JP3645460B2 - Accident response robot system - Google Patents

Accident response robot system Download PDF

Info

Publication number
JP3645460B2
JP3645460B2 JP37433099A JP37433099A JP3645460B2 JP 3645460 B2 JP3645460 B2 JP 3645460B2 JP 37433099 A JP37433099 A JP 37433099A JP 37433099 A JP37433099 A JP 37433099A JP 3645460 B2 JP3645460 B2 JP 3645460B2
Authority
JP
Japan
Prior art keywords
robot
accident
door
work
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP37433099A
Other languages
Japanese (ja)
Other versions
JP2001179668A (en
Inventor
原 拓 也 上
藤 勝 彦 佐
藤 能 文 佐
田 正 樹 依
田 敏 岡
瀬 克 彦 成
村 元比古 木
口 康 弘 湯
積 久 士 穂
Original Assignee
株式会社東芝
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社東芝 filed Critical 株式会社東芝
Priority to JP37433099A priority Critical patent/JP3645460B2/en
Publication of JP2001179668A publication Critical patent/JP2001179668A/en
Application granted granted Critical
Publication of JP3645460B2 publication Critical patent/JP3645460B2/en
Anticipated expiration legal-status Critical
Application status is Expired - Fee Related legal-status Critical

Links

Images

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to the situation of occurrence events in the event of disasters such as fires and earthquakes of various plant facilities, suppression of events from the viewpoint of preventing damage expansion, lifesaving, and recovery operations at the occurrence site. The present invention relates to a robot system for performing work.
[0002]
[Prior art]
Conventionally, many types of robots have been developed in order to cope with accidents that have occurred in the plant and that cannot be approached by humans. As represented by extreme work robots, a wide variety of products for oil plants, nuclear power plants, and submarine plants have been developed. However, few are commercialized and popular. This is because the environment of the place of use is limited, or accidents (work) that can be handled are limited.
[0003]
For this type of robot, if a person is left behind or unattended at the accident site, or if the accident is a fire, gas leak, liquid leak, radiation leak or a combination of these, harmful substances will be released to the outside. If and if not, if the atmosphere at the accident site may or may not cause explosions and hazardous materials, and if the utilities and electricity provided in the plant are and are not available, The function differs depending on whether the robot is closed (by a door, etc.) or not, the distance to the site, the passage, the space at the site, the floor condition can be handled by the wheeled robot, or not Is required.
[0004]
It is impossible to handle all of these accident situations with one robot that is currently being developed. In addition, preparing a robot that can cope with the difference in these accident situations is problematic in terms of management and maintenance and in terms of cost. For this reason, in many plants, there is a need for a robot system that can flexibly cope with the difference between these accident situations and that is simple and easy to use.
[0005]
[Problems to be solved by the invention]
The present invention has been made in view of the above situation, and for accidents that have not occurred in the plant, the accident situation is grasped by remote control, and the safety is promptly and efficiently determined according to the accident situation. The purpose of the present invention is to provide an accident response robot system that provides a flexible system to deal with, is not limited to the environment and accident details of the place of use, and is simple and easy to use.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is equipped with a monitoring means for collecting environmental information, and at least an integral monitoring robot for investigating an accident point or its vicinity, or a movement route to the accident point or its surrounding state, Equipped with a manipulator, Multiple types of work robots, each performing a predetermined work A first communication means for communicating with the mobile robot, a second communication means capable of bidirectional communication with a predetermined command base, and the first A control device that remotely controls the mobile robot via the communication means, a storage command base that stores the mobile robot, a movable command base, and a means for moving the command base, The controller is Based on the survey results of the monitoring robot, or based on the survey results of sensors installed at or around the accident point by the work robot, a work robot having an appropriate function is provided. In addition to the selection, the behavior of the mobile robot is corrected based on the survey result of the monitoring robot after the work robot is dispatched or the survey result of the sensor installed at or around the accident point by the work robot. Has function An accident response robot system is provided.
[0007]
This system can further comprise a power generation means or a power supply means for supplying power to the mobile robot and the first and second communication means.
[0008]
In addition, the control device may be configured to have a general control unit that determines a work procedure of each mobile robot based on information about an accident point or a surrounding state obtained by the monitoring robot.
[0009]
In addition, the storage unit is a housing that houses the mobile robot and has a door through which the mobile robot passes, a seal mechanism that is provided around a door outside the housing and that can be tightly adhered to a wall surface; Can be configured.
[0010]
In addition, the system includes a storage body that stores the mobile robot and has a door through which the mobile robot passes, means for moving the storage body up and down, and a wall that is provided around a door outside the storage body. It is possible to further comprise a movable intrusion support means having an airtightly sealable sealing mechanism.
[0011]
At least one of the monitoring robots is equipped with a sensor that acquires environmental information around the monitoring robot and a communication device that can communicate with the first communication device of the command base, and an accident point Alternatively, it is a first robot having a function of collecting environmental information in the vicinity thereof or a movement route to the accident point or in the vicinity thereof and transmitting the information to the command base, and at least one of the working robots is the manipulator And a sensor that acquires environmental information for controlling the movement of the work robot, and a communication device that can communicate with the first communication device of the command base. The first and second robots respectively obtain environmental information from different positions and transmit the information to the command base. Preliminary based on the second at least one of the acquired environment information by the sensor of the robot may be adapted to perform operations issues a command to the second robot.
[0012]
At least one of the working robots can be configured by mounting a relay module that relays communication performed between the mobile robot and the command base. The relay module is installed at an appropriate point between the command base and the accident point.
[0013]
In addition, the system can be configured to further include a local sensor module that is fixed to the accident point or the vicinity thereof or the movement route to the accident point or the vicinity thereof and transmits the acquired environmental information to the command base. In this case, at least one of the working robots has the local sensor module mounted in a state where it can be separated from the working robot, and the working robot moves to or near the accident point or the accident point. The local sensor module can be installed in the path or the vicinity thereof. The local sensor module may be provided with a relay module for relaying communication performed between the mobile robot and the command base.
[0014]
The local sensor module may be provided with a power supply unit having a solar cell or power generation means.
[0015]
In addition, at least one of the monitoring robots is equipped with a video acquisition unit and a distance measurement unit, and the control device is configured to detect an accident point or its location based on information from the video acquisition unit and the distance measurement unit. A function of creating and displaying peripheral two-dimensional information or three-dimensional information can also be provided.
[0016]
The system further includes a local sensor module having an image acquisition unit and a distance measurement unit, which is fixed to the accident point or the vicinity thereof, or a movement route to the accident point or the vicinity thereof, and transmits an environmental condition to the command base. Further, at least one of the monitoring robots may be configured to include a video acquisition unit and a distance measurement unit, and the control device may include the local sensor module and the monitor. It is also possible to have a function of creating and displaying two-dimensional information or three-dimensional information of an accident point or its surroundings based on information transmitted from the image acquisition means and the distance measurement means of the robot.
[0017]
Here, the control device uses the two-dimensional information or the three-dimensional data such as temperature, radiation dose, and toxic substance concentration obtained by the sensor mounted on the local sensor module and the sensor mounted on the monitoring robot. It is preferable to have a function of displaying information in a superimposed manner. Moreover, it is also preferable that the control device has a function of displaying a change with time of the accident situation.
[0018]
In addition, a mapping process is performed in which the control device displays information transmitted from a sensor mounted on a mobile robot or a local sensor module attached to a predetermined location, superimposed on information from the sky such as aerial photograph data. It can also be configured to have means for performing.
[0019]
The system may further include a movable support robot that assists at least one of the mobile robots, and the support robot may be a spare device for a device mounted on the mobile robot or A replacement device, means for supplying power to the mobile robot, or a replacement battery is mounted.
[0020]
Further, at least one of the mobile robots can be configured by mounting means for installing a landmark or means for guiding the mobile robot.
[0021]
In addition, the system can be configured to further include a local sensor module that is fixed to the accident point or the vicinity thereof, or a movement route to the accident point or the vicinity thereof, and transmits an environmental condition to the command base. In this case, the local sensor module includes a unitized sensor unit that senses environmental information around the local sensor module, and a unitized moving mechanism unit that is coupled to the sensor unit and adjusts the position and orientation of the sensor unit. And a mounting unit coupled to the moving mechanism unit for mounting the sensor unit and the moving mechanism unit to a structure, and the sensor unit, the mounting unit, and the moving mechanism unit can be combined and separated. It is preferable that they are coupled to each other through a simple coupling means.
[0022]
In addition, the system can be configured to further include a local sensor module that is fixed to the accident point or the vicinity thereof, or a movement route to the accident point or the vicinity thereof, and transmits an environmental condition to the command base. The local sensor module is a unitized sensor unit having a sensor for sensing environmental information around the local sensor module, a signal processor for processing a signal detected by the sensor, and the sensor unit for protecting the sensor unit. And an openable / closable shutter.
[0023]
The monitoring robot may include a robot having a flying means and a sensor attached to the flying means.
[0024]
Further, it is possible to provide display means for displaying information acquired by the sensor at least integrally with the monitoring robot.
[0025]
Also, at least one of the mobile robots may be provided with means for collecting at least one of gas, airborne dust, liquid, surface deposits, or solids.
[0026]
In addition, a radiation-resistant camera as a visual sensor and a gamma ray, X-ray, and neutron ray dose equivalent rate measuring device as a radiation sensor can be provided at least integrally with the monitoring robot.
[0027]
At least one of the mobile robots may be equipped with a sensor means connected to a plurality of sensors or a long sensor means capable of distribution measurement, which is separable from the mobile robot. Laying while moving the sensor means.
[0028]
A plurality of sensors having communication means and a power source that can be separated from the mobile robot can be mounted on at least one of the mobile robots. In this case, the mobile robot is installed while moving the sensor. Do
In addition, at least one of the mobile robots can be mounted with a movement path that can be separated from the mobile robot, and a sensor that can move along the movement path. After installation while moving along the moving path, a sensor can move along the moving path to perform measurement.
[0029]
In addition, at least one of the mobile robots can be configured by arranging electronic devices in a space surrounded by a lead storage battery.
[0030]
The first communication means can be configured to include a flexible signal transmission member in the transmission path of the communication signal, and in this case, the signal transmission member is provided on one side of the door near the accident site. A communication signal is transmitted from the side to the opposite side. Furthermore, the first communication means may further include two wireless communication transmitting / receiving units that are electrically coupled to each other by the signal transmission member. In this case, these wireless communication transmitting / receiving units are configured. Are arranged on one side and the opposite side of the door.
[0031]
The system may further include a power supply unit installed in the vicinity of the moving area of the mobile robot. At this time, the mobile robot has means for receiving power from the power supply unit. It is preferable to configure. Here, the power feeding unit can be electrically connected to power generation means or other power source provided in the command base by a power cable, and at least a part of the power cable has flexibility. The flexible portion can be configured to transmit power from one side of the door near the accident site to the opposite side.
[0032]
In addition, the working robot can be equipped with a door operation device that can be installed on the door or its peripheral portion independently of the working robot and that can be remotely operated and opens a building door. It is also preferable that the door operation device has a function of opening and closing the door. The door operation device may include a knob turning module for turning the knob of the door and a door driving module for driving the door.
[0033]
Further, the manipulator of the working robot has a function of turning the knob of the door, while the door operation device has a door driving module for driving the door, and the working robot has the knob. On the other hand, it is also possible to perform the operation of opening the door by driving the door by the door operating device.
[0034]
The door operating device can be configured to have a fixing means that can be installed on the door or a peripheral structure of the door operating device itself. The fixing can be performed by at least one method of adhesion and welding.
[0035]
The fixing means connects the suction cup for fixing the door operating device on the door or a structure around the door, a container whose internal pressure is reduced to an atmospheric pressure or lower, and the suction cup and the container. It can have a flow path and a valve for opening and closing the flow path.
[0036]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0037]
[First Embodiment]
FIG. 1 is a diagram showing a configuration of an accident response robot system (hereinafter also simply referred to as “system”) according to a first embodiment of the present invention.
[0038]
This system includes a plurality of self-propelled mobile robots. The mobile robot is equipped with (1) a monitoring means that collects environmental information, a monitoring robot that investigates the accident point or its vicinity, or the movement route to the accident point or its surroundings, and (2) a manipulator. The robot is roughly classified into at least an integrated work robot that performs a predetermined work on or around the accident point or the vicinity thereof or the movement route to or around the accident point.
[0039]
Of course, a robot having both a function as a monitoring robot and a function as a work robot may be included.
[0040]
In this embodiment, this system includes a monitoring robot 10a and a measurement robot 10b as monitoring robots, and includes a light work robot 10c and a heavy work robot 10d as work robots.
[0041]
Here, the monitoring robot 10a is a robot equipped with sensors for performing a simple determination of the situation at the accident site, and the measurement robot 10b is a surveyor for obtaining detailed information on the accident site, It is a robot equipped with measurement and image acquisition means. Here, the difference between the light work robot 10c and the heavy work robot 10d is distinguished by the magnitude of the output.
[0042]
In the following description, when it is not necessary to distinguish the types of the robots 10a to 10d, they are simply referred to as “mobile robot (or mobile robot 10)”.
[0043]
The system also includes a storage / control command vehicle (command base) 1 (hereinafter simply referred to as “command vehicle 1”). The command vehicle 1 is connected to a towing vehicle 130 as a moving means for moving the command vehicle 1. The tow vehicle 130 can move on a road or rough terrain by itself or with the command vehicle 1 being towed.
[0044]
