JP2019045075A - Device for dealing with doubtful object - Google Patents
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Abstract
Description
本発明は、不審物処理装置に関する。すなわち、爆発物，その他の不審物の安全処理に用いられる、不審物処理装置に関するものである。 The present invention relates to a suspicious object processing device. More specifically, the present invention relates to a suspicious object processing device used for safety processing of explosives and other suspicious objects.
《技術的背景および従来の技術》
代表的な不審物である爆発物については、爆破被害発生を防止すべく処理作業が必要となる。例えば犯人は、人が多く集まるような場所に爆発物を仕掛けることが多く、処理作業が重要となる。
そして、従来の爆発物の処理作業は、処理作業員の直接作業により行われていた。すなわち、状況把握→Ｘ線撮影→回収→搬送→最終処理の各作業プロセスを辿って、行われていた。
まず、図３の（１）図に示されたように、処理作業員が爆発物の場所まで行って、その状況を目で確認，把握する。それから、図３の（２）図に示したように、処理作業員がＸ線撮影等により内部構造を把握して、爆発物であるか否かを判断する。
爆発物の場合は、図３の（３）図に示したように、処理作業員は爆発物を回収する。もって、爆発物処理車へと搬送して、最終処理へと向かうことになる。爆発物は、従来このように処理されていた。
"Technical background and conventional technology"
For explosives, which are typical suspicious objects, treatment operations are required to prevent the occurrence of blast damage. For example, criminals often place explosives in places where many people gather, and processing work becomes important.
And the processing operation of the conventional explosive was performed by the processing worker's direct operation. That is, it has been carried out by following each working process of situation grasping → X-ray imaging → recovery → transportation → final processing.
First, as shown in FIG. 3 (1), the processing worker goes to the place of the explosive to visually confirm and grasp the situation. Then, as shown in FIG. 3 (2), the processing worker grasps the internal structure by X-ray imaging or the like, and determines whether or not it is an explosive.
In the case of explosives, as shown in FIG. 3 (3), the processing worker recovers the explosives. Therefore, it will be transported to the explosives disposal vehicle, and will go to the final treatment. Explosives have conventionally been treated this way.
《課題について》
ところで、このような従来例にあっては、処理作業を行う処理作業員の安全面に問題が指摘されていた。
すなわち処理作業員は、爆発物の場所で、状況把握，内部構造Ｘ線撮影，回収，搬送等の処理作業に従事する。このように、爆発物に何回も直接接近しての作業になるので、爆破危険にさらされ人的リスクが大であり、その身体や人命の安全面に問題が指摘されていた。
<< About the task >>
By the way, in such a conventional example, a problem has been pointed out in terms of the safety of the processing worker who carries out the processing operation.
That is, the processing worker is engaged in processing operations such as grasping the situation, internal structure X-ray imaging, recovery, transportation, etc. at the place of the explosive. As described above, since the work is carried out in direct proximity to the explosives many times, there is a great human risk of being exposed to the blast, and problems have been pointed out in terms of the safety of the body and life.
《本発明について》
本発明の不審物処理装置は、このような実情に鑑み、上記従来技術の課題を解決すべくなされたものである。
そして本発明は、第１に、安全面に優れつつ、第２に、爆発物，その他の不審物の処理が可能となる、不審物処理装置を提案することを目的とする。
<< About the present invention >>
The suspicious object processing apparatus of the present invention has been made in view of such circumstances, in order to solve the problems of the prior art.
The first object of the present invention is to propose a suspicious object processing apparatus capable of processing explosives and other suspicious objects while being excellent in safety.
《各請求項について》
このような課題を解決する本発明の技術的手段は、特許請求の範囲に記載したように、次のとおりである。
請求項１については、次のとおり。
請求項１の不審物処理装置は、不審物の安全処理に用いられる。そして、本体部，移動手段，情報収集手段，診断手段，捕捉手段，遠隔操作手段を、有している。
該本体部は、不審物を収容可能である。該移動手段は、該本体部に付設され、走行性を備えている。該情報収集手段は、該本体部に付設され、不審物の判断情報を視覚的に収集可能である。
該診断手段は、該本体部に付設され、収容された不審物を非破壊検査可能である。該捕捉手段は、該本体部に付設され、収容された不審物を中空に拘束保持可能である。
該遠隔操作手段は、該本体部とは離隔配置可能であり、該移動手段，情報収集手段，診断手段，捕捉手段を、処理作業員が遠隔操作可能とすること、を特徴とする。
<< About each claim >>
The technical means of the present invention for solving such problems is as follows, as described in the claims.
About Claim 1, it is as follows.
The suspicious object processing device according to claim 1 is used for safety processing of a suspicious object. And, it has a main body, moving means, information collecting means, diagnostic means, capturing means, and remote control means.
The main body can accommodate a suspicious object. The moving means is attached to the main body and has travelability. The information collecting means is attached to the main body and can visually collect judgment information on suspicious objects.
