JP6501341B2 - Search device - Google Patents

Description

  The present invention relates to a search device.

  Development of exploration equipment is underway to conduct surveys that are difficult for humans to do, such as surveys of damaged sites caused by natural disasters, surveys and surveys in the sea, check and survey of piping, and surveys in narrow areas. Such a search device includes a moving mechanism for traveling to a survey site, and a sensor for acquiring environmental data such as images, temperature, humidity, barometric pressure, and radiation dose at the survey site. Heretofore, a search device capable of traveling on land and in liquid has been proposed (Patent Document 1).

JP 2004-249878 A

  The search device as described in Patent Document 1 takes a posture in which the sensor is positioned vertically above the screw, which is a moving mechanism, as in the case of floating on a liquid, even when on land. For this reason, in the state of floating in the liquid, the presence of a screw or the like hinders acquisition of environmental data in the liquid by the sensor.

  The present invention has been made in view of these circumstances, and an object of the present invention is to provide a search apparatus capable of accurately acquiring environmental data on land on land and environmental data in liquid on liquid.

  In order to solve the above-mentioned subject, a search device of an aspect of the present invention is provided with a movement mechanism which moves on land and in liquid, and a sensor attached to the movement mechanism. The sensor is configured to be located closer to the center of gravity of the probe than the floating center of the probe.

  According to this aspect, the sensor is in the liquid when the probing device is in the liquid. Therefore, environmental data in the liquid can be acquired.

  You may provide the cover which covers a movement mechanism and a sensor. The cover may have holes configured to allow liquid to penetrate into the cover when the probing device is in liquid. The sensor may be configured to be closer to the center of gravity than the floating core in the state in which the liquid has infiltrated into the cover.

  You may provide the cover which covers a movement mechanism and a sensor. The part of the cover in the moving direction forward of the moving mechanism may be tapered so that the moving mechanism lands when the search device falls.

  You may provide the cover which covers a movement mechanism and a sensor. The part of the cover on the forward side of the moving direction of the moving mechanism may project forward of the center of gravity on the opposite side of the moving mechanism from the moving mechanism side.

  The mover may include an alky median screw. The pitch of the screw may be 0.011 mm.

  It is to be noted that any combination of the above-described constituent elements, or one obtained by replacing the constituent elements and expressions of the present invention among methods, apparatuses, systems, etc. is also effective as an aspect of the present invention.

  According to the present invention, it is possible to provide a search device capable of accurately acquiring environmental data on land on land and environmental data in liquid on liquid.

It is a figure showing composition of a search system including a search device concerning an embodiment. It is a top view which shows the search apparatus of FIG. It is a side view which shows the search apparatus of FIG. It is a bottom view which shows the search apparatus of FIG. It is a front view which shows the search apparatus of FIG. Fig.3 (a) is a figure which shows the appearance of the search apparatus in land. FIG.3 (b) is a figure which shows the appearance of the search apparatus in a liquid. It is a block diagram which shows the function structure of the remote control of FIG. It is a figure which shows the condition where the search system of FIG. 1 is used effectively.

  Hereinafter, the same or equivalent constituent elements and members shown in the respective drawings are denoted by the same reference numerals, and redundant description will be appropriately omitted. In addition, dimensions of members in each drawing are shown appropriately enlarged or reduced for easy understanding. In each drawing, a part of members which are not important in describing the embodiment is omitted and displayed.