In addition, while the command vehicle 1 is formed in a container shape without wheels, the tow vehicle 130 may be a transport device such as a truck on which a container-shaped command vehicle can be mounted, or the command vehicle 1 itself can be self-propelled. Also good. That is, the command vehicle 1 and the tow vehicle 130 can be appropriately replaced with a combination of a member such as an appropriate housing having a function of storing the mobile robot 10 and a command function, and an appropriate means for moving the member. .
[0045]
A storage unit 140 that stores the mobile robot 10 is provided at the rear of the command wheel 1. A control device 120 that controls the operation of each mobile robot 10 and processes data transmitted from the mobile robot is mounted on the front of the command vehicle 1. The control device 120 has an overall control unit 170. The overall control unit 170 has a function of drafting a work plan and the like as will be described later.
[0046]
Further, the command vehicle 1 is provided with an external communication device 110 that performs two-way communication with a command base provided at a position away from the accident site, for example, a disaster countermeasure headquarter or a disaster prevention center. In addition, the towed vehicle 131 includes a communication device 100 that transmits a control signal for remotely operating the mobile robot 10 generated by the robot control device 120 to the mobile robot and receives information transmitted from the mobile robot 10. Is provided.
[0047]
A generator 150 is mounted under the floor of the command vehicle 1 as power supply means. The generator 150 supplies driving power for the control device 120, the overall control unit 170, and the communication devices 100 and 110. Furthermore, the generator 150 can supply power to the charger 160 installed in the storage unit 140. The charger 160 is used to charge the battery 13 mounted on each mobile robot 10. That is, the generator 150 can supply power to all the devices required for this system.
[0048]
Next, the operation will be described.
[0049]
When an accident occurs, first, the external communicator 110 receives the accident information from, for example, the disaster prevention center, grasps the accident situation, and selects the type and number of mobile robots 10 required based on this information. It is stored in the storage unit 140 of the car 1. Information about the accident is stored in a storage device (not shown) provided in the overall control unit 170.
[0050]
Next, the command vehicle 1 travels by being pulled by the tow vehicle 130 from the location where it is deployed to the vicinity of the location where the accident occurred. During the movement, the accident information is continuously collected using the external communication device 110, and new information is further accumulated in the storage device provided in the overall control unit 170. Further, the controller 120, the communication device 100, and the charger 160 are operated by electricity generated by the generator 150 to charge the battery 13 of each mobile robot 10, and at the same time, the operation of each mobile robot 10 is confirmed.
[0051]
When arriving near the location of the accident, a control signal is sent from the control device 120 to each mobile robot 10 via the communication device 100, and each mobile robot 10 descends from the storage unit 140 to the ground.
[0052]
Next, the monitoring robot 10a of the mobile robot 10 is first moved to the vicinity of the building where the accident occurred. The monitoring robot 10a monitors the state of the accident occurrence site and its vicinity until it moves from the command vehicle 1 to the accident occurrence location by using a sensor 11 (for example, a television camera or a radiation detector) mounted on the monitoring robot 10a. The signal shown is transmitted to the command wheel 1 via the communication device 101 mounted on the robot 10a and the communication device 100 mounted on the command wheel 1. Information sent from the robot 10a to the command vehicle 1 is transferred by the external communication device 110 to a command base in a remote place such as a disaster prevention center.
[0053]
Further, the overall control unit 170 of the command vehicle 1 analyzes the information from the monitoring robot 10a and the already recorded information, creates a sequence up to the end of the accident based on the analysis result, and determines the work contents to be performed next. decide.
[0054]
The overall control unit 170 can also determine the work content completely automatically based on the database relating to the accident processing sequence stored therein, or can instruct the work content from the disaster prevention center via the external communication device 110. It is also possible to determine work contents based on this. That is, when the work content is determined only by the judgment function of the overall control unit 170, or when the work content is decided by appropriately combining the judgment of the overall control unit 170 and the judgment of the disaster prevention center, the work content is determined only by the judgment of the disaster prevention center. (In this case, the overall control unit 170 may function as a means for simply transmitting a command from the disaster prevention center).
[0055]
The overall control unit 170 performs inspection by controlling one or more of the measurement robot 10b, the light work robot 10c, and the heavy work robot 10d using the control device 120 in accordance with the determined work content. , Monitor or work.
[0056]
Also during this time, information from the monitoring robot 10a and the measurement robot 10b is sent to the control device 120 via the sequential communication device 100, and the control device 120 sends it to the overall control unit 170 in a predetermined data format. Based on the data collected by the overall control unit 170, the next action of each mobile robot 10 is corrected. The overall control unit 170 having such a determination function can optimize the recovery sequence, and can end the accident in a short time and minimize human and material damage. In addition, it is possible to flexibly cope with a time-varying situation by making corrections to the sequence by sequentially selecting data.
[0057]
As described above, by using the accident response robot system according to the present invention, it is possible to quickly prepare a response robot for investigating accidents, handling accidents, and recovering them in an environment where infrastructure is not maintained, It is also possible to respond flexibly to accident situations that are difficult to predict.
[0058]
Further, since the work content and work means to be performed next can be determined from the information obtained by the monitoring robot, efficient accident handling can be performed.
[0059]
In addition, by transmitting data to a remote disaster prevention center using an external communication device, it is possible to grasp the situation of the accident comprehensively and appropriately using the knowledge of the database and specialists. Can be prevented and appropriate measures can be taken.
[0060]
[Second Embodiment]
Next, a second embodiment will be described with reference to FIG. The second embodiment is different from the first embodiment in the configuration of the storage unit 140, and is otherwise the same as the first embodiment. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
[0061]
As shown in FIG. 2, the accident handling robot system according to the present embodiment includes a seal mechanism 180 that is in close contact with the wall surface of the building 478 provided outside the housing of the storage unit 140 of the command vehicle 1 and maintains airtightness, and the storage unit. The opening / closing port (door) 181 serving as an entrance through which the robot passes to 140, the movable passage 182 to the building floor allowing the robot to enter the building 478, and the air in the storage unit 140 through the filter 184 And an air exhaust 183 for exhausting the outside of the storage unit 140.
[0062]
Next, the operation of this embodiment will be described. Here, a case where the heavy work robot 10d among the mobile robots 10 is sent into the building 487 will be described.
[0063]
First, the command vehicle 1 housing the heavy work robot 10d is brought close to the entrance / exit 185 of the building 478. At this time, the opening / closing port 181 of the storage unit 140 is closed.
[0064]
Next, the seal mechanism 180 is operated to bring the seal mechanism into close contact with the outer surface of the building 478, thereby blocking the atmosphere in the building 487 and the storage unit 140 from the outside atmosphere.
[0065]
When the air conditioning on the building 478 side is operating normally, the opening / closing port 181 is opened without operating the exhaust fan 183. The opening / closing port 181 is opened and closed by winding it up like a shutter, for example.
[0066]
On the other hand, when the air conditioning facility in the building 478 does not operate normally and pollutants are discharged from the building 478 to the outside, the pollutants are discharged from the building 478 to the outside by operating the exhaust fan 183. To prevent.
[0067]
Next, the movable passage 182 is operated and is passed from the storage unit 140 to the floor surface of the building 478 to form a passage 10d for the heavy work robot. At this time, if the building 478 has a door 186, the door 186 may be opened by the manipulator 12 of the mobile robot 10.
[0068]
Next, the heavy work robot 10 d is operated from the control device 120 via the communication device 100 and sent into the building 478 via the mobile passage 182.
[0069]
According to the present embodiment, it is possible to grasp the situation of the accident and perform the termination work while minimizing the expansion of the contamination. In addition, the indoor atmosphere can be improved.
[0070]
[Third Embodiment]
Next, a third embodiment will be described with reference to FIGS. 3 and 4. The third embodiment relates to an intrusion assistance vehicle that is additionally provided in the system described in the first and second embodiments.
[0071]
As illustrated in FIG. 3, the intrusion assistance vehicle 195 includes a container 196 with wheels, that is, a storage unit, and an elevator 165 that raises and lowers the container 196. As shown in FIG. 4, the elevator 165 is preferably configured by a foldable link mechanism.
[0072]
In addition, a seal mechanism 190 that is in close contact with the wall surface of the building 478 and maintains airtightness is provided outside the container 196. The container 196 further includes an opening / closing port 191 that serves as an entrance / exit of the robot, a movable passage 192 that allows the robot to enter the building 478, and air in the container 196 through the filter 194. And a wind exhauster 193 that exhausts air to the outside of 196. The container 196 can travel by the towing vehicle 131.
[0073]
The container 196 is provided with a communication device 111 that can communicate with the communication device 100 of the command vehicle 1 and a communication device 101 that can communicate with the mobile robot 10. The container 196 includes a charger 161 that charges the battery of the mobile robot 10 and a generator 151 that supplies power to the charger 161. The generator 151 can supply electric power to all the incidental equipment of the container 196.
[0074]
Next, the operation of the present embodiment will be described. Here, a case will be described in which the mobile robot 10 enters the higher floor of the building 478.
[0075]
Based on the information of the monitoring robot 10a, if it is found that the mobile robot 10 such as the measurement robot 10b, the light work robot 10c, and the heavy work robot 10d cannot be sent into the building by the normal intrusion method, Based on the procedure, the mobile robot 10 to be mounted on the intrusion support vehicle 195 is selected.
[0076]
Next, the opening / closing port 191 of the intrusion assistance vehicle 195 is opened, and the mobile robot 10 is moved and mounted in the container 196 using the control device 120 of the command vehicle 1 using the mobile passage 192.
[0077]
Next, after the intrusion support vehicle 195 is brought close to the building 478 by the tow vehicle 131, the elevator 165 is operated to raise the container 196 to a predetermined floor height. Next, the seal mechanism 190 is operated to bring the seal mechanism 190 into close contact with the outer surface of the building 478, thereby blocking the atmosphere in the building 487 and the container 196 from the outside atmosphere.
[0078]
When the air conditioning on the building 478 side is operating normally, the opening / closing port 191 is opened without operating the exhaust fan 193. On the other hand, when the air conditioning facility in the building 478 is not operating normally, the exhaust fan 193 is operated to keep the intrusion support unit at a lower pressure than the outside air so as not to diffuse the contamination to the outside air.
[0079]
Next, the mobile passage 192 is entered into the building. Thereafter, using the mobile passage 192, a control signal generated by the control device 120 of the command vehicle 1 is transmitted to the mobile robot 10 via the communicator 100 of the command vehicle 1 and the communicators 111 and 101 of the container, The mobile robot 10 is operated and moved into the building 478 to perform measurement and work.
[0080]
As described above, according to the present embodiment, the mobile robot 10 that cannot move up and down the stairs can be input to the higher floor of the building, and detailed and wide-ranging information can be collected. Quickly and thoroughly. Therefore, it becomes easy to create an accident termination sequence, and the accident can be quickly terminated. In addition, safety can be secured because information can be collected and restored by the mobile robot 10 without expanding the contamination of the building.
[0081]
In the present embodiment, the moving means of the tow vehicle 131, that is, the container 196, may be driven by a person or an unmanned vehicle that is remotely operated by the command vehicle 1. In particular, in the latter case, since it is not necessary for a person to approach a dangerous building, safety is further improved.
[0082]
[Fourth Embodiment]
Next, a fourth embodiment will be described with reference to FIG. The fourth embodiment shows a specific work procedure performed by the accident handling robot system according to the present invention. In addition, since the outline of each component of the system used in this embodiment has already been described in the first embodiment, a description overlapping with the description of the first embodiment is omitted here.
[0083]
In the present embodiment, when an accident that cannot be approached by a person occurs in the plant 480, as an initial process, the measurement robot 10b that investigates the accident situation and the light work robot 10c that performs a light work are the places where the accident occurred. A situation will be described in which the accident is prevented from expanding and calming down by going to the plant 480 building. In the present embodiment, the monitoring robot 10a, the measurement robot 10b, and the light work robot 10c are used for the investigation of the accident situation and the prevention and calming process of the accident.
[0084]
The monitoring robot 10a is equipped with a sensor module for grasping the environmental situation and a communicator 454 that communicates with the control device 120 of the command vehicle 1, and moves to a target position by remote control from the command vehicle 1 and moves. Data for grasping the environmental situation around the accident site at the middle and target positions can be collected, and the collected data can be transmitted to the command vehicle 1.
[0085]
The measuring robot 10b includes a sensor module 404 having a sensor for obtaining information on the surrounding position and a plurality of sensors for sensing the surrounding environment, a positioning mechanism 405 for setting the sensor module 404 to an arbitrary position and orientation, a communicator 454, Is moved to the target position (here, the accident occurrence location 418) by remote control from the control device 120 of the command vehicle 1, and the environment around the accident occurrence location 418 is moving to the accident occurrence location 418. Data for grasping the situation and data for controlling the robot can be collected, and the collected data can be transmitted to the command vehicle 1 by the communication device 454.
[0086]
The light work robot 10c includes a manipulator 12 for performing light work, a sensor module 404 that collects control data necessary for movement and manipulation control, a positioning mechanism 405 that makes the sensor module 404 an arbitrary position and orientation, It is equipped with a communicator 454, and it is moved to the target location (here, the accident location 418) by remote control from the control means 120 of the storage / control command vehicle 1 to perform operations such as prevention of accident expansion and calming processing. In addition, the control data of the light work robot 10c and the data collected by the sensor module 404 can be transmitted to the command vehicle 1 by the communication device 454.
[0087]
The control device 120 of the command vehicle 1 has, as a data processing function, a function, a database (similar accident) that summarizes and displays the results of the investigation of the accident situation from data obtained by sensing the surrounding environment situation transmitted from the monitoring robot 10a and the measurement robot 10b. Clarification of accident contents using case studies, emergency measures, disaster prevention methods, plant operating procedures, accident site equipment and structure configuration, possibility of accident expansion, dangerous treatment items, countermeasures) Functions to be performed, information used for robot control using surrounding position information and robot control data (robot self-position identification, obstacle detection, route generation, movement environment map generation, work environment map generation, movement control plan generation, work Control plan generation), communication control function between inside and outside the robot system, and easy collaboration with the operator It has a man-machine interface function to be. Note that some of these functions are realized by the overall control unit 170.
[0088]
The control device 120 investigates the accident situation and performs the accident prevention / sedation process according to the following procedure. First, the control device 120 commands the monitoring robot 10a and the measurement robot 10b to move to the vicinity of the accident site and the accident occurrence location 418 via the communication device 100.