The diagnostic means is capable of nondestructive inspection of suspicious objects attached to and stored in the main body. The capturing means is attached to the main body portion, and can hold a suspicious object contained therein in a hollow manner.
The remote control means can be disposed separately from the main body, and the processing means can remotely control the moving means, the information collecting means, the diagnostic means, and the capturing means.
請求項２については、次のとおり。
請求項２の不審物処理装置では、請求項１において、該本体部は、防爆堅固構造よりなり、少なくとも天井壁と左右壁を備え、正面と下面が開放されている。そして、開放された下面上の内部空間に、不審物を収容可能であること、を特徴とする。
請求項３については、次のとおり。
請求項３の不審物処理装置では、請求項１において、該移動手段は、該本体部を不審物の場所まで移動可能であると共に、該捕捉手段にて不審物が拘束された後、該本体部を不審物処理の次工程へと搬送可能であること、を特徴とする。
請求項４については、次のとおり。
請求項４の不審物処理装置では、請求項１において、該情報収集手段は、赤外線センサカメラを含むセンサカメラよりなり、不審物およびその周辺について、状況を情報収集可能であること、特徴とする。
請求項５については、次のとおり。
請求項５の不審物処理装置では、請求項１において、該診断手段は、不審物の内部構造をＸ線撮影その他により把握可能な内部検知器と共に、爆発物検知器，放射線検知器，有毒ガス検知器，感染細菌検知器を、備えていること、を特徴とする。
The claim 2 is as follows.
In the suspicious object processing device according to claim 2, in the claim 1, the main body portion has an explosion-proof rigid structure, has at least a ceiling wall and left and right walls, and the front and lower surfaces are open. And it is characterized in that a suspicious thing can be stored in an internal space on the open lower surface.
About Claim 3, it is as follows.
In the suspicious object processing device according to claim 3, according to claim 1, the moving means is capable of moving the main body portion to the place of the suspicious object, and after the suspicious object is restrained by the capturing means, the main body It is characterized in that the unit can be transported to the next process of the suspicious object processing.
About claim 4, it is as follows.
The suspicious object processing apparatus according to claim 4 is characterized in that, in claim 1, the information collecting means comprises a sensor camera including an infrared sensor camera and can collect information about a suspicious object and its surroundings. .
About Claim 5, it is as follows.
In the suspicious object processing apparatus according to claim 5, the diagnostic means according to claim 1 comprises an explosive detector, a radiation detector, a toxic gas, together with an internal detector capable of grasping the internal structure of the suspicious object by X-ray imaging or the like. It is characterized by including a detector and an infectious bacteria detector.
《作用等について》
本発明は、このような手段よりなるので、次のようになる。
（１）まず移動手段が、遠隔操作手段にて動作制御され、もって本体部が、不審物の場所まで移動する。
（２）そして本体部の情報収集手段が、遠隔操作手段にて動作制御され、もって不審物およびその周辺について、状況を視覚的に収集する。
（３）その結果必要な場合は、移動手段が遠隔操作手段にて動作制御されて移動し、もって不審物が、本体部の開放された下面上の内部空間に収容される。
（４）そして本体部の診断手段が、遠隔操作手段にて動作制御され、もって不審物を非破壊検査する。すなわち、診断手段の爆発物検知器，放射線検知器，有毒ガス検知器，感染細菌検知器が、適宜動作制御される。
（５）その結果必要な場合は、本体部の捕捉手段が動作制御されて、不審物を中空拘束保持する。
（６）それから移動手段が、遠隔操作手段にて動作制御され、もって本体部を、不審物処理の次工程へと搬送する。
（７）本発明の不審物処理装置では、このように不審物の処理作業が、遠隔操作によって遂行される。処理作業員は、遠隔操作手段を操作し、不審物には直接接近せず安全である。
（８）そして、この不審物処理装置は、不審物について、その場所に移動して情報収集や診断の後、捕捉して次工程へと搬送可能であり、不審物を確実に処理可能である。
（９）しかも、この不審物処理装置は、不審物として爆発物，放射線放出物質，有毒ガス，感染細菌等を、広く処理可能である。
（１０）そこで、本発明は次の効果を発揮する。
<< About an action etc. >>
The present invention is as follows because it comprises such means.
(1) First, the moving means is controlled by the remote control means, and the main body moves to the place of the suspicious object.
(2) The information collecting means of the main unit is controlled by the remote control means, and the situation is visually collected about the suspicious object and its surroundings.
(3) As a result, if necessary, the moving means is operated and controlled by the remote control means, and the suspicious object is accommodated in the internal space on the open lower surface of the main body.
(4) The diagnostic means of the main unit is controlled by the remote control means to nondestructively inspect suspicious objects. That is, the explosives detector, the radiation detector, the toxic gas detector, and the infectious bacteria detector of the diagnostic means are appropriately controlled to operate.
(5) As a result, if necessary, the capturing means of the main body portion is controlled to hold the suspicious object in a hollow restraint.