The outline of the search device according to the embodiment is as follows.
The search device according to the embodiment acquires environmental data such as video, temperature, humidity, air pressure, and radiation dose. In particular, the exploration device accurately explores environmental data on land on land and environmental data in liquid on liquid. Here, the "liquid" includes not only liquids such as fresh water, seawater, and water to which a compound is added, but also liquids containing water as a main component, as well as liquids containing gasoline and petroleum as a main component, and other liquids. For this purpose, the search device comprises a moving mechanism, which moves on land and in liquid, and a sensor for acquiring environmental data. In the search device, on land, the moving mechanism is in contact with the ground, and the sensor is positioned vertically above the moving mechanism. For this reason, the search device can acquire land environmental data by means of the sensor. The search device is also configured such that the sensor is located closer to the center of gravity than the floating center and the moving mechanism is located closer to the floating center than the center of gravity. Therefore, in the liquid, the probe takes a posture in which the sensor is positioned vertically below the moving mechanism (that is, a posture in which the center of gravity is positioned vertically below the floating center). For this reason, the search device can acquire environmental data in the liquid by the sensor without being disturbed by the moving mechanism or the like. Hereinafter, the search device will be described in detail.

  FIG. 1 shows a configuration of a search system 100 including a search device 10 according to an embodiment. The search system 100 includes a search device 10, a cable 12, and a remote control device 14. The exploration device 10 intrudes into a damaged building, in the sea, in a pipe, etc., and acquires various environmental data. The cable 12 communicably connects the search device 10 and the remote control device 14, and supplies power from the remote control device 14 to the search device 10. The remote control device 14 sends an instruction to the search device 10. The search device 10 moves in accordance with an instruction from the remote control device 14 and acquires environmental data. Environmental data acquired by the search device 10 is sent to the remote control device 14.

Fig.2 (a)-(d) is the upper side figure of the search apparatus 10 which concerns on embodiment, a side view, a bottom view, and a front view. The search device 10 includes a support frame 20, a motor 22, a screw group 24, a weight member 26, a camera 28, a sensor 30, and a cover 32.
Hereinafter, the side on which the sensor 30 is provided with respect to the screw group 24 will be described as the upper side of the search device 10. Further, the side on which the camera 28 is provided will be described as the front side of the search device 10.

  The support frame 20 is orthogonal to the first frame plate 34 having a substantially oval shape in plan view and the first frame plate 34 respectively, and the second frame plate 36 and the third frame plate 38 having a substantially circular shape in plan view; including. The support frame 20 is formed of a metal material such as aluminum or stainless steel. The support frame 20 may be formed of a resin material.

  The cover 32 is formed in a substantially capsule-like predetermined shape. In the cover 32, the support frame 20, the motor 22, the screw group 24, the weight member 26, the camera 28, and the sensor 30 are accommodated. The cover 32 includes a cylindrical portion 40, a first dome portion 42 fixed to one end side of the cylindrical portion 40, and a second dome portion 44 fixed to the other end side of the cylindrical portion 40. The first dome portion 42 is provided on the front side of the search device 10, and the second dome portion 44 is provided on the rear side of the search device 10.

  The cylindrical portion 40 is formed of a metal material such as aluminum or stainless steel. The cylindrical portion 40 may be formed of a resin material. The cylindrical portion 40 is formed in a mesh shape. That is, in the cylindrical portion 40, a plurality of substantially rectangular holes 40a are provided in a matrix. When the search device 10 is in liquid, the plurality of holes 40 a allow the liquid to enter the search device 10. The support frame 20 is fixed to the cylindrical portion 40. Specifically, the second frame plate 36 is fixed to one end side of the cylindrical portion 40, and the third frame plate 38 is fixed to the other end side of the cylindrical portion 40.

  The first dome portion 42 and the second dome portion 44 are formed of resin material, glass or the like. In addition, these may be formed by metal materials, such as aluminum and stainless steel. In the first dome portion 42, the foremost portion 42b which is the most forwardly projecting portion is located on the opposite side of the screw group 24 to the center of gravity G of the search device 10, that is, above the center of gravity G of the search device 10. Is formed.

  On the lower side of the cover 32, a large hole 32a straddling the first dome portion 42, the cylindrical portion 40 and the second dome portion 44 is formed. The holes 32a are in particular sized and shaped from which the helical wings 46a, 48a (both described below) can project outside the cover 32. For example, the length of the hole 32a in the direction (X direction) along the central axis of the cylindrical portion 40 is longer than the length of the first screw 46 and the second screw 48 (both will be described later) in the X direction. Is formed.

