (A), pulleys (B) (B) (B) (B) mounted on the front and rear of the main body, and in the longitudinal direction of the center of the machine body. Center base bar (C) for equipment installation, left and right traveling crawlers (D) (D) (D) (D) with belts covering almost the entire width of the aircraft hung around the left and right front and rear pulleys (BB) (BB) ), Sub crawler units (G), (G), (G), and (G) that are directed to the front, rear, left, and right of the aircraft. A sensor (F) for grasping the surrounding environment is equipped on the center base bar (C).
Four pulleys (B) are arranged on the front, rear, left and right of the box-shaped main body (A). Each pulley has a center frame interval in the center in the width direction, and is approximately half the length of the machine body. A crawler belt having the same width as that of the pulley is wound around two pulleys (B) and (B) arranged at the front and rear of the pulley. Since two crawlers (D) are provided on the left and right, almost the entire width of the machine body is covered by the crawler belt.
The main body (A) is provided with a sealable space having an upper lid at the center, and both sides serve as storage spaces accessible from the side surfaces. It is possible to provide a cover that can also be opened and closed on the side storage space. The central space accommodates the control device of the moving body. The side accommodates parts that require replacement, such as batteries.
A center base bar (C) is disposed in the longitudinal direction of the center of the machine body, and is used as a member for externally attaching a surrounding environment grasping sensor (F) and the like. The center base bar (C) can be supported by the center frame of the pulley (B). Since the center frame is a strong member, it is suitable as a mounting member. An instrument such as a sensor can be directly attached to the center base bar (C) or can be attached to a support (H) standing on the center base bar. Alternatively, a platform attached to the center base bar can be used.
Since the center base bar (C) is disposed in the central longitudinal direction, the center base bar (C) is less likely to be displaced even when a device is attached, and the influence on stability is small. Since it is in the center of the fuselage, there is little risk that the mounted device will come into contact with surrounding obstacles, and the safety of the mounted device can be ensured.

(1) Traveling Moving Body FIG. 3 shows a perspective view of the appearance of the moving body in a state where the center base bar is not equipped with a sensor or the like. FIG. 4 shows an exploded view with the crawler removed, and FIG. 6 shows a view with the main crawler removed and a sub-crawler.
The traveling mobile body E includes a main body A and crawlers D arranged on the left and right around a pulley B provided on the front and rear of the main body A. The left crawler L51 and the right crawler R52 are divided into left and right by the center frame 41. A center base bar C is disposed on an extension line of the front and rear center frames 41. A sliding surface of the crawler belt is formed on the lower surface side of the main body A. Although there may be a pulley which is an intermediate idler used in a general crawler traveling device, it is preferable not to use it in the moving body for traveling. If moving parts are provided, it becomes a failure factor, so it is reduced.
The traveling mobile body includes sub-crawler units G at four corners, front, rear, left and right. The figure shows only the sub crawler units provided on the front and rear of the left side, and the right side is omitted. The traveling mobile body E basically travels with the driven pulley 72 side as the leading side and the driving pulley 71 as the rear side, but since there are many obstacles in the affected area, the traveling body E can move forward and backward freely. The left and right crawlers can be braked separately. Further, the four sub-crawler units are configured such that the belt can rotate, the arms are formed, the swivel can be turned, and the swivel can be individually turned. A side space 32 is provided on the side of the machine body, and is used as a space for storing a battery serving as a power source. By arranging on the side, heat dissipation is easy, and the battery is protected and convenient for replacement.
The traveling mobile body 1 disclosed in FIG. 3 is individually controlled by six crawlers composed of two main crawlers 51 and 52 and four sub-crawler units G, so that the traveling mobile body 1 can be moved and lifted in a disaster area. It can be carried out.
The center base bar C is located between the left and right crawler belts 53 and can prevent interference from the outside. Furthermore, the protection performance of the sensing part of the attached sensor can be improved by providing it at substantially the same height as the upper surface of the crawler belt 53. The center base bar C can support the center frame of the pulley B provided at the front and rear at the center in the width direction of the machine body. It can be set to a length slightly shorter than the airframe in the central longitudinal direction of the airframe.
The crawler belts 53 and 53 are provided in the widths of the left and right airframes of the center frames 41 and 41, and are about half the width of the airframe. Since the width of the belt is wide, even when traveling on a terrain inclined in the width direction or on a undulating terrain, the resistance to lateral displacement increases, and the effect of preventing the wheel from coming off from the pulley is great.