(6) Then, the moving means is controlled in operation by the remote control means, and thereby transports the main body to the next process of the suspicious object treatment.
(7) In the suspicious object processing apparatus of the present invention, the operation of processing suspicious objects is performed by remote control. The processing worker operates the remote control means and is safe without directly approaching suspicious objects.
(8) Then, the suspicious object processing device can move to the location of the suspicious object, collect it after information collection and diagnosis, capture it and transport it to the next process, and can reliably process the suspicious object. .
(9) Moreover, this suspicious object processing device can widely treat explosives, radiation emitting substances, toxic gases, infectious bacteria, etc. as suspicious objects.
(10) Therefore, the present invention exhibits the following effects.
《第１の効果》
第１に、処理の安全面に優れている。
本発明の不審物処理装置は、移動手段付の本体部に、情報収集手段，診断手段，捕捉手段等を備えてなると共に、これらの遠隔操作手段を用いてなる。
もって、爆発物，放射線放出物質，有毒ガス，感染細菌等の不審物の処理作業員による処理作業が、遠隔操作によって遂行され、これらの不審物に直接接近しての作業とはならない。そこで、処理作業に際し危険が回避され、処理作業員の人的リスクが大幅に改善され、身体や人命の安全性が大きく向上する。
前述したこの種従来例のように、処理作業に際し、処理作業員が危険にさらされるようなことは回避され、身体や人命の問題が生じることは防止される。
First effect
First, it is superior in terms of safety of processing.
The suspicious object processing apparatus of the present invention is provided with an information collecting means, a diagnostic means, a capturing means and the like in the main body unit with the moving means, and uses these remote control means.
Therefore, the processing operation of processing of suspicious objects such as explosives, radiation-emitting substances, toxic gases, infectious bacteria and the like is carried out by remote control, and it is not the operation to directly access these suspicious objects. Therefore, danger is avoided during the treatment operation, the human risk of the treatment worker is greatly improved, and the safety of the body and life is greatly improved.
As in the above-described conventional example of this type, it is possible to prevent the processing worker from being exposed to danger during the processing operation, and to prevent the problem of the body and life.
《第２の効果》
第２に、爆発物，その他の不審物の処理が、確実に可能となる。
本発明の不審物処理装置は、本体部，移動手段，情報収集手段，診断手段，捕捉手段，遠隔操作手段等を、組み合わせて採用したことにより、不審物の処理作業を確実に実現可能である。
例えば、前述したこの種従来例の爆発物処理作業、つまり処理作業員が危険にさらされつつ遂行していた処理作業と、同等のプロセス内容で同等かつ確実に処理可能である。
しかも、この不審物処理装置は、爆発物のみならず、放射線放出物質，有毒ガス，感染細菌等の不審物も対象に、確実に察知し確実に処理可能である。もって、爆発物被害リスクのみならず、予期しにくい放射線被曝リスク，有毒ガス中毒リスク，細菌感染リスク等も、軽減，回避可能である。
このように、この種従来技術に存した課題がすべて解決される等、本発明の発揮する効果は、顕著にして大なるものがある。
Second effect
Second, the treatment of explosives and other suspicious objects is surely possible.
The suspicious object processing apparatus of the present invention can surely realize the processing operation of the suspicious object by adopting a combination of the main body, moving means, information collecting means, diagnostic means, capturing means, remote control means, etc. .
For example, the above-described conventional explosives processing operation of this type, that is, the processing operation performed by the processing worker while being endangered, can be processed equally and reliably with the same process contents.
Moreover, the suspicious object processing apparatus can reliably detect and process not only explosives but also suspicious objects such as radiation emitting substances, toxic gases, infectious bacteria and the like. Therefore, not only the risk of explosives damage, but also the unexpected radiation exposure risk, toxic gas poisoning risk, bacterial infection risk, etc. can be reduced and avoided.
As described above, the effects exerted by the present invention are remarkable and large, such that all the problems existing in this type of prior art are solved.
以下、本発明を実施するための形態について、図１，図２を参照して詳細に説明する。
《本発明の概要》
まず、本発明の概要について説明する。
本発明の不審物処理装置１は、不審物Ａの安全処理に用いられる。そして、本体部２，移動手段３，情報収集手段４，診断手段５，捕捉手段６，遠隔操作手段７等を、有している。
本体部２は、不審物Ａを収容可能である。移動手段３は、本体部２に付設され、走行性を備えている。情報収集手段４は、本体部２に付設され、不審物Ａの判断情報を視覚的に収集可能である。
診断手段５は、本体部２に付設され、収容された不審物Ａを非破壊検査可能である。捕捉手段６は、本体部２に付設され、収容された不審物Ａを中空に拘束保持可能である。
遠隔操作手段７は、本体部２とは離隔配置可能であり、移動手段３，情報収集手段４，診断手段５，捕捉手段６等を、処理作業員が遠隔操作可能とする。
本発明の概要については、以上のとおり。以下、このような本発明について、更に詳述する。
Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2.