[0089]
The monitoring robot 10a and the measuring robot 10b are moved to the target positions (here, the vicinity of the accident site and the accident occurrence point 418) by remote control from the command vehicle, and are necessary for investigating the accident situation while moving and at the target position. Data is collected and transmitted to the command vehicle 1. Depending on the situation of the accident and the state of the place, there are cases where a plurality of monitoring robots 10a and measurement robots 10b are dispatched.
[0090]
Next, the control device 120 of the command vehicle 1 processes the surrounding environment state data sent from the monitoring robot 10a and the measurement robot 10b via the communication device, and moves to the accident occurrence location 418 and the accident occurrence location 418. In addition to compiling survey results of surrounding accident situations, we will generate an environmental situation map, display the results, and elucidate accident details using a database.
[0091]
In addition, the control device 120 plans in cooperation with humans the generation of a map and a travel route until the vehicle travels to the accident occurrence point 418, and an accident expansion prevention measure by the robot. Next, the control device 120 selects a work robot to be dispatched from the result of investigation of the accident situation, the result of elucidating the accident contents, and the result of planning the accident expansion prevention measures by the robot (here, the light work robot 10c is selected). The work robot 10c is commanded to be dispatched to the accident location 418.
[0092]
The light work robot 10c is dispatched by a command from the control device 120 of the command vehicle 1 and moves to a target position (here, an accident occurrence location 418) by remote control from the command vehicle 1.
[0093]
Next, the control device 120 instructs the measuring robot 10b and the light work robot 10c at the accident occurrence location 418 to investigate the cause of the accident, to prevent the accident from expanding, and to calm down the accident.
[0094]
The light work robot 10c starts the work to investigate the cause of the accident, prevent the accident from expanding, and calm down by remote control from the command vehicle 1 at the accident occurrence point 418.
[0095]
FIG. 5 shows a valve opening / closing operation to prevent the accident from spreading. In order to make the work performed by the light work robot 10c easily and reliably and at high speed, information that can grasp the situation of the work object and the positional relationship between the manipulator and the surroundings, such as video and position information, is indispensable. . If such information is obtained only by the sensor module 404 provided in the light work robot 10c itself, the manipulator 12 becomes an obstacle, and an easy-to-understand video and accurate positional relationship information cannot be obtained. The situation image of the work object from another viewpoint and information that can grasp the positional relationship between the manipulator and the surroundings are required.
[0096]
Therefore, in the present embodiment, a method is adopted in which the measurement robot 10b and the light work robot 10c are coordinated to easily and reliably realize work. That is, the measurement robot 10b is equipped with a sensor that obtains position information of surrounding objects, and can obtain information that allows grasping the situation of the work object and the positional relationship between the surrounding and the manipulator. Therefore, the measurement robot 10b is moved to an appropriate position, and the positional relationship between the light work robot 10c and the work object is grasped by the measurement robot 10b, or various environmental information is sensed. Then, the data obtained by the measuring robot 10b is transmitted to the control device 120 of the command vehicle 1.
[0097]
The control device 120 of the command vehicle 1 processes the data transmitted from the measurement robot 10b, and displays video, position information, and animation of the light work robot 10c and the work object.
[0098]
With this information, it is possible to automatically obtain work procedure generation (simulation), approach posture generation to the work object, and interference check results with the structure, so that the work by the light work robot 10c is easy. Realized reliably and at high speed.
[0099]
As described above, by operating the measuring robot 10b and the work robot 10c in cooperation with each other by remote control of the command vehicle 1, a series of accident handling operations as described below can be performed easily and reliably at high speed. .
[0100]
That is, the monitoring robot 10a and the measurement robot 10b can be moved to the vicinity of the accident site and the location where the accident occurred, and data necessary for grasping the situation up to the accident site and the situation of the accident site can be measured and collected. The collected data is processed, the situation up to the accident site and the situation at the accident site are investigated, the results of the investigation are displayed, and the collected data is processed to analyze the contents of the accident. To investigate accident causes, collaborate with operators, plan accident prevention, calm down measures, select work robots with functions and configurations that can respond to accident situations, move them to the site, By coordinating the measuring robot 10b and the light work robot 10c, it is possible to efficiently carry out the work of investigating the cause of the accident, preventing the accident from expanding, and calming down.
[0101]
In addition, since the measurement robot 10b that first moves to the disaster occurrence location collects the situation data up to the disaster occurrence location and can generate the movement environment map and the movement route, the later work robot has sensors required for movement control. It is possible to move to the place where the disaster occurred while minimizing the installation. For this reason, the configuration of the work robot is simplified, and the size, reliability, and cost can be reduced. In addition, since a work robot suitable for the situation is selected and dispatched from the result of the investigation of the situation at the accident site, a reliable and efficient accident response can be performed without causing a secondary disaster.
[0102]
[Fifth Embodiment]
Next, a fifth embodiment will be described with reference to FIGS. The fifth embodiment shows a specific work procedure performed by the accident handling robot system according to the present invention. In addition, since the outline of each component of the system used in this embodiment has already been described in the first embodiment, a description overlapping with the description of the first embodiment is omitted here.
[0103]
FIG. 6 shows an accident occurrence location 418 alone as a work robot 401 (this work robot may be a light work robot 10c or a heavy work robot 10d) as an initial process when an accident that cannot be approached by a person in the plant 480 occurs. It is shown that the investigation data of the accident situation is collected, the expansion of the accident is prevented, and the calming process is performed.
[0104]
The accident situation is different from the case of FIG. 5 (fourth embodiment) in the following two points.
(1) The accident site is far from where the storage / control command vehicle 1 stops. (For example, when the area where people cannot approach is wide, or when there is no passage where cars can move), (2) The work space at the accident site is narrow.
[0105]
In the case of (1) when an accident situation as described above occurs, securing a communication network becomes a problem. In the present embodiment shown in FIG. 6, as one of measures for securing a communication network between the command vehicle 1 and the mobile robot, a method of providing a relay robot and a portable repeater between the command vehicle 1 and the site. Is used.
[0106]
In the case of (2), since the work area is small, a method of arranging a plurality of measurement robots 10b and work robots as shown in FIG. This is a problem because there is a high possibility of interference between robots and between robots.
[0107]
Therefore, in this embodiment, in the situation where the work area is small, in the present embodiment, the work robot and the portable device can be measured so that the data necessary for grasping the situation at the site can be measured as in the case of using the measurement robot 10b. A method of combining with a local sensor module is used.
[0108]
In other words, in the present embodiment, a portable communication device 454 as a relay device and a relay robot 10e, which is a kind of mobile robot, are arranged and communicated around the moving route from the command vehicle 1 to the accident occurrence point 418. In addition to securing a network, a portable local sensor unit 450 is installed around the location of the accident to collect data necessary for grasping the situation at the site.
[0109]
The relay robot 10e is equipped with a communicator for relaying communication between the accident occurrence point 418 and the command vehicle 1, and moves to a target position by remote control from the command vehicle 1, and is remotely controlled. The communication band and the modulation mode are switched, and the data is modulated / demodulated to transmit / receive data to / from another communication device.
[0110]
In FIG. 6, only one relay robot 10e is used. However, a plurality of relay robots 10e may be used depending on the situation around the moving route and the distance to the accident location. Further, depending on the situation, a communication network may be secured by appropriately arranging the portable communication device 454 without using the relay robot 10e.
[0111]
The portable communicator 454 includes means for realizing a function for switching a communication band and modulation mode in remote control, means for realizing a function for modulating / demodulating data and transmitting / receiving data, and a power supply unit. The As in the case of the relay robot 10e, the portable communication device 454 varies in location and quantity depending on the situation around the moving route and the distance to the location where the accident occurred.
[0112]
In the embodiment shown in FIG. 6, the portable communicator 454 is attached to a tree, a building wall, a fence or fence, a pillar, or the like. Further, depending on the situation, the portable communicator 454 can be used in combination with a portable local sensor unit described later.
[0113]
The portable communicator 454 is mounted on a predetermined loading platform or the like provided in the work robot 401 and is operated by being attached to an arbitrary place by manipulating using the manipulator 402 provided in the work robot 401. The
[0114]
In the embodiment shown in FIG. 6, the communication between the command vehicle 1 and the portable communication device 454 and the communication between the command vehicle 1 and the relay robot 10e are performed by wireless communication. As shown, it may be performed by wired communication (using a communication cable 431). In places where the communication cable 431 can be laid, it is preferable to use wired communication because more wireless bandwidth can be used.
[0115]
The portable local sensor unit (fixed sensor unit) 450 includes a plurality of types of sensors, a mechanism for adjusting the position / orientation of the sensor, a mechanism attached to a structure, a communication device, and a power supply unit. It is configured, and collects environmental status information of an instructed location or atmosphere by remote control from the command vehicle 1. In addition, the portable local sensor unit 450 is unitized, and it is possible to appropriately select a sensor equipped with a sensor adapted to an accident that has occurred and take it to the site.
[0116]
The portable local sensor unit 450 is mounted on the work robot 401 as in the case of the portable communication device 454, and is attached to an arbitrary place by manipulating using the manipulator 402 provided in the work robot 401. To be operated.
[0117]
In the embodiment shown in FIG. 6, portable local sensor units 450 are attached to two places around the place where the accident occurred. Here, the portable local sensor unit 450 is attached to a tree, a wall of a building around the accident site, a fence, a fence, or a pillar in the vicinity of a robot passage, and a work area (accident location in the plant). Are attached to the ceiling part (viewpoint from above) and the piping part (horizontal viewpoint) so that information from a different viewpoint from that of the sensor unit 404 mounted on the work robot 401 can be obtained.
[0118]
By installing these portable local sensor units 450 around the accident site, in the vicinity of the passage of the aisle robot, and at the location where the accident occurred in the plant, and collecting data for investigating the situation of the accident, changes in the environment or danger caused by the accident And the distribution and distribution of safety points.
[0119]
By using a portable local sensor unit 450 that incorporates a video sensor and a distance sensor that measures the position information of surrounding objects, it is possible to generate a map that shows the location of the accident site and the surrounding equipment and structures. By pasting the data distribution obtained by investigating the situation on the map, it is possible to automatically obtain the position of the dangerous location and the movable area of the robot.
[0120]
In addition, by attaching a portable local sensor unit 450 in the vicinity of the path of the robot, the moving robot is based on the data collected by the image sensor of the local sensor unit 450 and the distance sensor that measures the surrounding position. Since the position and orientation of the camera can be confirmed, the movement control becomes very easy.
[0121]
In addition, by obtaining the distance between the sensor unit 404 and the local sensor unit 450 mounted on the work robot 401 and the distance between the local sensor units 450, the arrangement coordinates of the local sensor unit 450 and the position of the robot can be accurately determined. Therefore, it is possible to accurately generate an arrangement map of peripheral devices and structures.
[0122]
Before starting the work, the robot hand 403 of the manipulator 402 of the work robot 401 grasps another portable local sensor unit 450 mounted on the work robot 401 or the sensor unit 404 to grasp the situation at the site. Data required for
[0123]
In order to easily and reliably perform the manipulation by the work robot 401, information that can grasp the situation of the work object and the positional relationship between the surroundings and the manipulator 402, such as video and position information, is indispensable. As described above, by using the local sensor unit 450, even if there is no measurement robot 10b, information that can grasp the situation of the work object from another viewpoint and the positional relationship with the surroundings can be obtained. Manipulation is possible.
[0124]
As described above, when an accident occurs in a situation where the accident location 418 is far from the stop location of the command vehicle 1 or the work space is narrow, the relay robot 10e, the portable communication device 454, and the local sensor unit 450 are appropriately connected. By using it, it is possible to go to the accident occurrence location 418 with the work robot 401 alone, and collect the investigation data of the accident situation, and prevent the accident from expanding and calming down.
[0125]
In the embodiment shown in FIGS. 6 and 7, the portable communication device 454 and the local sensor unit 450 are mounted on the main body of the working robot 401. However, as shown in FIG. Support robot 407 may be provided, and communication robot 454 and local sensor unit 450 may be mounted on support robot 407. Some communication devices and electrical components are vulnerable to specific environments (environments such as high heat, toxic gas, radiation, etc.). There are some that need to be replaced regularly. Therefore, the support robot 407 is positioned behind the work robot 401 (the side far from the accident occurrence point), and the work robot 401 is returned to the position of the support robot 407 as necessary to have the communication device 454 and the local sensor unit 450. Therefore, such a sensor and a communication device can be used in good condition. In addition, since it is not necessary for the work robot 401 to return to the command vehicle 1, an improvement in work efficiency can be expected.
[0126]
The support robot 407 may include a charger 405 and a generator 406 that charge a battery mounted on the communication device 454 and the local sensor unit 450. In this way, a device with high power consumption can be used for a long time.
[0127]
[Sixth Embodiment]
Next, a sixth embodiment will be described with reference to FIGS.
[0128]
FIGS. 9 to 10 show that when an accident that cannot be approached by a person in the plant 480 occurs, as an initial process, the work robot 401 alone goes to the accident occurrence location 418 to collect accident situation investigation data and expand the accident. When performing prevention / sedation processing, while attaching landmarks to the periphery of the route on the way to the accident location 418, or for controlling the movement of the robot, or with electromagnetic induction wires, magnetic tape, or light reflecting tape An embodiment is shown in which it moves while attaching a mark or releasing a mark (paint) that can be easily identified, such as a fluorescent paint.
[0129]
FIG. 9 shows that a work robot 401 is equipped with a landmark 438 for use in confirming the self-position of itself and a plurality of other robots and for use in traveling control at an arbitrary position on the way to the target position. The case where it attaches to arbitrary places, such as a part, is shown.
[0130]
A landmark 438 shown in FIG. 9 is of a passive type using a color different from the surroundings as a mark. The video data collected by the video sensor mounted on the work robot 401 is captured by the control device 120 of the command vehicle 1, performs image processing to detect the landmark 438, and the positional relationship between the landmark 438 and the work robot 401. Thus, self-position identification of the work robot 401 is performed.