(2) Internal structure Fig. 4 shows the main configuration (excluding the sub crawler) with the crawler belt removed.
Pulleys B are attached to the front and rear of the main body A, and the main body is box-shaped and is divided into a central portion and three sides. The side section is a side storage 3 that is open to the outside. An inner storage space 21 is formed by a side plate 24 of four circumferences, front and rear side plates 25 and 26 and a bottom plate 23 on the center, and a top plate 22 that can be opened and closed on the top side. The storage space 21 stores a control device for the traveling mobile body, a sensor related to the mobile body itself that detects the operation status and posture, a survey sensor device, and the like. The storage space 21 is a closed space, and pulleys are arranged in the front and rear, and the upper and lower surfaces are covered with a crawler belt, so that the storage space 21 is protected from an impact from the outside.
The central storage unit opens and closes the upper surface plate and arranges electronic devices and the like. However, in order to ensure sealing, the upper surface plate and the central storage unit 21 are provided on the end of the side plate 24, the front plate 25, and the rear plate 26. The unevenness as shown in FIGS. 4 (e) and 4 (f) is provided in the part to enhance the adhesion. In the present invention, measures are taken to increase the temperature of the electronic device disposed in the sealed central housing. The central storage unit 21 stores electronic devices such as controls and sensors, and has a sealed structure so that water and contaminants do not enter. In the present invention, a heat radiating mechanism such as a heat radiating fin is provided in the casing forming the central storage portion. The concave and convex fins shown in FIG. 4 (d) can be provided on the constituent plates of the top plate 22, the bottom plate 23, the side plate 24, the front plate 25, and the rear plate 26. The radiated heat is discharged without stagnation due to the movement of the crawler belt that moves up and down the central storage unit and the pulley that rotates back and forth, so that the temperature of the sealed central storage unit can be efficiently suppressed. Furthermore, heat dissipation can be further improved by providing the upper surface of the side storage portion with a heat dissipation function.
The center base bar C can be supported by the front and rear center frames as described above. Alternatively, it can be attached to the top plate 22. Alternatively, the top plate 22 can be divided into two and provided independently from the left and right top plates. When the storage space 21 is a single space, there is a high degree of equipment installation work and flexibility. On the other hand, when the storage space is divided, the strength of the main body can be improved. Providing a wall that is divided into left and right is effective for installing the center base bar.
The front and rear pulleys B are mounted on shafts 73 provided between the center frames 41 and 41 provided on the front plate 25 or the rear plate 26 of the box and the side frames 42 and 42 extending from the sides of the box. .
On the side surface of the main body A, a side storage portion 3 that can be opened on the outer surface is formed to be a storage portion for a battery or the like. The side storage 3 is formed by a side top plate 33, a side bottom plate 34, a side front plate 35, and a side rear plate 36. The side upper surface plate 33 is preferably provided with a side upper surface panel 31 which is an uneven surface, a mesh board, or a perforated board to ensure a heat radiation amount. A protection plate and a guard can be provided on the side outer surface.
The side storage unit 3 can also improve the sealing performance depending on the working environment conditions of the moving body.

(3) Center base bar The center base bar C is arrange | positioned in the center part of the width direction as FIG. 3 shows. Since the crawler belt 53 is disposed on the left and right of the center base bar, it is difficult to directly contact the obstacle. The upper surface of the center base bar can be set to the same height as the surface of the crawler belt 53, or to a height. It is also possible to set some lower and others slightly higher. When it is lowered, the protection function by the crawler belt is enhanced.
As shown in FIG. 4C, the cross section of the center base bar C is provided in a shape in which the upper portion is wider than the lower portion, for example, a shape such as an inverted trapezoid. Since the main traveling mobile body 1 traveling on rough terrain is constantly subjected to vibration and is exposed to an impact caused by stepping up and down, it has a fitting structure that prevents it from coming off. A mounting base 61 is formed in such a shape as to straddle the inverted trapezoid, and a sensor sensing unit or the like is mounted on the base.
Moreover, as a retaining structure, it is also possible to provide a pedestal that is provided with a groove that expands downward and enters and engages with the groove. A plurality of these key fitting mechanisms can be provided. Further, other key fitting structures can be freely used.
The center base bar C is attached to the front plate 25, the rear plate 26, or the center frame 41 of the main body. The attachment pieces 62 provided before and after the center base bar C are connected. The mounting piece 62 is formed on a flat plate thinner than the inverted trapezoidal portion of the center base bar C, and the mounting base 61 is inserted from this end portion. It is also possible to provide a wall or beam in the front-rear direction of the center of the main body and form the center base bar C thereon.
Another example of the center base bar is shown in FIG. The example of FIG. 4G is a center base bar C having a structure in which mounting legs 62a and 62b to be attached to the center frame are provided and a bar 62c is hung thereon. By providing the leg portion, the upper surface plate 22 can be freely opened and closed. Maintenance can be easily performed without mounting equipment in the central storage section or removing the center base bar.

(4) Crawler The basic structure of the crawler type traveling device used in the present invention is that pulleys B and B are attached to shafts 73 provided at the front and rear of the vehicle body frame, and crawler belts 53 and 53 are wound around the pulleys B and B. By driving the drive pulley 71, the crawler belts 53 and 53 are rotated to travel. The crawler belts 53 and 53 are provided on the left and right sides of the machine body. A rubbing body is provided as a mechanism for receiving the crawler at the lower part of the machine body. The rubbing body includes a lower surface front rubbing member 43 a, a lower surface rear rubbing member 43 b, and a lower surface center rubbing member 44.
This is suitable because it can be a hindrance to irregular ground resistance received from an uneven ground surface. Also, the rubbing body is preferable because it has fewer wear parts and movable parts such as bearings than the rolling wheels, and therefore causes fewer failures. The center of gravity can be lowered, which is advantageous for stabilizing the vehicle body. The body, which is part of the body frame, uses lightweight materials such as aluminum alloy and carbon fiber reinforced plastic. The running speed is about human walking.
The crawler belt 53 is made of rubber or metal. A rubber belt is preferred. Rubber belts are suitable because they can reduce damage to rubber pulleys. Further, it is possible to suppress rubbing wear on the rubbing portion of the machine body. A wider crawler belt 53 is suitable. In a stricken area with unevenness, the wide width is suitable so that the aircraft can be supported by partial grounding of the crawler. In addition, the ground pressure can be reduced, and the airframe protection function is achieved so that the aluminum alloy airframe is not damaged by contact with sharp concrete debris.
The wide width is also effective for preventing the crawler belt from being removed.
In addition to the crawlers 51 and 52 provided on the left and right of the vehicle body frame, a sub crawler unit G is provided for stepping over the steps. For this sub crawler unit G, a traveling crawler D hung around pulleys provided in front of and behind the vehicle body frame may be referred to as a main crawler unit.