Outline of the Invention
First, an outline of the present invention will be described.
The suspicious object processing device 1 of the present invention is used for the safety processing of a suspicious object A. A main body 2, moving means 3, information collecting means 4, diagnostic means 5, capturing means 6, remote control means 7 and the like are included.
The main body 2 can accommodate the suspicious object A. The moving means 3 is attached to the main body 2 and has travelability. The information collecting means 4 is attached to the main body 2 and can visually collect the judgment information of the suspicious object A.
The diagnostic means 5 can be nondestructively inspected on the suspicious object A attached to and housed in the main body 2. The capturing means 6 is attached to the main body 2 and can hold the suspicious object A accommodated therein in a hollow manner.
The remote control means 7 can be disposed separately from the main body 2, and the processing operator can remotely control the moving means 3, the information collecting means 4, the diagnostic means 5, the capturing means 6, and the like.
The outline of the present invention is as described above. Hereinafter, the present invention will be described in more detail.
《不審物Ａについて》
まず、不審物処理装置１が対象とする不審物Ａについて、図１，図２を参照して説明する。不審物処理装置１は、爆発物，放射線放出物質，有害ガス（つまり有毒ガス発生物質），又は感染細菌等の不審物Ａを、処理対象とする。
爆発物とは、爆発性を有する物質の総称であり、火薬類が代表的である。放射線放出物質は、放射線を放出し、人が放射能にさらされると被曝障害が生じる物質である。有毒ガスは、臭気毒性により人体に有毒である。感染細菌は、その毒素により病原性を有する。
なお本明細書において、不審物Ａは、それ自体を意味するのは勿論の事、その可能性のある候補の意味でも用いられる。
<< About suspicious object A >>
First, a suspicious object A targeted by the suspicious object processing device 1 will be described with reference to FIGS. 1 and 2. The suspicious object processing apparatus 1 targets suspicious objects A such as explosives, radiation emitting substances, harmful gases (that is, toxic gas generating substances), or infectious bacteria.
Explosives are a general term for substances having explosive properties, and explosives are typical. Radiation-emitting substances are substances that emit radiation and cause exposure injury when a person is exposed to radioactivity. Toxic gases are toxic to the human body due to odor toxicity. Infecting bacteria are more pathogenic due to their toxins.
In the present specification, the suspicious object A is used not only to mean itself but also to mean possible candidates.
《本体部２について》
次に、本体部２について、図１，図２を参照して説明する。不審物処理装置１の本体部２は、防爆堅固構造よりなり、少なくとも天井壁８と左右壁９を備え、正面１０と下面１１が開放されており、開放された下面１１上の内部空間１２に、不審物Ａを収容可能である。
すなわち本体部２は、天井壁８や左右壁９等の三方を、厚く堅固な構造として爆発物の爆発力に耐えると共に、爆発力や爆風を開放された正面１０等から解放させる、防爆堅固構造よりなる。そして、下面１１が開放された内部空間１２が形成されており、そこに不審物Ａを収納可能となっている。
又、本体部２には、移動手段３，情報手段４，診断手段５，捕捉手段６，遠隔操作手段７用の通信部１３が、付設されている。
About the main unit 2
Next, the main body 2 will be described with reference to FIGS. 1 and 2. The main body 2 of the suspicious object processing apparatus 1 has an explosion-proof rigid structure, includes at least a ceiling wall 8 and left and right walls 9, and has an open front surface 10 and a lower surface 11. , And can accommodate a suspicious object A.
That is, the main body 2 has a three-sided structure such as the ceiling wall 8 and the left and right walls 9 as a thick and rigid structure to withstand the explosive power of explosives and release the explosive power and blast from the open front 10 etc. It consists of. And the internal space 12 in which the lower surface 11 was open | released is formed, and the suspicious object A can be stored there.
Further, the main body 2 is additionally provided with a communication unit 13 for moving means 3, information means 4, diagnostic means 5, capturing means 6, and remote control means 7.
《移動手段３について》
移動手段３について、図１，図２の（１）図，（３）図等を参照して説明する。不審物処理装置１の移動手段３は、本体部２に付設されており、走行性を備えている。
もって本体部２を、不審物Ａの発見場所まで移動可能であると共に、捕捉手段６にて不審物Ａが拘束された後、本体部２を、不審物処理の次工程つまり最終工程へと、搬送可能である。
そして、車輪，キャタピラ，オムニホイール等を備え、駆動手段にて走行可能であり、非舗装面の走行性や、前後，左右，その他の多方向への走行性も備えている。
<< About moving means 3 >>
The moving means 3 will be described with reference to FIGS. 1, 2 (1), (3) and the like. The moving means 3 of the suspicious object processing device 1 is attached to the main body 2 and has travelability.
Therefore, after the main body 2 can be moved to the place where the suspicious object A is found and the suspicious object A is restrained by the capturing means 6, the main body 2 can be moved to the next process of the suspicious object processing, ie, the final process It can be transported.
