JP2814162B2 - Mobile work robot rescue equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rescue device for a mobile work robot that moves along a predetermined route and performs, for example, inspection work during or after movement.

[0002]

2. Description of the Related Art Conventionally, there has been known a mobile inspection robot which performs an inspection operation while moving, for example, and outputs data obtained by the inspection. As a technique for automatically recovering such a mobile inspection robot when it stops due to a failure in the middle of the inspection route, for example, Japanese Patent Application Laid-Open No. 56-1147 discloses a technique.
No. 94. Thus, when the mobile inspection robot breaks down on the inspection route and stops,
2. Description of the Related Art The concept of an inspection vehicle collection device coming out of a closed hangar, connecting to a failed inspection vehicle by a coupler, and collecting the inspection vehicle to the closed hangar is conventionally known. However,
For example, it is very difficult to install a closed hangar in a narrow place such as a reactor containment vessel of a nuclear power plant,
In the case of the mobile inspection robot arranged in the reactor containment vessel, the inspection robot body cannot be moved in and out of the reactor containment vessel during operation of the nuclear power plant. For this reason, it is necessary for the inspection robot system to have sufficient reliability so that it can be used for a long period without maintenance.

As one of the methods, two inspection robot bodies are provided on the same rail, and in the event that one inspection robot body fails, another inspection robot body is substituted. There is. In this case, if the rails are laid in a loop, even if the traveling system and communication system of one of the inspection robots fails and cannot move, the other inspection robot will use the loop-shaped rails. If it turns, it can cover all inspection routes.

[0004]

In order to lay the rails in a loop, the rails must be laid in portions other than the original inspection route. However, in many cases, rails are laid only on necessary inspection routes to minimize capital investment, and rails are not desired to be looped. If the rail is not looped, the inspection robot main body that has failed on the rail becomes an obstacle for another inspection robot main body to travel. In the prior art, little consideration was given to the collection of inspection vehicles in such a situation.

An object of the present invention is to introduce a mobile work robot into a narrow space such as a reactor containment vessel of a nuclear power plant, and to operate the work robot especially when rails are not laid in a loop. To have sufficient reliability.

[0006]

The above object is achieved by providing a control panel on the ground with means for communicating with a communication device of the work robot body at a predetermined time interval, and the work robot main body is provided with the control panel on the ground. This can be achieved by providing a means for automatically moving the work robot body to a predetermined location such as a home position when the communication of the robot is interrupted for more than the predetermined time.

[0007] Another object of the present invention is to provide a method for automatically moving an inspection robot body to a predetermined position such as a home position when communication with a ground operation panel is interrupted for a predetermined time. This can be achieved by providing a program for the microcomputer used in the control device of the robot body.

Another object of the present invention is to cut a power supply trolley wire at a predetermined place so that power supply control for each section of the cut power supply line can be performed independently from an operation panel. Alternatively, a coupling is provided, and a dedicated traction truck is provided, which is capable of running on a rail on which the working robot body travels and is provided with a traction lever or a coupling that engages with the traction hook or the coupling. The power supply to the power supply trolley wire can also be achieved by enabling the power supply to be controlled independently of the power supply trolley wires in other parts.

The above object is also achieved by the work robot according to claim 4, wherein the stand-by position of the towing truck is set further outside the stand-by position of the work robot body provided at the end of the open loop-shaped rail. Achieved.

The above object is also achieved by setting the standby position of the towing truck in claim 4 to one or both of the standby positions of the two working robot bodies provided at both ends of the open loop rail. It can also be achieved by installing it outside.

[0011] The above object is also achieved by providing a traction-only truck with a current collector for receiving power from a power supply trolley line, a moving means using the power received by the current collector as a driving source, and contact with another object. Collision detection means for detecting and outputting a signal, engagement means for operating when the collision detection means outputs a signal and engaging with the other object, and detecting the operation of the engagement means and The present invention is also achieved by a mobile work robot according to any one of claims 11, 12, and 13, characterized in that the mobile work robot includes a starting means for starting the moving means.