(5) Crawler Pulley The pulley B around which the crawler belt 53 is wound is mounted on a shaft 73 provided between the center frame 41 and the side frame 42. In the present invention, it is preferable that a wheel 74 is interposed on the shaft and a pulley is attached to the wheel. A wheel-in motor equipped with an electric motor (not shown) is adopted inside the wheel. The electric motors are provided in the left and right drive pulleys 71 and 71, respectively.
The pulley B can be used in combination of metal, rubber, narrow pulley, and the like. One to a plurality of pulleys are attached to the shaft. When using two or more, a metal pulley can be mixed. Each example is shown in FIGS. 5 (a), 5 (b), and 5 (c).
The pulleys 75 and 75 shown to Fig.5 (a) are metal pulleys provided with the width over the whole width of a crawler belt. On the pulley surface, protrusions that engage with the irregularities on the inner surface of the crawler belt are formed. A flange is formed at the edge of the pulley 75 from the center frame to prevent the crawler belt from moving inward.
The pulleys 76 and 76 shown in FIG. 5B are rubber pulleys having a width corresponding to the entire width of the crawler belt in which a rubber layer is provided on the wheel 74. This rubber pulley acts as a buffer when it collides with rocks. A large number of grooves are formed on the pulley surface to provide engagement with the inner surface of the crawler and improvement of buffering performance, and a function of a groove for discharging sand mud caught between the crawler and the pulley. The pulley 76 also has a flange formed on the center frame side.
The pulley shown in FIG. 5C is a combination of small pulleys. In the example of illustration, it is comprised by three narrow pulleys 77a, 77b, 77c. Each pulley is attached to a wheel 74. The small pulleys 77a and 77b are rubber pulleys. A number of grooves are formed on the surface of the rubber pulley.
The pulley 77c disposed on the center frame 41 side is a metal pulley. The metal pulley 77c keeps the distance between the front and rear pulleys constant, maintains an appropriate tension on the crawler belt, and mainly shares the function of transmitting the driving force to the crawler belt. The metal pulley 77c provides a flange on the center side to regulate the crawler. The rubber pulleys 77a and 77b have a plurality of grooves formed on the surface thereof, the engagement with the inner surface of the crawler and the improvement of the buffering performance, and the function of the groove for discharging the sand mud caught between the crawler and the pulley. Plays. By making the width narrow, the sand mud can be discharged smoothly. It also contributes to weight reduction.
The rubber pulley is preferably formed by extrapolating a rubber body to a metal wheel. Since the rubber can be supported by the metal wheel, it is easy to stabilize the rubber body and attach it to the shaft. By thickening the metal wheel attached to the shaft, it is possible to secure a space for installing the drive motor.
On the surface of the rubber pulley, irregularities for engaging the crawler belt and preventing slippage can be formed outside the groove for removing foreign matter. The rubber pulley also functions to reduce the impact when it collides with a concrete block. It is possible to suppress damage to equipment such as the airframe and the motor due to impacts such as stepping up and down and sliding down.
In general, the rear pulley is responsible for driving, but the front pulley can also be provided with a driving mechanism to increase the driving output, or to selectively use it by moving forward and backward.

(6) Sub crawler unit The sub crawler unit G (see FIGS. 3 and 6) is provided in an arm shape on the side of the traveling vehicle body. One to four can be provided at the left and right front and rear positions. The sub crawler unit G is detachable according to undulations or steps. The sub crawler unit G is configured by winding a sub crawler belt 83 around a front end pulley 81 and a base end pulley 82. It is preferable to set the diameter of the distal pulley 81 to be larger than the diameter of the proximal pulley 82. The same diameter may be used on gentle slopes and flat ground. The sub crawler unit G is swingable and swings according to the height of the step. The swing range can be rotated 360 °, and travels along the side of the vehicle body using a stand-by posture that does not jump forward and backward from the vehicle body and four sub-crawler units that are inclined downward and grounded. It is also possible. The swing center is the shaft of the base pulley, and this shaft is fixed to the side frame 42. It is effective to turn the sub-crawler for running on slippery parts such as sand and mud and for escaping from the depressed recess. This shaft can also extend the shaft 73. Increasing the diameter of the pulley on the front end can improve the engagement when climbing the stepped step surface. Also in the downward direction, a large-diameter pulley can make contact with the ground quickly, and the fall shock can be reduced. By increasing the weight by adding a weight to the front pulley, etc., it is possible to further increase the frictional force against the slope such as the stairs and improve the slope maneuvering performance.
Further, the four sub crawlers can freely rotate in the front-rear direction, and can turn to run on soft ground or steeply inclined surfaces. Also, when escaping from the depression, it is effective as a means for searching for clues by rotating and swinging randomly.
FIG. 3 shows the sub-crawlers 8a and 8b arranged on the left and right sides. The same arrangement is made on the right side, but the illustration is omitted. The sub crawler unit G is driven to swing from a drive pulley 84 provided on the side frame 42 by a drive belt 85 wound around a pulley provided coaxially with the base end pulley 82. The drive pulley 84 is driven by a motor (not shown). Therefore, in this example, six motors of two motors for main driving and four motors for driving sub-crawlers are arranged as driving sources.

(7) Drive source The drive source of the present invention is suitable for motor drive. In disaster areas where flammable gases may flow out, gasoline engines are dangerous. Further, the internal combustion engine cannot be used in an oxygen-deficient sealed space. A wheel-in motor can be adopted as the motor. Since a water pool is also assumed, the wheel-in motor is suitable because it can be driven even in a watertight state. Load data on the motor can be obtained by detecting current load and temperature. Since it overheats in an overload state, the temperature is detected and a steering operation is performed to avoid the overload state.
In addition, when the type or concentration of sound or gas is used as a survey target, noise and exhaust gas generated by a gasoline engine or the like are harmful to the measurement and are inappropriate.
As described above, the driving motors for driving the main crawler unit and for the sub crawler are arranged, and six or more motors are provided.