The vehicle is provided with wheels, caterpillars, omni wheels, etc., and can travel by a drive means, and also has travelability on a non-paved surface and travelability in the front, rear, left, right, and other directions.
《情報収集手段４について》
情報収集手段４について、図１，図２の（１）図を参照して説明する。不審物処理装置１の情報収集手段４は、本体部２に付設されており、不審物Ａの判断情報を収集可能である。
そして情報収集手段４は、赤外線センサカメラを含むセンサカメラよりなり、不審物Ａおよびその周辺について、センサリングにより状況を情報収集可能である。
すなわち、赤外線照射により夜間や霧の中でも撮影可能なセンサカメラ、その他のセンサカメラが使用されており、不審物Ａの発見場所において、本体部２に収容される前の不審物Ａ自体の状況やその周辺の状況を、不審物Ａであるか否かの確認，判断情報として、視覚的に収集可能である。そして、得られた情報を電気信号に変換する。
<< About the information collection means 4 >>
The information collecting means 4 will be described with reference to FIGS. 1 and 2 (1). The information collection means 4 of the suspicious object processing device 1 is attached to the main body 2 and can collect the judgment information of the suspicious object A.
And the information collection means 4 consists of a sensor camera including an infrared sensor camera, and can collect information about the suspicious object A and its surroundings by sensor ring.
That is, a sensor camera or another sensor camera capable of photographing even in the night or fog by infrared irradiation is used, and the situation of the suspicious object A itself before being accommodated in the main body 2 It is possible to visually collect the surrounding situation as confirmation or judgment information as to whether or not it is a suspicious object A. Then, the obtained information is converted into an electrical signal.
《診断手段５について》
診断手段５について、図１，図２の（２）図を参照して説明する。不審物処理装置１の診断手段５は、本体部２に付設されており、発見場所において本体部２の内部空間１２に収容された不審物Ａを、非破壊検査可能である。
そして診断手段５は、不審物Ａの内部構造をＸ線撮影その他により把握可能な内部検知器１４と共に、爆発物検知器１５，放射線検知器１６，有毒ガス検知器１７，感染細菌検知器１８等を、備えている。
内部検知器１４は、例えば物質内部の透過性が強いＸ線を放射して、不審物Ａの内部構造を透視撮影し、本当に不審物Ａであるか否か、およびいかなる不審物Ａであるかについて、確認，判断材料とする。
<< About the diagnostic means 5 >>
The diagnostic means 5 will be described with reference to FIGS. 1 and 2 (2). The diagnostic means 5 of the suspicious object processing device 1 is attached to the main body 2 and can nondestructively inspect the suspicious object A accommodated in the internal space 12 of the main body 2 at the discovery place.
The diagnostic means 5 together with the internal detector 14 capable of grasping the internal structure of the suspicious object A by X-ray imaging or the like, the explosives detector 15, the radiation detector 16, the toxic gas detector 17, the infectious bacteria detector 18 etc. Is equipped.
The internal detector 14 emits, for example, highly transparent X-rays inside the substance to fluoroscopically photograph the internal structure of the suspicious object A, and whether or not it is a suspicious object A and what suspicious object A As to the confirmation and judgment materials.
爆発物検知器１５は、代表的には金属探知器よりなり、不審物Ａについて起爆回路，金属配線の有無により爆発物の有無を検知する。
放射線検知器１６としては、ガイガーカウンターが代表的に用いられ、不審物Ａについて放射能の有無により放射線放出物質の有無を検知する。
又、有毒ガス検知器１７は、エアーのサンプリング吸引により、有毒ガス発生の有無を検知する。細菌検知器１８は、エアーのサンプリング吸引により、感染細菌の有無を検知する。
これらの検知ステップについては、次のとおり。例えば、内部検知器１４→爆発物検知器１５→放射線検知器１６→有毒ガス検知器１７，感染細菌検知器１８の順に、検知ステップを辿る。そして、いずれかのステップで、不審物Ａがいかなるものであるかが特定されると、以降のステップには進まない。そして、得られた検知内容は、電気信号に変換される。
診断手段５については、以上のとおり。
The explosives detector 15 is typically made of a metal detector, and detects the presence or absence of an explosive based on the presence or absence of a detonating circuit and metal wiring for the suspicious object A.
As the radiation detector 16, a Geiger counter is typically used to detect the presence or absence of a radiation emitting substance based on the presence or absence of radioactivity.
Further, the toxic gas detector 17 detects the presence or absence of toxic gas generation by sampling suction of air. The bacteria detector 18 detects the presence or absence of infectious bacteria by sampling suction of air.
These detection steps are as follows. For example, the detection step is followed in the following order: internal detector 14 → explosives detector 15 → radiation detector 16 → toxic gas detector 17 and infectious bacteria detector 18. And if what kind of thing the suspicious object A is specified by either step, it will not advance to a subsequent step. Then, the obtained detection content is converted into an electrical signal.
The diagnostic means 5 is as described above.