[0012]

The communication between the work robot body and the operation panel on the ground is periodically performed at predetermined time intervals. The work robot body checks whether communication with the operation panel is interrupted for more than a predetermined period of time, so that the work robot body side can detect the failure of the communication device of the work robot body and the communication device of the ground operation panel. Can be detected. When the communication device of the work robot body breaks down, the movement command from the operation panel is no longer accepted by the work robot body, so that the work robot body becomes immovable. In this case, since the control / drive circuit of the work robot body is functioning normally, when a failure of the communication device is detected, the work robot body is moved to a predetermined position such as a standby position of the work robot body (hereinafter simply referred to as a home position). If the control / drive circuit of the working robot sends a command to move to itself, the working robot body automatically moves to the home position without a command from the operation panel.

[0013] Further, means for detecting that communication with the operation panel has been interrupted for more than a predetermined time, and returning the work robot body to the home position when communication with the operation panel has been interrupted for more than the predetermined time. Is provided in the program of the microcomputer of the work robot main body, since the microcomputer of the work robot main body controls communication with the operation panel and controls the operation of the traveling cart, so that special The work robot body can be moved to the home position without using new parts.

In addition, the power supply control for each section of the power supply line can be performed independently of the operation panel, and a dedicated traction truck is provided in addition to the work robot main body. If this is not done, the traction-only truck is not energized at normal times, and can be kept on standby with little deterioration of the electrical components. In the unlikely event that the work robot becomes immobile, power is also supplied to the trolley wire in the power supply section where the tow truck is standing by, and the tow truck is moved to the location of the failed work robot and the robot The broken work robot main body can be moved to a predetermined place by hooking a tow lever to the tow hook or connecting the tow lever with a coupler.

If the rail is not loop-shaped, a home position is provided at the end of the rail, and a dedicated towing vehicle is made to stand by further outside the standby position of the working robot body at the home position, so that only the towing is performed. Even when the cart breaks down, the movement of the work robot main body is not hindered. In addition, a standby position for one and the same work robot body is provided at each of the home positions at both ends of the rail, and when one is used for normal use and the other is used for backup, the standby position for the work robot for normal use is provided. By setting a stand-by place for the towing trolley further outside the, the working robot that has failed with the trolley can be moved to the home position if the working robot itself breaks down. In this case, the backup work robot main body becomes movable in the entire work route, so that only one tow truck is required.

[0016] Further, the current collector receives the electric power from the trolley wire only by the current collector receiving the electric power from the trolley wire, and the forward operation is performed. It is possible to automatically control only the work robot main body to control whether to connect and then reverse and then return to the predetermined place automatically, so that the communication device and communication control device of the tow truck are unnecessary This makes it a simple and reliable tow truck.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment in which the present invention is applied to a mobile inspection robot will be described below with reference to the drawings.

FIG. 1 shows a basic configuration of a mobile inspection robot device and a rescue device according to this embodiment. The mobile inspection robot device and the rescue device include a traveling rail 100 laid along an inspection route, a trolley wire 106 incorporated in the traveling rail 100, and a feeder wire 10 for wireless communication.
5 and the traveling rail 100 installed on the traveling rail 100
Inspection robot main body 1 and towing truck 3 running along the road, and operation panel 20 connected to feeder line 105
0.

The inspection robot body 1 includes a traveling vehicle 10 and
A control / drive circuit 40 and a wireless device (mobile station) 50 mounted on the traveling vehicle 10, an infrared camera, a color television camera, and a microphone, which are also mounted on the traveling vehicle 10 via the pan head mechanism 20 A unit 30, a current collector 60 attached to the traveling vehicle 10 and receiving power while contacting the trolley wire 106, and an antenna 55 attached to the traveling vehicle 10 with a predetermined gap from the feeder line 105. , The traveling cart 10
And a sensor truck 80 connected to the front and rear of the vehicle via a flexible shaft 70 and having a collision sensor 91 attached to the front end. This collision sensor 91
This makes it possible to detect other inspection robots or rail ends in front and rear. The collision sensor 91 is outwardly mounted on the bottom side of a U-shaped traction hook 90 having an open end fixed to the sensor cart 80 side. Further, the control / drive circuit 40 includes means for detecting a failure of the traveling vehicle 10 and a failure of the sensor unit 30 and the control / drive circuit 40 and notifying the operation panel 200 of the failure.