(8) Maneuvering performance The crawler type traveling device of the present invention assumes unmanned traveling for exploration and investigation of disaster areas. The maneuver is unattended and remotely controlled. The communication function uses wireless or wired. Since it is assumed that the vehicle is traveling in a closed space where people cannot enter, it will be controlled while looking at the monitor. In addition, when it is necessary to block the radioactivity, it is necessary to steer with a wire through a shielding wall. Therefore, it is necessary to equip the mobile body with sensors for collecting information to be displayed on the monitor.
Unstable running on the ground surface is carried out with some crawlers in contact with the ground, changing the posture, manipulating and maneuvering, performing exploration and investigation while escaping and moving.
The moving speed is designed to be about 0.5 to 1.7 m / sec, which is the walking speed of humans, within 3 km / h on rubble, and within 6 km / h on flat ground. In a disaster-stricken site where human operations are often observed by remote control or viewing the display, the human walking speed within 1.2 m / sec (about 4 km / h) is sufficient.
Since the crawler type traveling device of the present invention is assumed to be used at a lower speed than civil engineering and construction machinery, sufficient driving is possible even if the rubber pulley receives a pressure such as a collision and deforms. Propulsion can be obtained. Further, by adopting a wide crawler belt in addition to low speed, obstacles such as derailment can be avoided.

(9) Sensors necessary for maneuvering Sensors that collect information on the moving body itself, such as a 3-axis gyro, encoder, 3-axis acceleration sensor, speedometer, inertial measurement device, and drive load sensor Built in. When the inertial measurement device is used, the three-axis gyro and the three-axis acceleration sensor can be omitted. Sensors that detect basic data related to moving objects are installed inside the main body and the wheel with high airtightness, are highly safe, and have a very low risk of losing basic functions related to running.
Since the mobile object of the present invention controls the mobile object displayed on the display while grasping the peripheral condition of the mobile object, the mobile object has means for obtaining the peripheral condition. Equipped with a camera, microphone, antenna, three-dimensional distance sensor and lighting equipment. FIG. 7 shows an example equipped with a sensor for grasping the surrounding situation.
The moving body shown in FIG. 7 is a wireless control type moving body 100.
Examples of the camera include a front camera 122 that reflects the front and rear of the traveling device, a rear camera 123, and an overhead camera 121 that reflects the surroundings of the moving body. The bird's-eye camera 121 is installed facing downward on a support column 130 erected on the center base bar 6 so that the entire periphery in the vicinity of the moving body 100 can be reflected.
Microphones 124 and 125 are provided at the tips of the center frames 4a and 4b.
The illuminating device includes a device that irradiates at least the same direction as the camera, though not explicitly shown.
A three-dimensional distance measuring sensor 101 for obtaining obstacles and unevenness information around the moving body 100 is provided. The three-dimensional distance measuring sensor can employ means utilizing laser reflected light or the like. The three-dimensional distance measuring sensor 101 of this example includes a distance measuring sensor 112 having a laser beam transmitter fixed to a rotating shaft, and a distance measuring sensor mounted so that the laser beam transmitter is fixed to the rotating shaft and the rotating shaft is further swung. 111, and the distance and height of surrounding objects are grasped using two distance measurement data. An example of a distance measuring sensor having a swing axis is disclosed in Japanese Patent No. 4059911 proposed by the present inventor.
In this example, the center base bar 6 is attached to the center frames 4a and 4b via supporting legs.
Data from the sensor is sent from the antenna 141 to a computer device equipped with a monitor, processed and displayed on the monitor, and is transmitted to the antenna by operating the controller to operate the moving body 100.

FIG. 8 shows an example of a wired control type moving body 200.
In this example, a wired steering communication cable device 242 is provided. As the information sensor of the moving body itself and the sensor for grasping the surrounding situation, the same sensor as the wireless control type moving body 100 described above can be mounted.
Wired maneuvering is limited to the length of the communication cable on which the range of action is mounted, but will be used in an environment where radio cannot be used. If the operator cannot enter, but there is a range where radio communication is possible and there is a wall where radio is cut off, place a relay device in front of the blocker and extend the wire from the relay device. It can also be put out.

(10) Maneuvering the moving body The joystick is used for remote control based on the monitor display.
As for the maneuvering of the moving body of the present invention, a wireless maneuvering type moving body can be used in a place where radio is effective, and a wire maneuvering type moving body can be used in a place where radio is not effective. Furthermore, it is possible to use a combination of wireless control and wired control.
For example, in a nuclear facility where there is a radiation shielding wall, radio is also blocked by the shielding wall, but radio is possible inside the shielding wall. In such an environment where radio is cut off, it is effective to steer through a shielding wall by wire. In such a facility, the above-described wired control type moving body 200 can be used. Further, it is possible to maneuver the wireless maneuvering type mobile body 100 using the wired maneuvering type mobile body 200 as a relay machine. In this way, a wide range of actions can be performed by combining two types of moving objects. For example, a wire-operated type is easy to move in a straight line, but entering a bent place is difficult due to the risk of tangling or damaging the communication cable. Utilizing the body 100 is effective.

In the case of an artificial structure, design drawing information of the structure is useful. By collating the design with the information from the moving body, the current situation can be accurately grasped and the maneuvering becomes easy. It is possible to control with high predictability by installing design drawing information of the active facility on the controller side and projecting the traveling information of the moving body.
It should be noted that the GPS function is not necessarily an effective means because it does not function when traveling in a facility is basically used. In the case of an artificial structure, design drawing information of the structure is effective.

(11) Survey sensors The sensors required for survey differ depending on the target.
In nuclear power generation facilities, there are radiation dosimeters, γ cameras, thermography, thermometers, humidity sensors, water level sensors, water sampling devices, gas sensors, and the like.
It is also possible to attach a manipulator that moves a lightweight object. It can also be used as a device for collecting samples such as water.