捕捉手段６について、図１，図２の（３）図を参照して説明する。不審物処理装置１の捕捉手段６は、本体部２に付設されており、本体部２の内部空間１２に収容された不審物Ａを、中空に拘束保持可能である。
すなわち捕捉手段６は、前後動，左右動，上下動可能なグリップ機構よりなり、例えばマジックハンドとも称される。そして、本体部２の天井壁８から内部空間１２に向け垂下設されており、降下して不審物Ａを拘束可能であると共に、上昇により内部空間１２内に中空保持可能である。
なお捕捉手段６は、情報収集手段４そして診断手段５により不審物Ａが特定された後、これを拘束保持することになる。
The capture means 6 will be described with reference to FIGS. 1 and 2 (3). The capturing means 6 of the suspicious object processing device 1 is attached to the main body 2 and can hold the suspicious object A accommodated in the internal space 12 of the main body 2 in a hollow state.
That is, the catching means 6 is composed of a gripping mechanism which can move back and forth, laterally and vertically, and is also called, for example, a magic hand. The main body 2 is suspended from the ceiling wall 8 of the main body 2 toward the internal space 12 and can be lowered to restrain the suspicious object A and can be hollow-held in the internal space 12 by elevating.
In addition, after the suspicious object A is specified by the information collecting means 4 and the diagnostic means 5, the capturing means 6 holds the suspicious object A in restraint.
《遠隔操作手段７について》
遠隔操作手段７について、図１，図２を参照して説明する。不審物処理装置１の遠隔操作手段７は、本体部２とは離隔配置可能であり、移動手段３，情報収集手段４，診断手段５，捕捉手段６を、処理作業員が遠隔操作可能とする。
遠隔操作手段７は、本体部２とは距離的に離れた場所にて、処理作業員によりリモコン操作される。そして、有線，音波，電波，光，その他の通信手段を用いて、本体部２との間で信号の送受信を行う。遠隔操作手段７と本体部２は、それぞれ通信部１３，１９を備えている。
<< About remote control means 7 >>
The remote control means 7 will be described with reference to FIG. 1 and FIG. The remote control means 7 of the suspicious object processing apparatus 1 can be disposed separately from the main body 2, and the processing operator can remotely operate the moving means 3, the information collecting means 4, the diagnostic means 5, and the capturing means 6. .
The remote control means 7 is remotely controlled by the processing operator at a distance from the main body 2. Then, transmission and reception of signals with the main unit 2 are performed using wired, sound waves, radio waves, light and other communication means. The remote control means 7 and the main unit 2 are provided with communication units 13 and 19, respectively.
すなわち遠隔操作手段７は、本体部２の移動手段３，情報収集手段４，診断手段５，捕捉手段６等に対し、オン・オフ制御信号（始動信号・停止信号）、オン後の動作制御信号を送信して、その動作を制御する。
診断手段５については、その内部検知器１４，爆発物検知器１５，放射線検知器１６，有毒ガス検知器１７，感染細菌検知器１８等に関し、必要に応じ適宜、上記制御信号が送信される。
又、これらから遠隔操作手段７に対しても、信号が送信される。特に、情報収集手段４から得られた情報が、遠隔操作手段７に受信，表示される。又、診断手段５の内部検知器１４，その他の検知器１５，１６，１７，１８の検知内容が、遠隔操作手段７に受信，表示可能である。
遠隔操作手段７については、以上のとおり。
That is, the remote control means 7 sends on / off control signals (start signal / stop signal) to the moving means 3, information collecting means 4, diagnostic means 5, capture means 6, etc. of the main unit 2, and operation control signals after turning on. To control its operation.
With regard to the diagnostic means 5, regarding the internal detector 14, the explosives detector 15, the radiation detector 16, the toxic gas detector 17, the infectious bacteria detector 18, etc., the control signal is transmitted as needed.
A signal is also transmitted from these to the remote control means 7. In particular, the information obtained from the information collecting means 4 is received and displayed on the remote control means 7. Further, the detection contents of the internal detector 14 of the diagnostic means 5 and the other detectors 15, 16, 17, 18 can be received and displayed on the remote control means 7.
The remote control means 7 is as described above.
《作用等》
本発明の不審物処理装置１は、以上説明したように構成されている。そこで以下のようになる。
（１）不審物Ａが発見されると、遠隔操作手段７にて本体部２に付設された移動手段３が動作制御され、もって本体部２が、不審物Ａの場所まで移動される（図２の（１）図を参照）。
<< Operation >>
The suspicious object processing device 1 of the present invention is configured as described above. Therefore, it becomes as follows.
(1) When the suspicious object A is found, the operation of the moving means 3 attached to the main body 2 is controlled by the remote control means 7 and the main body 2 is moved to the place of the suspicious object A (see FIG. See 2 (1)).