The operation panel 200 supplies power to the radio device (fixed station) 250 and the trolley wire 106 to
And a power supply device 260 capable of N / OFF control.

The inspection robot body 1 includes a control panel 20 having a wireless device (fixed station) 250 on the ground built in via a wireless device (mobile station) 50, an antenna 55, and a feeder line 105.
0 can be communicated with.

The trolley 3 is provided with a traveling vehicle 10b provided with a driving device, a control / drive circuit 40b mounted on the traveling vehicle 10b, and a trolley wire 106 mounted on the traveling vehicle 10b. The drive device and control
A current collector 60b to be supplied to the drive circuit 40b, etc., a sensor truck 80b similarly connected to the front and rear of the traveling truck 10b via the flexible shaft 70b, and a collision sensor 91b attached to the tip, and a drive truck attached to the sensor truck 80b. And a pulling lever 86 rotatable up and down by a motor 85. The driving device is stopped by a signal from the collision sensor 91b. The drive motor 85 is started by the output signal of the collision sensor 91b, and stops after rotating for a predetermined time or rotation number. When the traction lever rotates to a predetermined position, a limit switch (not shown) operates to activate the driving device, and the trolley 3 returns to the home position. The rotation of the drive motor 85 may be stopped by an operation signal of a limit switch (not shown). The tow lever 86 rotates upward to engage the tow hook 90 and be interconnected, but other types of connection mechanisms may be used. In addition, the trolley wire 106 at the place where the tow truck 3 is normally arranged (standby position) is separated from the trolley wire 106 at the part where the inspection robot body 1 is arranged, so that the power supply can be controlled independently. It is a trolley for towing 3
Is normally not supplied with power to the trolley wire 106 at the place where it is normally installed.

The operation of the inspection robot body 1 having the above configuration will be described below. The operation panel 200 supplies power to the trolley wire 106 where the inspection robot main body 1 is disposed via a built-in power supply device 260, and also feeds a feeder wire 105 from a built-in wireless device (fixed station) 250.
The inspection command is transmitted to the inspection robot main body 1 via. The inspection robot body 1 receives an inspection command transmitted from the operation panel 200 by a built-in wireless device (mobile station) 50, moves along the traveling rail 100 based on the inspection command, and performs a required inspection. The inspection robot body 1
The visual information, the sound information, the temperature information, and the like of the various inspection target devices on the inspection route are transmitted to the operation panel 200 via the wireless device (mobile station) 50. The operation panel 200 transmits the transmitted visual information, sound information, temperature information, and the like to the wireless device (fixed station) 2.
And automatically diagnoses abnormalities of various inspection target devices based on the received visual information, sound information, temperature information, and the like. The communication line between the operation panel 200 and the inspection robot main body 1 is at least from the operation panel 200 to the inspection robot main body 1.
A data transmission line for sending commands to the inspection robot, a data transmission line for sending the robot status from the inspection robot body 1 to the operation panel 200, an operation result for the commands, and a voice transmission line for sending sound information; Four video transmission lines for transmitting visual information and the like are required. Since the image of the color television camera and the image of the infrared camera are switched by a command from the operation panel, one image transmission line has a sufficient communication capacity. These are multiplexed so that they can be communicated by one feeder line 105.