[0131]
The landmark configuration is not limited to that shown in FIG. In the case of the passive system, a landmark can be configured by a combination of shape, a combination of reflection / non-reflection, and a combination of projections and depressions in addition to those using colors different from surrounding colors. It is also possible to use an active landmark, for example, one using a light emitting element or an ultrasonic oscillator with a selected wavelength.
[0132]
In FIG. 9, the landmark 438 independent of the portable local sensor unit 450 and the communication device 454 is used. However, the present invention is not limited to this, and the local sensor unit 450 or the communication device 454 and the landmark are combined. Alternatively, the portable local sensor unit 450 or the communication device 454 may be a landmark by making the shape of the mark a mark.
[0133]
Also, the landmarks can be configured in combination with the measurement values of portable local sensor unit 450, for example, a display device for temperature, humidity, gas concentration, radiation level, a display panel for coordinates and guidance, an audio output device, etc. Good. This landmark can be used effectively as a warning or guidance for a person when the accident is over and the atmosphere is such that the person can go to the accident site.
[0134]
FIG. 10A shows a guide wire 432 for use in the operation robot 401 for confirming the self position of itself and other mobile robots, and for use in travel control at any location on the way to the target position, magnetic tape. An embodiment is shown in which a drum 433 wound with a light reflecting tape (not shown) or a light reflecting tape (not shown) is mounted and attached to a moving path or the like of a mobile robot.
[0135]
The traveling control by the guide wire 432 detects the electromagnetic induction electromotive force from the guide wire with a plurality of detection coils attached to the bottom of the mobile robot, and controls the position so that the detection position is always a constant position. It is possible to control the movement along. This system has a feature that allows traveling control by a simple method. In addition, it becomes possible to construct | assemble the communication network only for a robot by using a guide wire as an antenna cable (weak electric field wireless system).
[0136]
FIG. 10B shows a fluorescent paint 435 for use as a mark for confirming the self-position of the robot itself and a plurality of other robots and as a mark for running control at an arbitrary position on the way to the target position. In this embodiment, a paint tank, a paint tank 434, and a discharge nozzle 436, which are easy to identify, are mounted and sprayed on or around the route from the command vehicle 1 to the vicinity of the target position.
[0137]
The video data collected by the video sensor mounted on the mobile robot is captured by the control device 120 of the command vehicle 1, and image processing is performed to detect the fluorescent paint, and the robot's position can be determined by controlling the robot. It becomes.
[0138]
As described above, according to the present embodiment, the movement control of the mobile robot to the target position can be realized reliably, easily, at high speed and at low cost by a simple method.
[0139]
[Seventh Embodiment]
Next, a seventh embodiment will be described with reference to FIGS. The present embodiment relates to a configuration of a sensor module mounted on a mobile robot and a processing procedure for data obtained by the sensor module.
[0140]
First, the configuration of the sensor module 404 will be described with reference to FIG. The sensor module 404 includes a video sensor 420, an infrared sensor 423, an acoustic sensor 421, and a radiation sensor 424 as means for sensing environmental conditions, and further includes horizontal turning and vertical swing as means for sensing surrounding positional information. A laser distance meter 422 that measures the distance around the mobile robot while performing the measurement, and a tilt sensor 425 that detects the tilt angle when the distance meter is measured. These sensors are configured in units so that they can be replaced with sensors adapted to the required performance and usage environment. This configuration can also be applied to the portable local sensor module 450.
[0141]
It should be noted that at least one of the sensor modules 404 mounted on at least one of the mobile robots 401 (which may be a working robot or a monitor robot) includes means for sensing the environmental condition and means for sensing surrounding positional information. It has.
[0142]
Next, referring to the schematic diagram of FIG. 12 and the flowchart of FIG. 13, the control device 120 of the command vehicle 1 performs data processing from data collected and transmitted by the sensor module 404 to obtain two-dimensional or three-dimensional information, for example. An example of a procedure for creating a map and generating self-position identification, obstacle detection, route generation, and environmental situation map is shown.
[0143]
Data is collected while performing horizontal turning and vertical swinging with the scanning laser distance meter 422 (step S1 in FIG. 13), and the collected data is transmitted to the control device 120 of the command wheel 1, and the control device 120 Two-dimensional and three-dimensional maps are generated by performing coordinate transformation and data interpolation processing on the data. Since the movement position of the robot can be accurately obtained from the distance data of the local sensor module or the like, 2 around the movement route and the area where the accident occurred is calculated from the distance data distribution of the scanning laser distance meter 422 collected while moving. A three-dimensional map can be generated (step S2 in FIG. 13).
[0144]
Further, based on the mounting height of the scanning laser distance meter 422 at the time of data collection, the floor surface in the map is automatically detected by the control device 120 (step S3 in FIG. 13). Further, an obstacle is detected from the map (step S4 in FIG. 13), and if there is a weir at the site, it is determined whether or not the robot can get over the weir (step S5 in FIG. 13). ). The control device 120 obtains the movement path of the robot based on the floor surface information, the obstacle information, and the information about whether or not to get over (step S6 in FIG. 13).
[0145]
Further, the control device 120 displays an image of the three-dimensional map (step S7 in FIG. 13).
[0146]
Also, the TV video is texture-mapped to the three-dimensional map by matching the display conditions of the generated three-dimensional map with the viewpoint and angle of view of the TV video collected by the video sensor 420 (step S8 in FIG. 13). Further, the distribution data collected by the infrared sensor 423 is displayed in an overlapping manner in the same manner as the texture mapping of the TV image (step S9 in FIG. 13).
[0147]
It is also beneficial to further superimpose environmental status data collected from the measurement robot 10b, the portable local sensor module 450, and the like. In this way, it becomes easier to grasp the situation of the accident, and it is possible to make a plan for the work for preventing the expansion of the accident by the work robot quickly and accurately.
[0148]
As described above, according to this embodiment, the laser distance meter 422 that measures the distance around the mobile robot while performing horizontal turning and vertical swinging, and the tilt sensor 425 that detects the tilt angle at the time of the distance meter measurement are provided. By using the data collected by the work robot 401 having the sensor module 404, the 2D and 3D maps can be obtained quickly and accurately, the movement control information can be generated, and the movement atmosphere can be grasped. Thus, it is possible to realize an accident response robot system that facilitates movement control of other mobile robots.
[0149]
It is also preferable to perform data processing using a combination of distance data and environmental situation survey data collected by the work robot 401 and information taken from the sky, for example, aerial photograph data. In this way, two-dimensional and three-dimensional maps can be obtained quickly and accurately, movement control information can be generated, movement atmosphere can be grasped, and movement control of other mobile robots can be easily performed. A compatible robot system can be realized.
[0150]
[Eighth Embodiment]
Next, an eighth embodiment will be described with reference to FIG. FIG. 14 is a configuration diagram showing an embodiment of the relay robot 10e and the portable relay module 415.
[0151]
As shown in FIG. 14, the portable relay module 415 is configured by combining a relay communication device 454 that secures a communication network between a plurality of mobile robots and the command vehicle 1 and a portable local sensor unit 450. Yes. In this manner, by combining the relay communicator 454 and the portable local sensor unit into an integrated configuration, the configuration becomes simple, the operation becomes easy, and a highly reliable accident response robot system can be realized.
[0152]
The communication device 454 includes a sensor unit coupling connector 449 for exchanging data with the local sensor unit 450, a modulator 443, a demodulator 445, a distributor 441, a signal amplifier 440, an antenna 439, and a modulation. A switching controller 442. Further, the communication device 454 includes a mixing processing circuit 444 for inputting sensor data obtained by sensing the environmental state of the surrounding environment collected by the portable local sensor module 450.
[0153]
In the portable relay module 415, the power supply unit 465 of the portable relay module 415 combined with the local sensor unit 450 includes a battery 446 and a solar cell 448 in addition to the external power supply terminals 426a and 426b. It has a configuration. The solar cell 448 and the power supply terminals 426 a and 426 b are connected to the power supply circuit 448, and the power supply circuit 448 is connected to the charger 405, and the charger 405 is connected to the battery 446. Note that a generator (not shown) may be used in addition to or instead of the solar cell 448.
[0154]
By providing the portable relay module 415 with the solar battery 448, consumption of the battery 446 is reduced, and continuous use for a long time is possible. In addition, since the function of the solar cell 446 cannot be expected when used in a dark atmosphere, in such a case, the relay module 415 having a generator can be used for a long period of continuous use. .
[0155]
In this way, the portable relay module 415 includes a battery and a solar cell or a generator in addition to an external power supply terminal, so that it can be used continuously for a long time with a simple configuration. As a result, an accident response robot system with flexible power supply processing and high reliability can be realized.
[0156]
[Ninth Embodiment]
Next, a ninth embodiment will be described with reference to FIG. This embodiment relates to a specific configuration of a portable local sensor unit.
[0157]
As shown in FIG. 15, the portable local sensor unit 450 includes an attachment 451 for attaching to a structure, a local sensor moving mechanism 452 for adjusting the position / orientation of the sensor, and environmental conditions of the environment surrounding the local sensor module. The sensor unit 453 is configured with three units, each of which includes attachment / detachment means that can be detachably coupled. In this example, the attaching / detaching means is formed by a groove and a protrusion that fit together.
[0158]
The local sensor moving mechanism 452 and the sensor unit 453 are provided with power supply units 455a, 455b, and 455c and communication devices 454a and 454b, respectively. This makes it possible to easily replace the sensor unit according to the accident situation.
[0159]
A sensor signal processor 458 is provided in the sensor unit 453. Further, the sensor unit 453 has a storage shutter 456 that covers the sensor 457 on the front surface thereof. Except when sensing, the storage shutter 456 is closed so that the sensor maintains its function even when the surrounding environmental conditions are severe. According to this embodiment, the flexible operation applied to the installation location and the accident situation In addition, it is possible to realize a highly reliable accident response robot system with excellent environmental resistance.
[0160]
[Tenth embodiment]
Next, a tenth embodiment will be described with reference to FIGS. In the present embodiment, a fixture and moving means of the portable local sensor unit 450 will be described.
[0161]
FIG. 16 is a view showing the structure of the fixture, and FIG. 18 is a view showing a state where the fixture is attached to a fixed object using each fixture shown in FIG.
[0162]
In an accident site, since the form of an attachment location is not uniform, it is preferable to provide many types of attachments. In FIG. 16, the upper left shows a gripping attachment 451, the lower left shows a magnet attachment 461, and the lower right shows an adsorption attachment 462. These fixtures 451, 461, and 462 are used in combination with the local sensor moving mechanism 452 and the sensor unit 453 (see also the ninth embodiment).
[0163]
FIG. 18 shows an example in which the gripping attachment 451 is attached to the vent 471, the magnet attachment 452 is attached to the pipe 472, and the adsorption attachment 453 is attached to the wall 473. The structures of the attachments 451, 461, and 462 can be changed as appropriate according to the state of the location where the sensor unit is to be attached.
[0164]
FIG. 17 shows an example in which a portable local sensor unit 450 is attached to an airship 463. The airship 463 includes a communicator 454 that communicates with the command vehicle 1, a power supply unit 465, a controller 466, flight sensors 467a and 467b, and flight drive mechanisms 468a and 468b. A mounting tool is provided at the lower part of the airship 463. As shown in FIG. 19, a local sensor moving mechanism 452 and a sensor unit 453 are sequentially coupled to the mounting tool for use.
[0165]
Thus, by connecting the airship 463 and the local sensor unit 450, a flightable monitoring robot capable of investigating the situation of the accident from the sky can be configured.
[0166]
As described above, by applying appropriate fixtures and moving means to the portable local sensor unit, flexible operation applied to the mounting location can be realized, thus providing a simple and highly reliable accident response robot system it can.
[0167]
[Eleventh embodiment]
Next, an eleventh embodiment will be described with reference to FIG. This embodiment relates to a modification of the monitoring robot 10a.
[0168]
As shown in FIG. 20, the robot system according to the present embodiment includes a plurality of monitoring robots 10a, and each monitoring robot 10a displays a sensor having a radiation dose equivalent rate measurement function and a measured dose equivalent rate. Display means 506 is provided.
[0169]
The monitoring robot 10a measures the dose rate while waiting or moving to an arbitrary position around the site area 503, and displays the measurement result on the site by the display means 506 formed of a large display board. By preparing the monitoring robot 10a provided with such display means 506, it is possible to recognize the danger when a person approaches in advance or during work even without special communication means.
[0170]
[Twelfth embodiment]
Next, a twelfth embodiment will be described with reference to FIG. This embodiment relates to an example of the configuration of the measurement robot 10b.
[0171]
As shown in FIG. 21, the measurement robot 10b according to the present embodiment includes a communication device 101, a television camera 11a, a temperature sensor 11b, an acoustic sensor 11c, and a gas sampler 500.
[0172]
The measuring robot 10b having such a configuration arranges a plurality of measuring robots 10b around the site and in the site at the time of a serious accident such as a fire accident in a chemical plant and grasps the situation of the site.
[0173]
Video information from the TV camera 11a for knowing the on-site situation, acoustic information from the acoustic sensor 11b for detecting sound, and temperature information from the temperature sensor 11c for detecting heat due to fire or chemical reaction are as follows: It is transmitted from the measurement location by the sequential communication function 101. Further, the gas sampler 500 collects atmospheric air in the field, and after collecting it, analyzes the presence or absence of harmful gas in detail.
[0174]
The measuring robot 10b is driven by a built-in battery, collects information at a plurality of locations while moving, or stays in one location and monitors changes in the situation. With this information, it is possible to grasp the situation at the site. In addition, mapping data of a plurality of points can provide data useful for estimating the location of the accident and the cause, and setting the approach route and the work method when planning the recovery work. The sensors to be mounted are not limited to those described above, and necessary sensors may be selected and mounted in advance according to the information from the monitoring robot 10a, the facility to be applied, and the type of accident.
[0175]
According to the present embodiment, in addition to being able to obtain necessary information even in a situation where humans cannot easily approach and remotely grasp the situation at the site, it has a function of collecting gas at the site. As a result, it is possible to analyze the gas after collecting the collected material to determine whether or not harmful gas is generated that cannot be measured at the site, and to obtain more detailed information on the atmospheric components, thereby allowing on-site work. In addition to the gas sampler 500, a sampling function for floating dust, liquid, surface deposits, solids, and the like may be provided as necessary.
[0176]
In this way, the mobile robot that performs measurement or light work is equipped with at least one kind of sampling means among gas, airborne dust, liquid, surface deposits or solids, so that the collected sample can be collected and analyzed. It is possible to acquire information that cannot be measured on site or to acquire more detailed information.