（２）そして、不審物Ａの場所において、本体部２に付設された情報収集手段４が、不審物Ａおよびその周辺について、状況を情報収集する。
すなわち、情報収集手段４のセンサカメラが、遠隔操作手段７にて動作制御されて、不審物Ａの判断情報を視覚的に収集し、その結果を、遠隔操作手段７の処理作業員に、送信，表示する（図２の（１）図を参照）。
(2) Then, at the place of the suspicious object A, the information collecting means 4 attached to the main body 2 collects information about the suspicious object A and its surroundings.
That is, the sensor camera of the information collecting means 4 is controlled in operation by the remote control means 7 to visually collect the judgment information of the suspicious object A, and the result is transmitted to the processing operator of the remote control means 7 , Display (see FIG. 2 (1)).
（３）その結果、処理作業員が必要と認めた場合は、遠隔操作手段７により本体部２の移動手段３が動作制御されて移動され、不審物Ａが、本体部２の開放された下面１１上の内部空間１２に、回収，収容される（図１，図２の（２）図を参照）。 (3) As a result, when the processing worker recognizes that it is necessary, the moving means 3 of the main body 2 is controlled by the remote control means 7 and moved, and the suspicious object A is the underside where the main body 2 is opened. The internal space 12 above 11 is collected and stored (see FIGS. 1 and 2 (2)).
（４）そして、遠隔操作手段７により本体部２に付設された診断手段５が動作制御され、収容された不審物Ａを非破壊検査する。
すなわち、診断手段５の内部検知器１４，爆発物検知器１５，放射線検知器１６，有毒ガス検知器１７，感染細菌検知器１８等が、所定の検知ステップで必要に応じ動作制御される。
そして、その結果を、遠隔操作手段７の処理作業員に送信，表示する（図１，図２の（２）図を参照）。
(4) The operation of the diagnostic means 5 attached to the main body 2 is controlled by the remote control means 7 to nondestructively inspect the contained suspicious object A.
That is, the internal detector 14, the explosives detector 15, the radiation detector 16, the toxic gas detector 17, the infectious bacteria detector 18 and the like of the diagnostic means 5 are controlled in operation in a predetermined detection step as necessary.
Then, the result is transmitted and displayed to the processing operator of the remote control means 7 (see (2) in FIGS. 1 and 2).
（５）その結果、不審物Ａが爆発物，放射線放出物質，有毒ガス，感染細菌のいずれかであるかが特定された場合、もって処理作業員が必要と認めた場合は、遠隔操作手段７により本体部２の捕捉手段６が動作制御される。そして不審物Ａを、本体部２の内部空間１２内にて中空拘束保持する（図２の（３）図を参照）。 (5) As a result, when it is specified that the suspicious material A is any of explosives, radiation emitting substances, toxic gas, and infectious bacteria, the remote control means 7 when it is deemed necessary by the processing worker. Thus, the operation of the capturing means 6 of the main body 2 is controlled. Then, the suspicious object A is held in a hollow state in the internal space 12 of the main body 2 (see (3) in FIG. 2).
（６）それから、遠隔操作手段７により移動手段３が動作制御され、本体部２を不審物Ａと共に、不審物処理の次工程へと搬送する（図２の（３）図を参照）。
本体部２の内部空間１２内に拘束された不審物Ａは、不審物Ａが爆発物であった場合は、対応策として爆発物処理車へと搬送され、もって爆発物処理車にて爆発物最終処理施設へと運ばれて爆破処理される。
不審物Ａが、放射線放出物質，有毒ガス，感染細菌の場合は、それぞれに対応した最終処理工程へと搬送される。
なお爆発物処理車は、爆発物を液体窒素の箱内に導入して、その起爆回路等の起爆装置を凍結保存し、もって爆発を防止しつつ搬送する。
(6) Then, the moving means 3 is operationally controlled by the remote control means 7, and the main body 2 is transported together with the suspicious object A to the next process of the suspicious object processing (see FIG. 2 (3)).
The suspicious object A confined in the internal space 12 of the main body 2 is transported to the explosives disposal vehicle as a countermeasure when the suspicious object A is an explosive, and the explosives disposal vehicle is thus explosives It is transported to the final treatment facility and blasted out.
If the suspicious object A is a radiation emitting substance, toxic gas, or infectious bacteria, it is transported to the final treatment process corresponding to each.
The explosives disposal vehicle introduces the explosives into a box of liquid nitrogen, freezes and stores detonators such as the detonating circuit thereof, and transports while preventing explosion.
（７）さて、本発明の不審物処理装置１は、爆発物，放射線放出物質，有毒ガス，感染細菌等の不審物Ａの処理作業が、遠隔操作によって遂行される。
すなわち、遠隔操作手段７によって、本体部２，移動手段３，情報収集手段４，診断手段５，捕捉手段６等を遠隔操作して、処理作業を遂行する。処理作業員が、不審物Ａに直接接近しての作業とはならず、安全である。
(7) Now, with the suspicious material processing apparatus 1 of the present invention, the processing operation of the suspicious material A such as explosives, radiation emitting substances, toxic gases, infectious bacteria etc. is performed by remote control.