<Platform>
Various devices can be mounted by providing a platform above the center base bar. A plurality of support legs are set up on the center base bar, and a deck plate is passed between the support legs to form a platform. The height and length of the platform can be arbitrarily set, and a plurality of platforms can be provided.
The junction structure between the center base bar and the column and the junction structure between the column and the deck are a V-shaped insertion convex portion on one side and a V-shaped concave portion receiving on the other side, or a T-shaped insertion convex portion and T Adopt a joint with a retaining structure such as a shaped recess receiving part.
This joint structure is also adopted between the deck and the mounted equipment to improve the equipment fall prevention function and versatility.
In consideration of the maneuverability and portability of the hallway and stairs, this machine is 30-60 cm wide and 50-100 cm long (excluding the sub crawler length), and the distance between the left and right crawlers is about 2-5 cm. narrow. The center base is often set lower than the crawler surface, and the equipment that can be directly mounted on the center base bar is limited. By providing a platform, the degree of freedom of the on-board equipment is increased and the investigation function can be enhanced.

Examples of platforms are shown in FIGS. 11a, 11b, and 11c.
As shown in FIG. 11a, a support leg 63 is erected on the center base bar 6 attached to the center frame 4a of the pulley and the center frame 4b on the opposite side (not shown), and a deck plate 64 is connected to the support leg 63, A platform 65 is formed. FIG. 11b shows a cross-sectional view of the pulley portion. A center base bar 6 having a V-shaped convex portion 67a is attached to a center frame existing between two metal pulleys 77c and 77c arranged on the center side. The V-shaped convex portion 67a is fitted with the V-shaped concave portion 66a of the support leg 63 to stand the T-shaped support leg 63. A plurality of V-shaped recesses 66 b are formed on the upper surface of the support leg 63. A V-shaped convex portion 67b is provided on the lower surface of the deck plate 64, and a V-shaped concave portion 66c is formed on the upper surface. The V-shaped convex portion 67b formed on the lower surface of the deck plate 64 is fitted to the V-shaped concave portion 66b formed on the upper surface of the support leg, and is joined to a structure that cannot be separated vertically. On the upper surface of the deck plate 64, a plurality of streaky V-shaped recesses 66c are formed. FIG. 11 c schematically shows the overall configuration of the platform 65. A platform 65 in which a deck plate 64 is fitted and joined to the left and right support legs 63 and 63 is shown. The fitting structure is as described above. To prevent sliding in the horizontal direction, there are methods of fixing screws and dropping pins. In FIG. 11c, a large number of pin holes 68 are formed in the flat portion of the deck plate 64. By inserting the connecting pins so as to communicate with the pin holes provided in the base of the equipment to be mounted, Can prevent sliding. As a fixing method, a pinhole is not provided, but it is also possible to perforate according to equipment and to be screwed.
FIG. 11C (a) shows a T-shaped support leg 63 provided with a V-shaped recess 66a for fitting. FIG. 11C shows an example of an I-type support leg 63 provided with a pedestal portion 63a that is screwed to the center frame or the center base bar with screws 63b.
The support legs 63 can also stand directly on the center frame. It is possible to install it above the center base bar, or to remove the center base bar and use only a wide platform. These selections are made according to the working environment of the machine and the type and size of the mounted equipment.

<Support structure>
A support structure using a support for mounting sensors will be described.
A support structure will be constructed to mount sensors such as cameras, etc. that are suitable for high positions by setting up a column on the center base bar and platform. The structure of the support includes a fixed support and a rotating support. The strut is provided with a structure that is easy to attach, such as a base on which equipment is mounted. For example, there are a support column provided with a slit for mounting, a recumbent rod, and the like.
Specific examples are shown in FIG. 12, FIG. 13, and FIG.
FIG. 12 shows an example of a strut structure 130 comprising a square grooved strut 131, a cylindrical strut 150, and accessories on the platform 65. FIG. 13 shows a side view of the column structure 130. This figure shows a state in which a device for measuring water depth is attached. FIG. 14 shows variations of the support column, platform, and connecting member.
The square-shaped grooved strut 131 has a base portion fitted and joined to the platform 65, and the base side portion is supported by an L-shaped support. Cylindrical support column 150 is constructed such that portal base 155 is joined to a platform, and is rotatably erected thereon. A pipe stay 132 having a hole through which the rotary support 131 is passed is mounted on the upper part of the support 131 with the groove. Since the upper parts of both struts are connected by this pipe stay, the stability of the two struts is improved. However, this stay is not necessarily required, and the support may be used alone. A horizontal bar 160 is attached to the uppermost part of the cylindrical column 150. The recumbent can be installed so that it can rotate up and down or turn horizontally. When the cylindrical column 150 is rotatable, the vertical swing function is sufficient for the recumbent. A support 133 is also attached to the cylindrical support 150.
In the illustrated example, the base 155 is provided with a rotating motor 151 and has a structure for rotating the cylindrical support column 150.

<Water level measuring device>
FIG. 13 shows an example of a strut structure 130 equipped with a water level measuring device and a water sampling device.
The water level measuring instrument 300 is a device that measures the water depth by dropping a weight 301 attached to the tip of a cable 302 into water. A bobbin 310 around which a cable is wound around a base 155 is rotatably installed, guided upward through a pipe or the like provided along the cylindrical column 150, and is transferred to a reed 160 through a cable feeder 312 attached to a support 133. A weight 301 is tied to the tip of a cable provided from a guide tool such as a pulley provided on the former side and a guide pipe provided on the tip side. A LED 161 and a camera 162 facing downward are mounted on the front end of the recumbent 160.