[0177]
[Thirteenth embodiment]
Next, a thirteenth embodiment will be described with reference to FIGS. This embodiment relates to another example of the configuration of the measurement robot 10b.
[0178]
As shown in FIG. 22, the measurement robot 10b according to the present embodiment includes a communication device 101, a radiation resistant camera 11d, a γ / X-ray sensor 11e, and a neutron beam sensor 11f.
[0179]
The measurement robot 10b according to the present embodiment is mainly used in a high-dose radiation environment. A general television camera 10a such as a CCD camera is vulnerable to radiation, and as the dose increases, the image deteriorates, and when the integrated dose exceeds about 100 Gy, the function is completely lost. Can not.
[0180]
However, when the radiation resistant camera 11d using an imaging tube or the like is used, it is possible to use up to about an accumulated dose of about 100,000 Gy. In an accident involving radiation emission, the most serious problem is γ-rays (X-rays) and neutrons that have a strong penetrating power and have an effect on the human body. Therefore, the measurement robot 10b of the present embodiment uses γ / The dose equivalent rate is measured timely by the neutron beam sensor 11f using the X-ray sensor 11e and the bF3 detector, and information is transmitted by the communication device 101.
[0181]
In this way, by preparing the radiation resistant camera 11d as the visual sensor and the measurement robot 10b having the dose equivalent rate measuring function by the γ / X-ray sensor 11e and the neutron beam sensor 11f as the radiation sensors, a high criticality accident or the like can be obtained. It is possible to acquire radiation information in a radiation environment with a dose.
[0182]
As shown in FIG. 23, the γ / X-ray sensor 11e is preferably configured to be covered with a lead-shaped collimator 501 so that only one end is exposed. With this configuration, in the γ / X-ray sensor 11e, radiation incident from other than the opening serving as a noise source is attenuated by the collimator 501, and the detection efficiency is lowered, and is generated from the radiation source in the opening direction. Since the detection efficiency with respect to radiation is high, the radiation intensity for each direction can be measured by measuring the opening in various directions.
[0183]
Therefore, it is possible to identify the radiation source position (abnormality occurrence location) by detecting the direction with the strongest radiation at two or more points. By providing the radiation sensor with directivity in this way, it is possible to block information that becomes a surrounding noise source and to acquire information for specifying the position of the abnormality occurrence source. It should be noted that the same directivity can be given to other sensors mounted on the measuring robot.
[0184]
[Fourteenth embodiment]
Next, a fourteenth embodiment will be described with reference to FIG. The present embodiment relates to still another example of the configuration of the measurement robot 10b.
[0185]
As shown in FIG. 24, the measurement robot 10b according to this embodiment includes an optical fiber sensor 11g and a signal processing unit 502. The measurement robot 10b includes other sensors, communication devices, and the like in the same manner as the measurement robot according to the other embodiments, but detailed description thereof is omitted here.
[0186]
The optical fiber sensor 11g is a radiation sensor that generates optical signals corresponding to radiation doses at a plurality of positions along the optical fiber and simultaneously reacts to non-powered γ-rays and X-rays transmitted to the end through the optical fiber sensor 11g. is there.
[0187]
The optical signal is a very weak light called scintillation light, but the optical signal is converted into an electrical signal and processed by the signal processing unit 502 connected to the end of the optical fiber sensor 11g that goes out of the field area 503. The
[0188]
The measuring robot 10b collects information and simultaneously lays the optical fiber sensor 11g while moving in the site area 503. After the laying is finished, the optical fiber sensor 11g can appropriately obtain information on a plurality of places.
[0189]
According to the present embodiment, by using the optical fiber sensor 11g that is separable from the measurement robot 10b and can measure the distribution as a radiation dose equivalent rate measuring means, and laying the optical fiber sensor 11g while moving the optical fiber sensor 11g on the measurement robot 10b, Even after the measurement robot 10b finishes the work, it is possible to obtain information at a plurality of locations at any time.
[0190]
Further, since it is not necessary for the measurement robot 11b to stay in the high dose field area 503 for a long time, the influence of radiation can be suppressed.
[0191]
The optical fiber sensor 11g can measure temperature, humidity, and strain in addition to radiation, and the same effect can be obtained not only with an optical fiber but also with a type in which individual sensors are connected in a line at intervals. . In addition, not only the measurement robot 10b but other mobile robots may be configured in the same manner as described above to perform the same operation.
[0192]
[Fifteenth embodiment]
Next, a fifteenth embodiment is described with reference to FIG. The present embodiment relates to still another example of the configuration of the measurement robot 10b.
[0193]
As shown in FIG. 25, the measurement robot 10b according to the present embodiment includes a plurality of γ / X-ray sensors 11e that include a wireless communication unit and a power supply and can be separated from the mobile robot 10b, and a plurality of γ / X-rays. A signal processing unit 502 having wireless communication means with the sensor 11e is mounted. The measurement robot 10b includes other sensors, communication devices, and the like in the same manner as the measurement robot according to the other embodiments, but detailed description thereof is omitted here.
[0194]
The measurement robot 10b collects information and installs the γ / X-ray sensor 11e while moving in the field area 503. After the installation is completed, information on a plurality of places can be obtained as appropriate by the γ / X-ray sensor 11e.
[0195]
The γ / X-ray sensor 11e continuously or intermittently measures the radiation dose at each position, and transmits it to the signal processing unit 502 by wireless communication. The signal processing unit 502 installed outside the site area 503 obtains dose information of each position from the received information.
[0196]
According to the present embodiment, the gamma / X-ray sensor 11e that is separable from the measurement robot 10b and has a built-in wireless communication means and a power source is used as the radiation dose equivalent rate measurement means, and the measurement robot 10b is installed while moving this sensor. By doing so, it is possible to obtain information at a plurality of locations at any time after the robot has finished its work.
[0197]
In addition, since the measurement robot 10b does not need to stay in the high-dose field area 503 for a long time, the influence of radiation can be suppressed. The γ / X-ray sensor 11e can incorporate a plurality of sensors for measuring other physical quantities as appropriate in addition to radiation.
[0198]
In addition, not only the measurement robot 10b but other mobile robots may be configured in the same manner as described above to perform the same operation.
[0199]
[Sixteenth Embodiment]
Next, a sixteenth embodiment will be described with reference to FIG. This embodiment relates to a modification of the configuration of the light work robot.
[0200]
As shown in FIG. 26, the light work robot 11c according to the present embodiment includes a sensor control unit 505 installed outside the site area 503, a data storage unit (not shown), and a movement (not shown) incorporating a power source. A type γ / X-ray sensor 11e and a sensor moving path 504 laid by the light work robot 10c are mounted.
[0201]
The light work robot 11 c lays the sensor moving path 504 while moving in the site area 503, and exits from the site area 503. The sensor control unit 505 is also connected to the other end side of the sensor moving path 504 in the same manner as the one end side (the illustrated side).
[0202]
The sensor moving path 504 has a hollow elastic hose shape. The γ / X-ray sensor 11 e is driven in the sensor moving path 504 by air pressure from the sensor control unit 505. The mobile γ / X-ray sensor 11e measures radiation doses at a plurality of positions continuously or intermittently while moving. The measurement data is stored in the data storage means. The mobile γ / X-ray sensor 11e is recovered by the sensor control unit 505 after moving in the field area 503, and the measurement data stored in the data storage means is read. The data is transmitted to the command wheel 1 by a communication device (not shown) built in the sensor control unit 505.
[0203]
According to the present embodiment, it is possible to acquire information at a plurality of locations at any time even after the light work robot 11c finishes the work. Further, since it is not necessary for the light work robot 10c and the mobile γ / X-ray sensor 11e to stay in the high dose field area 503 for a long time, the influence of radiation can be suppressed.
[0204]
The mobile γ / X-ray sensor 11e may include a plurality of sensors for measuring other physical quantities as appropriate in addition to radiation.
[0205]
In this way, it is possible to obtain information on multiple locations at any time after installation by installing a movement path for the sensor to move by the mobile robot and measuring the movement path as appropriate after installation. It becomes.
[0206]
[Seventeenth embodiment]
Next, a seventeenth embodiment will be described with reference to FIG. This embodiment relates to a protection measure for a device that is sensitive to radiation among devices mounted on a mobile robot.
[0207]
As shown in FIG. 27, lead batteries 601a, 601b, 601c, 601d, 601e,... Are mounted as power sources for driving and controlling the mobile robot 600. The lead batteries 601a, 601b, 601c, 601d, 601e,... Surround electronic devices that are sensitive to radiation, such as a drive control circuit 602, a radio circuit 603, and a CCD / image processing circuit 606 constituting a television camera.
[0208]
The drive control circuit 602 is connected to an actuator, a sensor, etc. (not shown) of the mobile robot. An antenna 605 is connected to the wireless circuit 603 through a cable 604. A lens 608 is connected to the CCD / image processing circuit 606 via an image fiber 607. The image fiber 607 and the lens 608 are mounted on the camera base 609 and can be turned, swung, moved up and down, and the like.
[0209]
According to this embodiment, by arranging a lead battery having a large radiation shielding effect around an electronic device that is not sensitive to radiation that is not required to be exposed to the outside, highly reliable measurement and work can be performed even in a high radiation atmosphere. Become.
[0210]
[Eighteenth Embodiment]
Next, the eighteenth embodiment will be described with reference to FIGS. The present embodiment relates to a technique for securing a communication network between a mobile robot and a command vehicle 1 when working in a building with high radio wave shielding. That is, the present embodiment aims to provide a communication means that can communicate more reliably with the outside even when the door is closed to prevent the diffusion of contaminants after the mobile robot passes through the door around the accident site. It is said. Here, the communication signal includes a control signal for the mobile robot, a signal of a sensor mounted on the mobile robot, and the like.
[0211]
In this embodiment, a relay device 700 as shown in FIG. 28 is used as a communication means, and wireless communication is relayed before and after the figure door 704. As shown in FIG. 28A, the repeater 700 includes two transmission / reception units 701 and 702 and a flexible substrate 703 that transmits signals between the transmission / reception units 701 and 702.
[0212]
The flexible substrate 703 is obtained by coating a thin conductor film with an insulating film, and a flexible substrate on the order of 0.1 mm can be manufactured. The transmission / reception units 701 and 702 are electrically coupled to each other by a flexible substrate 703, and transmit / receive communication contents received by the transmission / reception unit 701 from the transmission / reception unit 702, and vice versa. The data can be transmitted from the unit 701.
[0213]
The transmission / reception units 701 and 702 are each provided with a fixing means (not shown), and can be easily fixed to the surface of the door. As the fixing means, a magnet can be used when the door is made of iron, and an adhesive means such as a double-sided tape or a suction board can be used when the door is made of other materials.
[0214]
In order to perform the relay using the repeater 700, the door 704 is opened from the state shown in FIG. 28B, and the transmitter / receiver 701 is placed on one side of the door 704 as shown in FIG. On the other side. Since this fixing work can be easily performed by the fixing means described above, the mobile robot itself can also perform it. However, if the worker enters for a short time, the worker may perform it.
[0215]
Since the flexible substrate 703 can be made thinner than the gap between the door 704 and the door frame 705, the door 704 can be easily closed as in the normal case as shown in FIG. Even in the case of a closed type door, the sealing performance can be kept good.
[0216]
By doing so, as shown in FIG. 28E, wireless communication is performed between the mobile robot 706 and the transmission / reception unit 702, and wired communication using the flexible substrate 703 is performed between the transmission / reception unit 701 and the transmission / reception unit 702. The signal can be transmitted between the transmission / reception unit 701 and the external control unit 707 by wireless communication. Therefore, in communication between the mobile robot 706 and the control means 707 (for example, the control device 120 of the command vehicle 1), the signal is not deteriorated due to attenuation due to passage of the radio wave through the door.
[0217]
Note that the wired signal transmission means is not limited to a flexible substrate, and the door can be closed when sandwiched between the door and the door frame 705 such as an assembly of electric wires formed in a thin plate shape. As long as it is flexible and flexible, a substrate other than the flexible substrate may be used.
[0218]
In the embodiment shown in FIG. 28, the communication between the transmission / reception units 701 and 702 and the external device is wireless, but the present invention is not limited to this. In FIG. 29, as another configuration example, a configuration in which the control unit 707 (for example, the control device 120 of the command vehicle 1) and the transmission / reception unit 710 are electrically coupled by the communication cable 711 is illustrated. The communication cable 711 may be formed of the flexible substrate, or only a portion that passes through the door may be a flexible substrate, and the other portion may be a normal communication cable. The same effect can be obtained by this method. In this embodiment, the flexible board is arranged in the gap between the door 704 and the door frame 705. However, in the case of two doors, the flexible board is arranged between the two doors. Of course it is possible. Moreover, when there are a plurality of doors, it can be dealt with by installing a repeater 700 in each door.
[0219]
By using this repeater, the doors around the accident site are of a material thickness that attenuates radio waves, and wireless communication can be reliably performed even when the door is closed. Accordingly, communication between the mobile robot and the outside can be more reliably performed while minimizing the diffusion of contaminants.
[0220]
[Nineteenth Embodiment]
Next, a nineteenth embodiment will be described with reference to FIG. The present embodiment relates to a power supply means that can receive power for operation while the mobile robot is in a contaminated area.
[0221]
As shown in FIG. 30, the power supply means includes a power supply unit 720 temporarily installed in the contaminated area, a power source 727, and a power cable 723 that electrically connects them to the power source 727. The power source 727 means a generator provided in the accident response robot system of the present invention or another available power source.
[0222]
A part or all of the power cable 723 is formed of a flexible substrate (not shown). The flexible substrate is a thin conductor film coated with an insulating film, and a flexible substrate on the order of 0.1 mm can be manufactured. Even when there is a door 724 between the power source 727 and the power supply unit 720, the flexible substrate can be made thinner than the gap between the door 724 and the door frame 725, so that the door 724 can be easily closed as usual. Even in the case of a hermetic door provided with a seal portion, the sealing performance can be kept good. The power cable 723 is not limited to a flexible substrate, and may be configured by another thin electric wire or an assembly thereof as long as it is flexible enough to close the door. May be.
[0223]
The power feeding unit 720 preferably includes fixing means (not shown), and in that case, the power feeding unit 720 can be easily fixed to the surface of the door. As the fixing means, a magnet can be used when the door is made of iron, and an adhesive means such as a double-sided tape or a suction disk can be used when the door is made of other materials.
[0224]
The work for fixing the power feeding unit 720 and the work for laying the power cable 723 may be performed by the mobile robot itself, or may be performed by a worker when the worker enters for a short time.
[0225]
The power supply unit 720 is provided with a power supply port 721 for a mobile robot and a general-purpose power supply port 722. On the other hand, the mobile robot 726 is provided with a power receiving port 728. The power receiving port 728 and the power supply port 721 for the mobile robot are configured by generally known contact type or non-contact type electrical connectors (not shown).