Data transmission for transmitting a command from the operation panel 200 to the inspection robot main body 1 and data transmission for transmitting a robot state, an operation result for the command, and the like from the inspection robot main body 1 to the operation panel 200 are basically performed. Is the operation panel 20
The 0 side is the main, and the inspection robot main body 1 is the sub. The relation between the master and the slave is that, for example, when a command to “move to a certain point” is transmitted from the operation panel 200, the inspection robot main body 1 moves to the designated point and then returns “movement end”. Thus, the relationship is such that the originating side of the communication is the main and the return side is the subordinate. Even when there is no particular command, a command such as "notify the state of the robot" is periodically transmitted from the operation panel 200 at predetermined time intervals. If the state of the robot is normal, the inspection robot body 1 will read "the current position and the posture of the robot (such as the angle of the camera platform),
Temperature (overheating status) ", but the inspection robot body 1 does not receive a command such as" notify the state of the robot ", which is transmitted periodically, for more than a predetermined time. The inspection robot body 1 includes a wireless device (mobile station) 50 and / or a wireless device (fixed station) 2.
It is estimated that 50 has failed.

In such a case (the radio equipment (mobile station) 50
And / or the wireless device (fixed station) 250 is estimated to have failed), the inspection information collected by the inspection robot body 1 is not transmitted to the operation panel 200, and the inspection robot body 1 has no meaning. Automatically return to a predetermined location such as a preset standby location (home position). Regarding the specified time when the command from the operation panel did not exceed a certain time, the radio device (fixed station) 250 and the feeder line 105 may have an abnormality. It is advisable to set it in consideration of the time sufficient for inspection.

When the communication between the radio device of the traveling vehicle and the radio device of the operation panel on the ground is interrupted for more than the predetermined time, the function of automatically moving the traveling vehicle to a predetermined place and stopping the traveling vehicle is as follows. It is provided in the program of the microcomputer of the wireless device of the traveling vehicle or the control circuit. FIG. 2 shows an example of a flowchart of the operation of the microcomputer in this case. Normally, this microcomputer processes a command input from the operation panel 200. However, if there is no command input from the operation panel, the counter NC increases, and if the counter NC exceeds the maximum allowable value, Is returned to the home position. FIG. 5 shows the flow of this processing. In a robot having a configuration in which a normal robot is controlled by such a microcomputer, when a function to automatically move and stop the traveling vehicle to a predetermined place when communication is interrupted for a predetermined time is added, If the function is provided in the microcomputer program, the function can be added without adding new hardware.

When the inspection robot main body 1 breaks down, the inspection robot main body 1 can be moved to a predetermined position such as a home position using the trolley 3. In the above-described configuration, if the inspection robot main body 1 is out of order (if the wireless device 50 is not out of order), the control / drive circuit 40 notifies the operation panel 200 through the wireless device 50 to that effect. . Operation panel 200 that received the report
Supplies power to the trolley wire at the place where the towing truck 3 is installed, and moves the towing truck 3 to the inspection robot main body 1 where the breakdown is stopped. Next, the towing lever 86 of the towing truck 3 is rotated upward to hook the towing hook 90 of the inspection robot body 1 and the towing robot body 1 is towed by the towing truck 3 to move the inspection robot body 1 to the home position or the like. Move to the designated place. FIG. 6 shows an example of this procedure. According to this method, the sensor unit 30 of the inspection robot body 1 and the control / drive circuit 40
The inspection robot body 1 also when the traveling cart 10 is out of order
Can be moved to a predetermined location such as a home position.

In the procedure shown in FIG. 6, power is started to be supplied to the trolley wire where the trolley 3 is installed based on the notification from the inspection robot main body 1. Means for detecting the presence or absence of the inspection robot body 1 and means for notifying the result to the operation panel 200 are provided, and further, communication with the inspection robot body 1 is interrupted on the operation panel 200 for more than a predetermined time. After detecting that the communication with the inspection robot main body 1 has been interrupted for more than a predetermined time, the inspection robot main body 1 remains at the home position even if the predetermined time is exceeded. If not arrive, operation panel 200
May supply power to the trolley wire at the place where the towing truck 3 is installed to start the procedure shown in FIG. Further, the inspection robot main body 1 is not provided with a means (counter) for detecting that the communication with the operation panel 200 has been interrupted for more than a predetermined time, and the communication with the inspection robot main body is provided on the operation panel side. Provide a means (counter) to detect the interruption for longer than
When it is detected that the communication with the inspection robot has been interrupted for more than a predetermined time, power is immediately supplied to the trolley wire at the place where the tow truck 3 is installed, and the procedure shown in FIG. 6 is started. You may make it do.