  In the water sampling device 400, a gantry 410 is attached to a pipe stay 132. A water sampling container 401 and a reel device 402 for controlling the water sampling container are mounted on the gantry 410, and the tip side is attached to the water sampling container. The two are connected by a cable 403 whose proximal end is connected to the reel. The water sampling will be described later.

The lighting LED and camera attached to the reed 160 have a structure that points in the direction of hanging of the cable without being limited to the attitude of the body. For example, the vertical direction is maintained by attaching to a suspended string. Or it is the structure etc. which attach to the rope stretched between the two pulleys attached to the parallel link structure and the shaft of a link, and maintain an attitude | position in a perpendicular direction.
After irradiating the light and confirming the presence of water with a camera, the weight 301 is suspended, and the water depth is detected by the amount of cable feed. By detecting the tension applied to the cable, it is possible to determine which state is in the air, underwater, or bottom contact. Therefore, the cable delivery device 312 is preferably provided with a feed mechanism and a tension detection mechanism. The cable delivery device 312 also exhibits a winding function by reverse rotation. The bobbin 310 may be in a rotation-free state when the cable is sent out. The cable can be reversed so that the cable can be recovered during winding, but there is a risk of being caught by debris in the water, so it is preferable that the cable can be unwound to the end as it is. . The bobbin can be left free under a weak tension.

In the illustrated example, the cable delivery device is attached to the upper portion of the cylindrical support 150, but the bobbin can also have this function. As the bobbin 310, an electric reel with a counter for measuring the amount of cable to be taken out is used, and a device that is connected to a weight having a cylindrical support and a cable guide guide on a side wall is used. This can be applied to an electric reel for fishing. By making the bobbin and the motor shaft have a weak engagement force, it is possible to adjust the pulling-out predominance with respect to a trouble during recovery.
Since it is preferable to lighten the upper part of the support structure, it is preferable to install a drive mechanism such as a motor near the platform.

For water level measurement, in structures such as nuclear power plants, it is possible to assume where water has accumulated. While confirming, drop the weight. In the example shown in FIG. 13, a posture-control motor 134 is provided at the base of the recumbent, and the recumbent 160 is connected to the cylindrical column 150 so as to be able to turn horizontally and further turn up and down.
In facilities such as nuclear power plants, the position of the measuring instrument can be specified and the structure below it can often be understood, so if the position of the water surface is known, the water depth can be estimated roughly. However, depending on the accident, there are obstacles in the water, so it is necessary to detect the actual situation.

FIG. 14 illustrates variations such as support columns. (A) is a perspective view of the square support | pillar which formed the groove | channel on four surfaces, and a mode that it connected with the base part fittingly connected to a platform etc. is displayed. A lid that covers the top is also shown. (B) is an example of the base part fitted and connected to a platform or the like. A male screw is formed on the upper part of the base, and a post or instrument provided with a female screw can be installed. The upper part of the base is not limited to a male screw, but has a structure that can be joined to a device to be placed. In addition, an inverted V-shaped protrusion is formed at the lower part. It is important that the lower portion is formed in a shape suitable for the coupling structure with the platform side, and is not limited to a convex shape.
Instruments such as a camera and a sensor are installed on the support via a support. The structure of the column is determined in consideration of the degree of freedom of the fixing position, the fixing strength, the ease of fixing, and the like. (C)-(k) showed the cross section of the square support | pillar with a groove | channel. (C)-(f) has shown the number of groove | channels and the variation of a direction. Although not illustrated, there is also a groove with a three-plane direction. (G) shows an example in which a small groove is formed in the three-surface direction and a large groove is formed on one surface.
(H) is an example of a circular cross section, and shows an example in which grooves are formed in four directions. One to a plurality of grooves can be formed in the same manner as the square shape. (I) (j) is an example of a prism having another cross-sectional shape. (K) is an example which provided the groove | channel on both thin surfaces. (J) and (k) can be used as a flooring material for the platform. It is possible to increase the number of grooves by widening the width.
The groove is effective as a support structure for attaching the instrument, and providing the groove in a plurality of directions gives a degree of freedom in the installation direction of the instrument. A support structure suitable for an instrument to be installed can be formed by combining the number, height, and type of support columns.
Examples of the support are shown in (l) (m) (n). A structure in which a T-shaped base portion is inserted and fixed in the groove portion of the column is shown, and the side on which the instrument is installed prepares variously according to the instrument. (L) is an example with a reed. The shape of the base of the support is designed according to the shape of the groove. Examples thereof are shown in (o) (p) (q). (R) (s) (t) shows an example of a connector provided with bulging portions for engagement at both ends. These couplers have the same shape as the base of the support shown in (o), (p), and (q), and are thin so that the middle part is constricted and can be inserted into the opening. Since the shape of the end of the connector is determined according to the shape of the counterpart, it is not limited to the illustration. An L-shaped support (u) is shown as an example of a member that supports a base such as a column in a stable state.
Screws can be used in combination to prevent misalignment.
The material to be used is preferably aluminum, aluminum alloy, magnesium alloy, titanium alloy or the like from the viewpoint of lightness and strength.

FIG. 15 shows the mechanism of the rotating column. This is a mechanism 140 that can be used as a rotating structure for a rotatable cylindrical column 150. A base 145 is attached to the base 155, a turning base bracket 146 is erected on both sides, and a turning harmonic bracket 142 is passed to form a housing. A bearing 143 is attached to this housing, and a motor 151 is connected to the lower part thereof. A swivel pipe holder 144 is attached to the base of the cylindrical column 150.
As the bearing 143, a harmonic drive (registered trademark) mechanism having a high reduction ratio is suitable, and a brushless motor such as ECmax22 can be used as the motor.
With this configuration, when the motor is rotated, the rotating column 150 held by the swivel pipe holder can be arbitrarily rotated via the bearing.