[0226]
When the mobile robot 726 moves to the position of the power feeding unit 720, the power receiving port 728 and the power feeding port 721 for the mobile robot are combined, and the electric connector can be connected to receive power. Thereby, it can be stored in an on-board battery (not shown).
[0227]
The general-purpose power supply port 722 is a connector similar to a general electrical outlet, and is configured to be able to supply power to other devices and devices that require power in a contaminated area. In the present embodiment, the flexible board is arranged in the gap between the door 724 and the door frame 725. However, in the case of two doors, the flexible board is arranged between the two doors. Of course it is possible.
[0228]
According to the present embodiment, it is possible to temporarily install the power feeding unit in the contaminated area near the accident site, and to avoid that the door that separates the contaminated area from the non-contaminated area cannot be completely closed. Therefore, the mobile robot working in the contaminated area can continue to receive power without returning to the non-contaminated area even if the power is cut off. Even if this power feeding section is installed, the door separating the contaminated area and the non-contaminated area can be closed as usual, and the spread of contamination can be suppressed to a minimum.
[0229]
[20th embodiment]
Next, a twentieth embodiment will be described with reference to FIGS.
[0230]
This embodiment relates to a means for opening and closing a door of a building that is an accident site.
[0231]
As shown in FIG. 31A, a mobile robot (for example, a light work robot) 735 is equipped with a door operation device 730 including a door drive module 731 and a knob turning module 732.
[0232]
As shown in FIG. 31A, when the mobile robot 735 approaches the door 733 through which it must pass, as shown in FIG. 31B, a door driving module 731 and a knob turning module 732 are installed by the mounted operation arm 736. Is fixed to the door 733.
FIG. 74 shows a state in which the knob turning module 732 is fixed to the door 733. The knob turning module 732 includes a fixing means 740 and can be easily fixed to the surface of the door 733.
[0233]
As a principle of fixing, magnetic adsorption can be used in the case of an iron door, and adhesion using a double-sided tape or an adhesive or vacuum adsorption by an adsorption board can be used in a door made of other materials. A method of welding the door member and the fixing means 740 with heat is also applicable.
[0234]
FIG. 32 shows a configuration of a knob turning module 732 provided with fixing means by vacuum suction. The knob turning module 732 has a small sealed container 790, and the inside of the sealed container 790 and a vacuum suction board (fixing means) 740 are connected via a pipe 791. A valve 792 is provided in the middle of the pipe 791.
[0235]
In advance, the sealed container 790 is depressurized from the atmospheric pressure, and the valve 792 is closed. When the knob turning module 732 is fixed to the door 733, the valve 792 is opened and the pipe 791 is opened with the vacuum suction disk 740 placed on the surface of the door 733. Then, the air inside the vacuum suction board 740 is sucked by the negative pressure inside the sealed container 790, and thereby the vacuum suction board 740 is vacuum suctioned to the door 733. As described above, the knob turning module 732 is fixed so that the knob 734 passes through the hole 742 of the module 732.
[0236]
In general, suction and fixation can be performed only with a vacuum suction disk, but by using this embodiment, a relatively strong suction force can be obtained, and even if there is some air leakage from the vacuum suction disk, A stable adsorption state can be maintained for a long time.
[0237]
Further, if the valve 792 is driven as an electromagnetic valve by an electric circuit, suction and suction release can be performed by remote operation by wireless communication from the command wheel 1 or wireless communication from the mobile robot 735.
[0238]
The knob turning module 732 further includes two knob turning rings 741. These knob turning rings 741 have a function of sandwiching the knob 734 from the side surface and rotating in synchronization with each other to rotate the knob 734. This function can be realized by general mechatronics technology. The control of this function can be performed by remote operation by wireless communication from the command vehicle 1 of the accident response robot system or wireless communication from the mobile robot 735.
[0239]
For example, an electric motor can be used as power for driving the knob turning ring 741 and the like, and a battery can be used as the power source. Alternatively, the power may be an air cylinder, and high-pressure air stored in a small pressure accumulator may be used as a drive source. In this way, the knob turning module 732 does not have to be connected to the mobile robot 735 or the outside with signal cables or power cables, and does not restrict the behavior of the mobile robot 735.
[0240]
FIG. 33 shows a state in which the door drive module 731 is fixed to the door 733. The door driving module 731 includes fixing means 750 similar to the fixing means 740 of the knob turning module 732 and can be easily fixed to the surface of the door 733.
[0241]
The door drive module 731 has a vertical drive mechanism 770 and a wheel drive mechanism (not shown). The vertical drive mechanism 770 has a function of pressing the drive wheel 751 against the floor 752 with an appropriate ground pressure, and the wheel drive mechanism has a function of rotating the drive wheel 751. The door 733 can be moved by pressing the wheel against the floor 752 by the vertical drive mechanism 770 and rotating the drive wheel 751.
[0242]
There are cases where weirs are provided at the doors of power generation facilities, etc. In this case, the height of the drive wheel 751 is adjusted by the operation of the vertical drive mechanism 770 and pressed against the floor with an appropriate ground pressure. Can do. These functions can be realized by general mechatronics technology. The control of this function can be performed by remote operation by wireless communication from the control command unit of the accident response robot system or wireless communication from the mobile robot 735.
[0243]
For example, an electric motor can be used as a power source for the vertical drive mechanism 770 and the wheel drive mechanism, and a battery can be used as the power source. Alternatively, the power may be an air cylinder, and high-pressure air stored in a small pressure accumulator may be used as a drive source. In this way, the door drive module 731 does not have to be connected to the mobile robot 735 or the outside with a signal cable or power cable, and the behavior of the mobile robot 735 is not restricted.
[0244]
FIG. 34 is a view showing another embodiment of the door drive module 731, and the portion for fixing the door drive module 731 to the surface of the door 733 with the fixing means 750 is the same as that shown in FIG. 33.
[0245]
In the example of FIG. 34, the cylinder 773 is driven by high-pressure air stored in a small pressure accumulating vessel 772 mounted on the door drive module 731 and the door 773 is driven by pushing the door frame 771 or its peripheral portion. 34A shows a state in which the door drive module 731 is set on the door 773, and FIG. 34B shows a state in which the cylinder 773 of the door drive module 731 is driven to open the door 773. .
[0246]
Control of the cylinder 773 can be performed by remote operation by wireless communication from the command vehicle 1 of the accident response robot system or wireless communication from the mobile robot 735, as in the case of FIG. Also in this example, the door drive module 731 does not have to be connected to the mobile robot 735 or the outside with a signal cable or power cables, and the behavior of the mobile robot 735 is not restricted.
[0247]
As described above, the knob can be opened and closed by turning the knob 734 with the knob turning module 732 and moving the door 733 with the door drive module 731. Each of these modules is a device that is specially designed for door driving and has a reduced function, so that it can be easily reduced in size and weight.
[0248]
In addition, since these modules can be separated from the mobile robot 735, the mobile robot 735 does not have to be in the vicinity of the door 733 during the opening and closing, and the door can be opened by retreating to a position where there is a sufficient space. Just wait. Therefore, even when the passage around the door is narrow or there are obstacles around the door, the door can be opened and closed without the door operation device 730 interfering with the surroundings or the door that the mobile robot 735 itself opens and closes.
[0249]
According to this embodiment, even if the passage around the door is narrow or there are obstacles around the door, the mobile robot can reliably open the door and pass through it, and it can move quickly to the accident site and not miss the timing. Can be performed.
[0250]
The knob turning may be performed by a manipulator of a work robot, and the door movement may be performed by the door driving module 731.
[0251]
[Twenty-first embodiment]
Next, a twenty-first embodiment will be described with reference to FIG. The present embodiment relates to means for opening and closing a valve at the accident site.
[0252]
As shown in FIG. 35, the mobile robot (for example, work robot) 760 includes an operation arm 766 attached to the main body, an impact wrench 765 attached to the tip of the operation arm 766, and a handle gripping connected to the impact wrench 765. Tool 764.
[0253]
When the mobile robot 760 needs to open and close the valve 762 of the pipe 761, the mobile robot 760 approaches the valve handle 763, and then appropriately expands and contracts the operation arm 766 to grip the valve handle 763 by the handle gripper 764. Then, the impact wrench 765 is operated and the valve handle 763 is rotated to open and close the valve 762.
[0254]
The functions of the operation arm 766, the impact wrench 765, and the handle gripper 764 can be realized by a general mechatronics technology. The control of this function can be performed by remote operation by wireless communication from the command vehicle 1 of the accident response robot system.
[0255]
According to the present embodiment, it is possible to prevent accidents from expanding safely and reliably.
[0256]
【The invention's effect】
By using the accident response robot system of the present invention, it is possible to respond quickly and flexibly to various accidents. For this reason, it is possible to prevent the accident from spreading and to end it early. In addition, by applying the robot system, it is possible to perform treatment safely without causing the worker to work in a harsh environment such as radiation.
[Brief description of the drawings]
FIG. 1 is a diagram showing a first embodiment of an accident response robot system according to the present invention.
FIG. 2 is a diagram showing a second embodiment of an accident response robot system according to the present invention.
FIG. 3 is a diagram showing a third embodiment of an accident handling robot system according to the present invention.
FIG. 4 is a diagram showing a third embodiment of an accident handling robot system according to the present invention.
FIG. 5 is a diagram showing a fourth embodiment of an accident response robot system according to the present invention.
FIG. 6 is a diagram showing a fifth embodiment of an accident handling robot system according to the present invention.
FIG. 7 is a diagram showing a fifth embodiment of an accident handling robot system according to the present invention.
FIG. 8 is a diagram showing a fifth embodiment of an accident handling robot system according to the present invention.
FIG. 9 is a diagram showing a sixth embodiment of an accident handling robot system according to the present invention.
FIG. 10 is a diagram showing a sixth embodiment of an accident handling robot system according to the present invention.
FIG. 11 is a diagram showing a seventh embodiment of an accident handling robot system according to the present invention.
FIG. 12 is a diagram showing a seventh embodiment of an accident handling robot system according to the present invention.
FIG. 13 is a diagram showing a seventh embodiment of an accident handling robot system according to the present invention.
FIG. 14 is a diagram showing an eighth embodiment of an accident response robot system according to the present invention.
FIG. 15 is a diagram showing a ninth embodiment of an accident handling robot system according to the present invention.
FIG. 16 is a diagram showing a tenth embodiment of an accident handling robot system according to the present invention.
FIG. 17 is a diagram showing a tenth embodiment of an accident handling robot system according to the present invention.
FIG. 18 is a diagram showing a tenth embodiment of an accident handling robot system according to the present invention.
FIG. 19 is a diagram showing a tenth embodiment of an accident handling robot system according to the present invention.
FIG. 20 is a diagram showing an eleventh embodiment of an accident handling robot system according to the present invention.
FIG. 21 is a diagram showing a twelfth embodiment of an accident handling robot system according to the present invention.
FIG. 22 is a diagram showing a thirteenth embodiment of an accident handling robot system according to the present invention.
FIG. 23 is a diagram showing a thirteenth embodiment of an accident handling robot system according to the present invention.
FIG. 24 is a diagram showing a fourteenth embodiment of an accident handling robot system according to the present invention.
FIG. 25 is a diagram showing a fifteenth embodiment of an accident handling robot system according to the present invention.
FIG. 26 is a diagram showing a sixteenth embodiment of an accident handling robot system according to the present invention.
FIG. 27 is a diagram showing a seventeenth embodiment of an accident handling robot system according to the present invention.
FIG. 28 is a diagram showing an eighteenth embodiment of an accident response robot system according to the present invention.
FIG. 29 is a diagram showing an eighteenth embodiment of an accident handling robot system according to the present invention.
FIG. 30 is a diagram showing a nineteenth embodiment of an accident handling robot system according to the present invention.
FIG. 31 is a diagram showing a twentieth embodiment of an accident handling robot system according to the present invention.
FIG. 32 is a diagram showing a twentieth embodiment of an accident handling robot system according to the present invention.
FIG. 33 is a diagram showing a twentieth embodiment of an accident handling robot system according to the present invention.
FIG. 34 is a diagram showing a twentieth embodiment of an accident handling robot system according to the present invention.
FIG. 35 is a diagram showing a twenty-first embodiment of an accident handling robot system according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Command vehicle (mobile command base), 10a ... Monitoring robot (monitoring robot), 10b ... Monitoring robot (measuring robot), 10c ... Working robot (light working robot), 10d ... Working robot (heavy Working robot), 10e ... relay robot, 11 ... sensor, 11a ... TV camera, 11b ... temperature sensor, 11c ... acoustic sensor, 11d ... radiation resistant camera, 11d ... radiation resistant camera, 11e ... gamma / X-ray sensor, 11f ... Neutron beam sensor, 11g ... optical fiber sensor, 12, 402 ... manipulator, 13 ... battery, 100 ... communication device (first communication means), 110 ... external communication device (second communication means), 120 ... control device, 130... Moving means (traction vehicle), 140. Storage unit, 150. Power generating means (generator), 160. Charging means (charger), 16 DESCRIPTION OF SYMBOLS Elevating means (elevator), 170 ... Overall control unit, 180, 190 ... Sealing mechanism, 182, 192 ... Mobile passage, 183, 193 ... Air exhaust, 184, 194 ... Filter, 185 ... Entrance / Exit, 186 ... Door, 191 DESCRIPTION OF SYMBOLS ... Opening / closing opening, 193 ... Ventilator, 195 ... Invasion support means (intrusion support vehicle), 401 ... Mobile robot, 402 ... Manipulator, 403 ... Robot hand, 404 ... Sensor unit, 405 ... Charger, 406 ... Power supply unit, 410 ... command vehicle (mobile command base), 411 ... operation panel, 412 ... control panel, 413 ... external communication device, 414 ... local communication device, 415 ... portable relay module, 416 ... portable local sensor module, 417a ... Building, 417b ... Tree, 417c ... Fence, fence, 418 ... Accident occurrence location, 419 ... Plant equipment, 420 ... Image sensor, 421 ... Acoustic sensor, 422 ... Laser distance meter, 423 ... Infrared sensor, 424 ... Radiation sensor, 425 ... Inclination sensor, 426 ... Terminal for power supply, 427 ... Signal processing circuit, 101 ... Communication device, 500 ... Gas Sampler, 501 ... Collimator, 502 ... Signal processing unit, 503 ... Field area, 504 ... Sensor movement path, 505 ... Sensor control unit, 506 ... Display means, 600 ... Mobile robot, 601a to 601e ... Lead battery, 602 ... Drive control Circuit, 603 ... Wireless circuit, 607 ... Cable, 605 ... Antenna, 606 ... TV camera, 607 ... Image fiber, 608 ... Lens, 609 ... Camera stand, 700 ... Repeater, 701, 702 ... Transceiver, 703 ... Flexible substrate 704: Door, 705 ... Door frame, 706 ... Mobile robot, 707 ... Control hand Step, 710 ... Transmission / reception unit, 711 ... Communication cable, 720 ... Power feeding unit, 721 ... Power feeding unit for mobile robot, 722 ... General power feeding port, 723 ... Power cable, 724 ... Door, 725 ... Door frame, 726 ... Mobile robot, 727 ... Power source, 728 ... Power receiving port, 730 ... Door operation device, 731 ... Door operation module, 732 ... Knob turning module, 733 ... Door, 734 ... Door frame, 735 ... Mobile robot, 736 ... Operation arm, 740 ... Fixing means (Vacuum suction disk), 741 ... knob turning ring, 742 ... hole, 790 ... sealed container, 791 ... piping, 792 ... valve, 750 ... fixing means, 751 ... driving wheel, 752 ... floor, 770 ... vertical drive mechanism, 771 ... Door frame, 772 ... Animal pressure vessel, 773 ... Cylinder, 760 ... Moving robot, 761 ... Piping, 762 ... Valve, 763 ... Valve handle, 764 ... C Dollar gripper, 765 ... impact wrench, 766 ... operation arm