FIGS. 3 and 4 show an open-looped rail,
A configuration example is shown in which home positions are provided at both ends of the open-looped rail, and the inspection robot main body 1 and the trolley 3 are arranged at the home positions. FIG. 3 shows the configuration of the second embodiment of the present invention in which two types of inspection robots 1 and 2 are installed, and FIG. 4 shows the configuration of the third embodiment of the present invention in which two identical inspection robots 1 are installed. . In FIG. 3, a trolley 3 is disposed outside each of the inspection robots 1 and 2. The trolley wire 106 includes a trolley wire 106a, a trolley wire 106b, a trolley wire 106c, and a trolley wire 106.
d, the trolley wire 106e is divided into
From 0, power can be supplied to any trolley wire. Since the trolley 3 is disposed further outside the inspection robots 1 and 2, even if the trolley 3 fails first, the movement of the inspection robots 1 and 2 is not hindered. . FIG. 4 shows an example in which one inspection robot main body 1 is provided at each of the home positions at both ends of the rail, and the inspection robot main body 1 is exactly the same and one is used for normal use and the other is used for backup. A standby position (home position) of the towing truck 3 is further disposed outside the regular inspection robot body 1. If the service robot main body 1 fails, the service robot main body 1 can be moved to the home position by the trolley 3 and the backup service robot body 1 can be used. I just need.

When the current collector 60b receives electric power from the trolley wire 106, the trolley 3 moves forward. Whether the lever 86 is hooked or connected by a coupler, then the vehicle reverses and automatically returns to a predetermined place, and the control until the operation of removing the tow lever 86 or the coupler is performed only by the towing truck 3 only. Automatically. Towing lever 8
6 can be operated to hook the traction hook 90 or to connect the traction hook 90 with a coupler by the signal of the collision sensor 91b of the trolley 3. The control of the trolley 3 is performed by a relay activated by a power input from a trolley wire or an output of the collision sensor 91b and a traction lever 86.
Although it is designed to be performed by sequence control combining a limit switch and a timer that detect the operation of
The control may be performed by a program activated by a power input from a trolley wire. By causing the tow truck 3 to perform such an operation, it becomes possible to cause the tow truck 3 to rescue and move the inspection robot body 1 without providing a communication device and a communication control device, and it is simple and reliable. Trolley with high traction.

In the above embodiment, the work content is an inspection work, but the work content is not necessarily limited to the inspection work, and other work may be performed.

[0032]

As described above, according to the present invention, at least two work robot bodies are provided on the same rail, and if one work robot body breaks down, The faulty work robot body can be recovered from the middle of the work route without any special instructions, and the work can be performed by another work robot body. When a mobile work robot is introduced into a narrow place where people cannot easily enter, such as inside, the reliability of operation of the work robot is improved even when rails are not laid on a loop. Further, according to the present invention, it is not necessary to increase the size of the work robot main body for the rescue device of the mobile work robot, and a small mobile work robot can be obtained.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a main part of a first embodiment of the present invention.

FIG. 2 is a flowchart showing an example of an operation procedure of the control / drive circuit of the embodiment shown in FIG.

FIG. 3 is a conceptual diagram showing a second embodiment of the present invention.

FIG. 4 is a conceptual diagram showing a third embodiment of the present invention.