That is, the remote control means 7 remotely controls the main body 2, the moving means 3, the information collecting means 4, the diagnostic means 5, the capturing means 6 and the like to carry out the processing operation. The processing worker is not working in direct proximity to the suspicious object A, and is safe.
（８）又、この不審物処理装置１は、所定の本体部２，移動手段３，情報収集手段４，診断手段５，捕捉手段６，遠隔操作手段７等を、組み合わせて採用したことにより、不審物Ａの処理作業を確実に実現する。
すなわち不審物Ａについて、その場所に移動して情報収集や診断の後、捕捉して次工程へ搬送可能であり、これにより不審物Ａを確実に処理可能である。
(8) In addition, the suspicious object processing apparatus 1 employs a combination of a predetermined main body 2, moving means 3, information collecting means 4, diagnostic means 5, capturing means 6, remote control means 7, etc. The processing of the suspicious object A is surely realized.
That is, the suspicious object A can be moved to the place, collected after the information collection or diagnosis, captured, and transported to the next process, whereby the suspicious object A can be processed reliably.
（９）しかも、この不審物処理装置１は、爆発物のみならず、放射線放出物質，有毒ガス，感染細菌等の不審物Ａも、対象として処理可能である。
本発明の作用等については、以上のとおり。
(9) Moreover, the suspicious object processing apparatus 1 can treat not only explosives but also suspicious objects A such as radiation emitting substances, toxic gases, infectious bacteria and the like as objects.
The operation of the present invention is as described above.
１ 不審物処理装置
２ 本体部
３ 移動手段
４ 情報収集手段
５ 診断手段
６ 捕捉手段
７ 遠隔操作手段
８ 天井壁
９ 左右壁
１０ 正面
１１ 下面
１２ 内部空間
１３ 通信部
１４ 内部検知器
１５ 爆発物検知器
１６ 放射線検知器
１７ 有毒ガス検知器
１８ 感染細菌検知器
１９ 通信部
Ａ 不審物
DESCRIPTION OF SYMBOLS 1 suspicious object processing apparatus 2 main-body part 3 moving means 4 information gathering means 5 diagnostic means 6 capture means 7 remote control means 8 ceiling wall 9 right and left wall 10 front 11 lower surface 12 internal space 13 communication part 14 internal detector 15 explosive detector 16 Radiation detector 17 Toxic gas detector 18 Infected bacteria detector 19 Communication part A Suspicious matter
Claims (5)
該本体部は、不審物を収容可能であり、該移動手段は、該本体部に付設され走行性を備えており、該情報収集手段は、該本体部に付設され、不審物の判断情報を視覚的に収集可能であり、
該診断手段は、該本体部に付設され、収容された不審物を非破壊検査可能であり、該捕捉手段は、該本体部に付設され、収容された不審物を中空に拘束保持可能であり、
該遠隔操作手段は、該本体部とは離隔配置可能であり、該移動手段，情報収集手段，診断手段，捕捉手段を、処理作業員が遠隔操作可能とすること、を特徴とする不審物処理装置。 An apparatus used for safety processing of a suspicious object, comprising a main body, moving means, information collecting means, diagnostic means, capturing means, remote control means,
The main body portion can accommodate a suspicious object, the moving means is attached to the main body portion and has travelability, and the information collecting means is attached to the main body portion, and the judgment information of the suspicious object is stored. Visually collectable,
The diagnostic means is capable of nondestructive inspection of suspicious objects attached to and contained in the main body, and the capture means is attached to the main body and capable of holding the contained suspicious objects in the hollow. ,
The remote control means can be disposed separately from the main body, and the processing means can remotely control the moving means, the information collecting means, the diagnostic means, and the capturing means. apparatus.
In Claim 1, the diagnostic means comprises an explosive detector, a radiation detector, a toxic gas detector, an infectious bacteria detector, as well as an internal detector capable of detecting the internal structure of a suspicious object by X-ray imaging or the like. The suspicious thing processing device characterized by having.
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| JP2004053475A (en) * | 2002-07-22 | 2004-02-19 | Hitachi Ltd | Robot system for non-destructive inspection |
| US20070094944A1 (en) * | 2003-10-11 | 2007-05-03 | Peter James | Blast mitigation structures |
| JP2005144631A (en) * | 2003-11-19 | 2005-06-09 | Mitsubishi Heavy Ind Ltd | Remote control robot for gathering doubtful material and its gathering method |
| JP2009257616A (en) * | 2008-04-14 | 2009-11-05 | National Institute Of Advanced Industrial & Technology | Explosive storing container |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110595309A (en) * | 2019-10-16 | 2019-12-20 | 深圳市天和时代电子设备有限公司 | Explosive-handling equipment and using method thereof |
| CN110595309B (en) * | 2019-10-16 | 2024-03-22 | 深圳市天和时代电子设备有限公司 | Explosion venting equipment and use method thereof |
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| JP6851940B2 (en) | 2021-03-31 |
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