Claims (3)

  1. Equipped with monitoring means for collecting environmental information, equipped with a manipulator and at least an integrated monitoring robot for investigating the accident point or its surroundings, or the movement route to the accident point or the state of its surroundings, each carrying out predetermined work A plurality of mobile robots including a plurality of types of work robots to perform;
    A first communication means for communicating with the mobile robot; a second communication means capable of bidirectional communication with a predetermined command base; and the mobile robot via the first communication means. A movable command base having a control device for remote operation, and a storage unit for storing the mobile robot;
    Means for moving the command base,
    The control device selects a working robot having an appropriate function based on a survey result of the monitoring robot or based on a survey result of a sensor installed at or around an accident point by the work robot. In addition, based on the investigation result of the monitoring robot after the work robot is dispatched , it has a function of correcting the behavior of the mobile robot ,
    The plurality of types of work robots include work robots equipped with door operation devices,
    The door operation device mounted on the work robot can be installed separately from the work robot at or near the door to be operated, and a door drive module and a knob turning module that can be remotely operated. accident corresponding robot system, characterized in that the containing.
  2.   The door operation device has a fixing means that allows the door operation device itself to be installed on the door or a structure around the door, and the fixing means is capable of adsorption by magnetic force, vacuum adsorption, adhesion, and welding. The accident response robot system according to claim 1, wherein the robot is fixed by at least one of the methods.
  3.   The fixing means includes a suction plate for fixing the door operating device on the door or a structure around the door, a container whose pressure is reduced to an atmospheric pressure or lower, and a flow path connecting the suction plate and the container. The accident response robot system according to claim 2, further comprising: a valve that opens and closes the flow path.
JP37433099A 1999-12-28 1999-12-28 Accident response robot system Expired - Fee Related JP3645460B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP37433099A JP3645460B2 (en) 1999-12-28 1999-12-28 Accident response robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP37433099A JP3645460B2 (en) 1999-12-28 1999-12-28 Accident response robot system