FIG. 5 is a procedure diagram showing an example of an operation procedure of the embodiment shown in FIG. 1;

FIG. 6 is a procedure diagram showing another example of the operation procedure of the embodiment shown in FIG. 1;

[Explanation of symbols]

1, 2 Inspection robot main body 3 Traction-only trolley 10 Traveling trolley 20 Head 30 Sensor unit 40, 40b Control / drive circuit 50 Wireless device (mobile station) 55 Antenna 60, 60b Collector 70 Flexible shaft 80, 80b Sensor trolley 85 Drive Motor 86 Traction lever 90 Towing hook 91, 91b Collision sensor 100 Rail 105 Feeder wire 106 Trolley wire 200 Operation panel 250 Wireless device (fixed station) 260 Power supply device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masaki Takahashi 3-1-1, Sachimachi, Hitachi-shi, Ibaraki Hitachi, Ltd. Hitachi Plant (72) Inventor Tetsuro Waki 3-1-1 Sachimachi, Hitachi-shi, Ibaraki No. 1 Hitachi, Ltd. Hitachi Plant (56) References JP-A-2-303795 (JP, A) JP-A-5-142368 (JP, A) JP-A-5-69350 (JP, A) JP-A-62-171677 (JP, A) JP-A-4-212091 (JP, A)

Claims (14)