<Water sampling mechanism>
At nuclear power plants, leaked radioactivity may contaminate cooling water and must be sampled and investigated. Examples of water sampling instruments are shown in FIGS.
FIG. 16 shows an outline of the water sampling device 400. A water sampling container 401 and a reel device 402 for controlling the water sampling container are placed on a gantry 410 attached to a pipe stay 132 attached to a square grooved column 131. The water sampling container 401 is placed in a state of being housed in a box 411 fixed to the gantry 410. Both ends of the cable are connected to each other by a cable 403 that is attached to the water sampling container and whose base end is connected to the reel.
The cable 403 extending from the reel is guided along the cylindrical column 150, and the tip of the cable is attached to the water sampling container 401 via a pulley attached to the reed.

The structure of the water sampling container 401 is demonstrated in FIG.
A weight 405 connected to a cable 403 is accommodated in the water sampling container 401 shown in FIGS. 16 (a), 16 (b), and 16 (c). The weight of the weight is set to a weight that allows the empty sampling container 401 to be submerged. The shape of the weight is an elongated shape, the thin part can pass through the opening of the container, and the long part cannot pass through the opening. The cable is attached to the center in the length direction. Thus, when the string is raised, the water sampling container 401 can be lifted. The water sampling container 401 is provided with a mouth cover 406 that normally closes the opening. A hole of a size that allows the cable 403 to move freely is formed in the center of the mouth cover 406. It is desirable that the mouth cover body 406 has a shape in which the lower part is widened. For example, an umbrella shape.

In the water sampling operation, the water sampling container 401 is once lifted from the state of being placed on the box 411 on the gantry 410 as shown in FIG. 13, moved to the dropping position by the rotation of the cylindrical column 150, and dropped. It is carried out by putting it into the water at the position, taking the water into the container, then pulling it up and storing it in the box 411 on the gantry at the original position.
Specific examples of the water sampling operation are shown in FIGS. 16 (a), (b) and (c). FIG. 16A shows a state in which the water sampling container 401 is lifted and is in the air.
FIG. 16B shows a state in which the water sampling container 401 is falling in water. The weight 405 comes into contact with the neck inside the container and settles with the bottom of the container facing up. In this state, it is difficult for water to enter the container. When the container sinks to a position where the mouth cover 406 contacts the bump 407, the container cover 406 reduces the container dropping speed, and the cable 403 is loosened. At that time, by pulling the cable 403 upward, the posture of the water sampling container 401 is reversed, the mouth portion faces upward, and the water 421 enters the container.
FIG. 16C shows a state in which the water collection container 401 is inverted and water 421 enters. The sink position of the container can be regulated by the bump 407, and the water sampling depth can be set. In addition, it is possible to prevent the water collection container from dropping more than necessary and coming into contact with an obstacle or the like to make it difficult to collect.
In the state where the water sampling container is placed on the support base, the weight contacts the bottom of the container and is in a more stable state. However, in the air or underwater, the weight 405 contacts the neck of the container. As the container is filled with water 421, the mouth cover 406 gradually falls to cover the mouth. It can also be set as the time required for sampling until the mouth covering in water freely falls and covers the mouth. In addition, although water also penetrates from the cable through hole provided in the mouth cover, the amount to be collected is small and the necessary amount to be taken is set to the amount taken from the mouth.
After the water intake is completed, as shown in FIG. 16A, the state is suspended in the air, and the mouth cover 406 moves with the mouth covered, and is placed in the box 411. Covering with a lid can prevent spilling of collected water, preventing contamination due to splashing of re-collected water. It becomes a water catcher and prevents splashing outside.
The device takes precautions to avoid cross-contamination due to scattering of collected sample water under conditions where severe contamination is expected. In addition, this device proposes a simple mechanism that can reliably sample without using power as an underwater intake operation.

FIG. 16D shows another example of the water sampling device.
A widening anchor 431 whose rhombus opening is deformed is inserted from the mouth portion of the water sampling container 430 to which the weight 435 is attached on the lower side, widened as shown in the figure, attached in a retaining state, and the cable 403 is connected to the widening anchor. . The weight 435 has a weight that allows the water collection container 430 to be submerged in water.
This water sampling apparatus can be suspended in the cable 403 and submerged as it is, sample and collect water, and can be placed in the box 411.
By adopting a wide-mouthed bottle with a screwed lid as the water sampling container 430, it is possible to transport the sampling to an inspection organization with a lid after collection.
The water sampling container 401 is preferably made of synthetic resin as a countermeasure against damage. If chemicals that are highly corrosive to synthetic resin are dissolved, glass bottles, metals, bottles, etc. are selected as appropriate.

  If the obtained information such as water depth is a digital signal, the information can be transmitted to the controller as it is. Sensor detection information for which a digital signal cannot be obtained can be obtained by installing a reading camera and transmitting it as image data.

  By collating the map data based on the above-mentioned collected data for behavior of the moving body with data such as radioactivity sensors, the radioactivity distribution status in the facility can be grasped, and appropriate countermeasures can be taken thereafter. The accuracy of planning can be easily increased.

  The unmanned traveling mobile body of the present invention can be used as a traveling mobile body for investigation and exploration of a nuclear facility, a disaster area such as an earthquake disaster, flood, landslide, volcano, or the inside of a collapsed building. Since the whole is covered with a crawler belt at a low center of gravity, it is resistant to obstacles and has excellent mobility on rubble and terrain with many steps. It is possible to attach the sensor and other functions in a stable manner so that the functions of the sensor and the like are concentrated on the center and do not jump out of the outer surface.