Publications (2)

Publication Number Publication Date
JP2001179668A JP2001179668A (en) 2001-07-03
JP3645460B2 true JP3645460B2 (en) 2005-05-11

Family

ID=18503668

Family Applications (1)

Application Number Title Priority Date Filing Date
JP37433099A Expired - Fee Related JP3645460B2 (en) 1999-12-28 1999-12-28 Accident response robot system

Country Status (1)

Country Link
JP (1) JP3645460B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107932520A (en) * 2017-11-23 2018-04-20 浙江国自机器人技术有限公司 A kind of operating method of split robot

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3834307B2 (en) 2003-09-29 2006-10-18 ファナック株式会社 Robot system
JP4216772B2 (en) 2004-06-17 2009-01-28 株式会社東芝 Self-position identification device and self-position identification method
JP4613345B2 (en) * 2005-05-31 2011-01-19 独立行政法人産業技術総合研究所 Sensor network robot system
JP4984497B2 (en) * 2005-11-10 2012-07-25 株式会社日立製作所 Underwater inspection device
JP2009133058A (en) * 2006-03-15 2009-06-18 B L Auto Tec Kk System and working device for removing asbestos-containing building material
JP2007289131A (en) * 2006-04-27 2007-11-08 Yanmar Co Ltd Level controller of working machine
JP4558682B2 (en) * 2006-06-15 2010-10-06 株式会社日立製作所 Manipulator remote control method for mobile robot system
JP4878007B2 (en) * 2007-07-11 2012-02-15 トピー工業株式会社 Robot hand and robot for door opening
JP2012029518A (en) * 2010-07-27 2012-02-09 Yukio Kurokawa Electric car battery utilization system
JP2013005471A (en) * 2011-06-11 2013-01-07 Kinki Univ Laser energy transmission system for major reactor accident
JP2013111672A (en) * 2011-11-25 2013-06-10 Chiba Inst Of Technology Obtaining system for environment information using unmanned traveling body
JP5912454B2 (en) * 2011-11-25 2016-04-27 学校法人千葉工業大学 Environment information acquisition system using an unmanned vehicle
JP2013114329A (en) * 2011-11-25 2013-06-10 Chiba Inst Of Technology Environment information obtaining system using unattended traveling body
JP5896514B2 (en) * 2011-11-25 2016-03-30 学校法人千葉工業大学 Remote control system for unmanned vehicle
KR101457295B1 (en) 2013-05-10 2014-11-05 한국원자력연구원 The mobile atom emergency apparatus and system using the same
JP6466669B2 (en) * 2014-08-29 2019-02-06 三菱重工業株式会社 Work robot system and control method of work robot system
CN107533679A (en) * 2015-07-31 2018-01-02 达美尔电子有限及两合公司 For the process observed and influenceed the system of object interested and be implemented by it and corresponding method
JP6573504B2 (en) * 2015-08-25 2019-09-11 日立Geニュークリア・エナジー株式会社 Work support system and work support method for work device
KR101753555B1 (en) * 2017-02-13 2017-07-03 주식회사 평강비아이엠 Integral control system of special vehicles for emergency rescue

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107932520A (en) * 2017-11-23 2018-04-20 浙江国自机器人技术有限公司 A kind of operating method of split robot

Also Published As

Publication number Publication date
JP2001179668A (en) 2001-07-03

Similar Documents

Publication Publication Date Title
US8024066B2 (en) Autonomous inspector mobile platform
US5793813A (en) Communication system employing space-based and terrestrial telecommunications equipment
US20100063652A1 (en) Garment for Use Near Autonomous Machines
US20160009413A1 (en) Apparatus and method of charging and housing of unmanned vertical take-off and landing (vtol) aircraft
US8532846B2 (en) Helicopter sling-load stability control and release system
US9563206B2 (en) Robotic ordering and delivery system software and methods
US6917176B2 (en) Gas main robotic inspection system
US9162753B1 (en) Unmanned aerial vehicle for monitoring infrastructure assets
US7760103B2 (en) Multi-stage system for verification of container contents
US9845165B2 (en) Methods and apparatus for unmanned aerial vehicle landing and launch
US20120303179A1 (en) Robot surveillance system and method
US20090298539A1 (en) Mobile Station for Unmanned Vehicle
Luque-Vega et al. Power line inspection via an unmanned aerial system based on the quadrotor helicopter
US20150197007A1 (en) Remote Vehicle Missions and Systems for Supporting Remote Vehicle Missions
EP2288970B1 (en) System and method for inspection of structures and objects by swarm of remote unmanned vehicles
EP2511888B1 (en) Fire management system
US5248008A (en) Self-traveling robotic vehicle with inclinable propulsion units
JP5237472B2 (en) Line inspection robot and system
US20100179691A1 (en) Robotic Platform
US7851766B2 (en) Multi-stage system for verification of container contents
US9984347B2 (en) System and method for enhancing distribution logistics and increasing surveillance ranges with unmanned aerial vehicles and a dock network
RO121293B1 (en) Non-intrusive control system and method
US20130231779A1 (en) Mobile Inspection Robot
Bosscher et al. A concept for rapidly-deployable cable robot search and rescue systems
US5324948A (en) Autonomous mobile robot for radiologic surveys

Legal Events

Date Code Title Description
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20031224

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20040106

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20040308

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20040709

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20040809

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20040907

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20041014

A911 Transfer of reconsideration by examiner before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20041117

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20050128

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20050203

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20080210

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090210

Year of fee payment: 4

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100210

Year of fee payment: 5

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100210

Year of fee payment: 5

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110210

Year of fee payment: 6

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120210

Year of fee payment: 7

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120210

Year of fee payment: 7

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130210

Year of fee payment: 8

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140210

Year of fee payment: 9

LAPS Cancellation because of no payment of annual fees