(57) [Claims] 1. along the work routeLaid rails
A traveling vehicle traveling along the rail, and the traveling vehicle
Working unit incorporating various working means mounted on the car
Communicates with the ground control panelCommunication devices and themfor
Control and drive circuits, and
Mobile work robot comprising an operation panel performing dynamic operation
In the operation panel, the communication device of the traveling vehicle is
Means for communicating at predetermined time intervals, and
The communication device or control circuit communicates with the trolley communication device and the ground operation.
When communication with the board is interrupted beyond the predetermined time interval
In such a case, the traveling cart is automatically moved to a predetermined location and stopped.
Mobile work robot, characterized in that the work robot comprises: Means for automatically moving and stopping the traveling vehicle to a predetermined location when communication between the communication device of the traveling vehicle and the operation panel on the ground is interrupted beyond the predetermined time interval; The mobile work robot according to claim 1, wherein the mobile work robot is stored as a program in a communication device of a bogie or a storage device of a microcomputer of a control circuit. 3. A traveling vehicle traveling along a rail, a communication unit for communicating between a sensor unit incorporating various sensors mounted on the traveling vehicle and an operation panel on the ground, and a communication device therefor. At least two working robot bodies each including a control / drive circuit are arranged on the same rail, and at least one communication device or control circuit of the traveling vehicle has a communication device of the traveling vehicle and a ground communication device. 3. The movement according to claim 1, further comprising means for automatically moving and stopping the traveling vehicle to a predetermined location when communication with the operation panel is interrupted beyond the predetermined time interval. Work robot. 4. A trolley wire and rail for power supply laid along an inspection route, a traveling vehicle traveling along the rail, a sensor unit incorporating various sensors mounted on the traveling vehicle, and ground operation. A communication device that communicates with the panel and a current collector that receives power from the trolley line and a control and drive circuit for them, an operation panel that is arranged on the ground and performs remote or automatic operation, and from the power supply trolley line A mobile trolley, comprising: a trolley provided with means for receiving power, traveling along the rail, and engaging with the trolley; and a power supply trolley laid at a standby position of the trolley. The line is configured so that the power supply is controlled independently of the other parts of the power supply trolley line,
The operation panel includes means for performing communication with the communication device of the traveling vehicle at predetermined time intervals, and when communication between the communication device of the traveling vehicle and the operation panel on the ground is interrupted beyond the predetermined time interval, A mobile work robot for supplying power to a power supply trolley wire laid at a standby position of the tow truck. 5. The vehicle according to claim 1, wherein the rail is formed in an open loop shape, and the towing-only trolley standby position is set further outside a standby position of the inspection robot main body provided at an end of the open-loop shape rail. The mobile work robot according to claim 4, characterized in that: 6. A waiting place for a working robot main body is provided at both ends of an open loop-shaped rail, and a traction-only carriage waiting place is arranged outside one of the waiting places or both of the waiting places. The mobile work robot according to claim 4, characterized in that: 7. A traction-only trolley detects a signal from a current collector that receives power from a power supply trolley wire, a moving unit that uses the power received by the current collector as a driving source, and detects contact with another object to generate a signal. , An engagement unit that operates when the collision detection unit outputs a signal to engage the other object, and detects the operation of the engagement unit to activate the moving unit. The mobile work robot according to any one of claims 4, 5, and 6, further comprising: a starting unit that performs the operation. 8. Along the inspection routeLaid rails
A traveling vehicle traveling along the rail, and the traveling vehicle
Sensor unit incorporating various sensors mounted on the car
Communicates with the ground control panelCommunication devices and themfor
Control and drive circuits, and
Mobile inspection robot comprising an operation panel performing dynamic operation
In the operation panel, the communication device of the traveling vehicle is
Means for communicating at predetermined time intervals, and
The communication device or control circuit communicates with the trolley communication device and the ground operation.
When communication with the board is interrupted beyond the predetermined time interval
In such a case, the traveling cart is automatically moved to a predetermined location and stopped.
Mobile inspection robot, characterized in that it has means for performing inspection. 9. When the communication between the communication device of the traveling vehicle and the operation panel on the ground is interrupted beyond the predetermined time interval, the means for automatically moving the traveling vehicle to a predetermined location and stopping the traveling vehicle is provided. The mobile inspection robot according to claim 8, wherein the mobile inspection robot is stored as a program in a communication device of a carriage or a storage device of a microcomputer of a control circuit. 10. A traveling vehicle traveling along a rail,
A communication device for communicating between a sensor unit incorporating various sensors mounted on the traveling vehicle and an operation panel on the ground, and the communication device
And at least two of the inspection robot bodies including a control and drive circuit for them are arranged on the same rail, and at least one of the communication devices or the control circuit of the traveling vehicle is capable of communicating with the traveling vehicle. 10. The system according to claim 8, further comprising means for automatically moving and stopping the traveling vehicle to a predetermined location when communication between the device and the ground operation panel is interrupted beyond the predetermined time interval. The mobile inspection robot according to 1. 11. A power supply trolley wire and rail laid along an inspection route, a traveling vehicle traveling along the rail, a sensor unit incorporating various sensors mounted on the traveling vehicle, and ground operation. A communication device that communicates with the panel and a current collector that receives power from the trolley line and a control and drive circuit for them, an operation panel that is arranged on the ground and performs remote or automatic operation, and from the power supply trolley line A mobile trolley comprising: a traction-only carriage that receives power, travels along the rail, and engages with the traveling trolley, the power-supply trolley laid at a standby position of the traction-only carriage. The power supply trolley wire is configured so that power supply is controlled independently of other portions thereof, and the operation panel communicates with a communication device of the traveling vehicle at predetermined time intervals. When the communication between the communication device of the traveling vehicle and the operation panel on the ground is interrupted beyond the predetermined time interval, power is supplied to a power supply trolley line laid at a standby position of the tow truck. A mobile inspection robot characterized by the following. 12. The rail is formed in an open loop shape, and the trolley stand-by place is set further outside the stand-by place of the inspection robot main body provided at the end of the open-loop form rail. 12. The method according to claim 11, wherein
The mobile inspection robot according to 1. 13. A waiting place for an inspection robot main body is provided at both ends of an open loop-shaped rail, and a traction-only carriage waiting place is arranged outside one of the waiting places or both of the waiting places. Claim 1.
2. The mobile inspection robot according to 1. 14. A traction-only trolley detects a signal from a current collector for receiving power from a trolley wire for power supply, a moving means using the power received by the current collector as a driving source, and a signal from another object. , An engagement unit that operates when the collision detection unit outputs a signal to engage the other object, and detects the operation of the engagement unit to activate the moving unit. The mobile inspection robot according to any one of claims 11, 12, and 13, further comprising: an activation unit that performs the operation.