DESCRIPTION OF SYMBOLS 1 ... Traveling body 2 ... Box 21 ... Storage space 22 ... Top plate 23 ... Bottom plate 24 ... Side plate 25 ... Front plate 26 ... Rear plate

3 ... side storage part 31 ... side upper surface panel 32 ... side space 33 ... side part upper surface plate 34 ... side part bottom plate 35 ... side part front plate 36 ... side part Rear plate

41, 4a, 4b ... center frame 42 ... side frame 43a ... lower surface front rubbing member 43b ... lower surface rear rubbing member 44 ... lower surface center rubbing member

D, 5 ... Crawler 51 ... Crawler L
52 ... Crawler R
53 ... Crawler belt

C, 6 ... Center base bar 61 ... Mounting base 62 ... Mounting pieces 62a, 62b ... Mounting leg 62c ... Bar 63 ... Supporting leg 64 ... Deck plate 65 ...・ Platforms 66a, 66b, 66c ... V-shaped concave portions 67a, 67b ... V-shaped convex portions 68 ... pinholes

B, 7 ... Pulley 71 ... Drive pulley 72 ... Driven pulley 73 ... Shaft 74 ... Wheel 75 ... Metal pulley 76 ... Rubber pulley 77 ... Small pulley 77a ... Narrow rubber pulley 77b ... Narrow rubber pulley 77c ... Narrow metal pulley

G, 8: Sub crawler unit 8a: Sub crawler Lf
8b ... Sub crawler Lb
81: distal pulley 82 ... proximal pulley 83 ... sub crawler belt 84 ... drive pulley 85 ... drive belt

DESCRIPTION OF SYMBOLS 100 ... Radio-controlled type moving body 101 ... Three-dimensional ranging sensor 111 ... Variable rotation ranging sensor 112 ... Constant angle rotation ranging sensor

121 ... overhead camera 122, 222 ... front camera 123, 223 ... rear camera 124, 125, 224, 225 ... microphone

141, 241 ... Antenna

130, 230 ... Column structure 131, 231 ... Grooved column 132 ... Pipe stay 133 ... Supporting tool 134 ... Motor 142 ... Harmonic bracket 143 ... Bearing 144 ... Pipe Holder 145 ... Base 146 ... Base bracket 150 ... Cylindrical column 151 ... Motor 155 ... Base 160 ... Bridge 161 ... LED
162 Camera M: Motor

200 ... Wired steering type moving body 300 ... Water level gauge 301 ... Weight 302 ... Cable 310 ... Bobbin 311 ... Motor 312 ... Cable delivery device

400 ... Water sampling device 401 ... Water sampling container 402 ... Reel device 403 ... Cable 405 ... Weight 406 ... Mouth cover
407: Cove 410 ... Stand 411 ... Box 420 ... Water surface 421 ... Water 430 ... Water sampling container 431 ... Widening anchor 435 ... Weight

Claims (9)

A box-shaped main body (A) and pulleys (B) are attached to the front and rear of the main body, and a center base bar (C) for equipment attachment is provided in the longitudinal direction of the center of the machine body. An unmanned traveling vehicle (E) that is equipped with left and right traveling crawlers (D) that are hung over the entire width of the aircraft except for the unmanned traveling environment (E),
The main body (A) is made of metal and has a central internal space that can be sealed, and the side is provided with a storage space that can be opened and closed laterally.
It is equipped with an internal situation grasp sensor and a survey sensor (S) for the mobile body,
The survey sensor (S) is provided on the center base bar (C).
A moving body for unmanned traveling, characterized in that the moving body is wirelessly controlled and / or wired controlled.   As a survey sensor (S), a wireless antenna, sound collection microphone, hygrometer, radioactive dosimeter, camera facing in the front-rear direction, overhead camera covering the periphery of the aircraft, rotation axis angle fixed with respect to the aircraft traveling direction 2. The mobile unit for unmanned traveling investigation according to claim 1, further comprising any one of a distance measuring sensor, a three-dimensional distance measuring sensor whose rotation axis is a rotation type, a thermometer, and a lighting device. In the center base bar (C), a column (H) for mounting sensors to be arranged above the fuselage is erected,
The support column (H) is mounted with at least one of a camera facing in the front-rear direction, a bird's-eye view camera covering the periphery of the aircraft, a radio antenna, a radioactivity dosimeter, and a γ camera. 2. Unmanned traveling vehicle for investigation according to 2. It is equipped with a rotatable arm-shaped sub crawler unit (G) on the left and right sides of the aircraft,
The unmanned vehicle according to any one of claims 1 to 3, wherein the sub-crawler is a crawler belt spanned between a front end pulley on the airframe side and a front end pulley having the same diameter or a larger diameter as the base end pulley. A vehicle for traveling investigation.   The internal condition grasping sensor is housed in the main body or in a sealed drive source, and includes a 3-axis gyro, 3-axis acceleration sensor, speedometer, inertial measurement device, encoder, sub-crawler elevation sensor, and power source load detection sensor. The unmanned traveling mobile body for investigation according to any one of claims 1 to 4, wherein the vehicle is mounted.   The unmanned traveling according to any one of claims 1 to 5, wherein at least one of the front and rear pulleys (B) includes a wheel-in motor-in in which a crawler driving motor is incorporated. Mobile for investigation.   The pulleys (B) provided at the front and rear are pivotally supported by shafts provided between the center frame and the side frames on both sides, and the center frame and the side frames are connected to the front and rear walls of the fuselage. (C) is connected to the center frame, the unmanned traveling mobile body for investigation according to any one of claims 1 to 6.   The mobile unit for investigation of unmanned travel according to any one of claims 1 to 7, wherein the side is a battery storage part in a storage space provided on the side.   The mobile unit for unmanned traveling investigation according to any one of claims 1 to 8, wherein the mobile unit is used for a nuclear power plant facility.

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