  The screw group 24 includes a first screw 46 and a second screw 48. The first screw 46 and the second screw 48 are so-called alky median screws. The first screw 46 and the second screw 48 are rotatably supported by the second frame plate 36 and the third frame plate 38, respectively, and arranged so that their central axes are substantially parallel to the central axis of the cylindrical portion 40. The first screw 46 and the second screw 48 are, in particular, arranged such that the respective helical wings 46a, 48a project from the hole 32a to the outside of the cover 32. The spiral wing 46a and the spiral wing 48a have mutually opposite spiral directions.

ここで、Ｈは螺旋羽４６ａ、４８ａのピッチ［ｍｍ］（すなわちアルキメディアンスクリューのスクリューピッチ）、ｄは螺旋羽４６ａ、４８ａの直径［ｍｍ］（すなわちアルキメディアンスクリューのスクリュー直径）である（図２（ｃ）参照）。また、Ｌは探査装置１０が走行するグレーチングの格子孔の内法［ｍｍ］である。 The spiral wings 46a, 48a are formed so as not to fit in the grating holes of the grating when the search device 10 travels on the grating as described later. According to a simulation carried out by the present inventors, when the following equation (1) is satisfied, there is a possibility that the spiral wings 46a and 48a may be fitted in grating holes of grating. Therefore, the spiral wings 46a, 48a are formed so as not to satisfy this formula (1).

Here, H is the pitch [mm] of the helical wings 46a, 48a (ie, the screw pitch of the alky median screw), d is the diameter [mm] of the helical wings 46a, 48a (ie, the screw diameter of the alky median screw) (see FIG. 2 (c)). Further, L is an inner method [mm] of grating holes of the grating through which the search device 10 travels.

  For example, when d = 18 mm and L = 30 mm are given, H = 35 mm is obtained by equation (1). In this case, the spiral wings 46a and 48a are formed so that the pitch does not reach 35 mm (for example, the pitch is 38 mm). In addition, a margin of, for example, ± 5 mm may be provided in consideration of the influence of the thickness of the spiral wing 46a, 48a and the like. That is, when d = 18 mm and L = 30 mm are given, even if the spiral wings 46a and 48a are formed so that the pitch does not become 30 to 40 mm (35 mm. ± .5 mm) (for example, the pitch is 42 mm). Good.

  The weight member 26 is fixed to the lower surface of the first frame plate 34. The weight member 26 is formed in a predetermined shape by a metal material, a resin material, or the like. The position of the center of gravity G and the floating center of the search device 10 can be adjusted by changing the material forming the weight member 26, the size of the weight member 26, and the position of the weight member 26.

  The motor 22 is fixed to the upper surface of the first frame plate 34. The motor 22 rotates in response to an instruction from the remote control device 14. The rotation of the motor 22 is transmitted to the screw group 24 via the transmission mechanisms 23, 25 and the screw group 24 is driven.

  The camera 28 is mounted on the first frame plate 34 in the first dome portion 42. In a portion of the first dome portion 42 in front of the camera 28, a photographing hole 42a is formed so that the camera 28 can photograph the front of the search device 10. An image captured by the camera 28 is sent to the remote control device 14 via the cable 12.

  The sensor 30 is disposed on the opposite side to the screw group 24 across the central axis of the cylindrical portion 40, that is, on the upper side of the search device 10. The sensor 30 is fixed to, for example, the cylindrical portion 40 or the second frame plate 36. In response to an instruction from the remote control device 14, the sensor 30 acquires environmental data such as an image, temperature, humidity, air pressure, and radiation dose. Environmental data acquired by the sensor 30 is sent to the remote control device 14.

  FIG. 3A shows the state of the search device 10 on land. On land, the search device 10 takes a posture in which the sensor 30 is positioned vertically above the screw group 24. The spiral wing 46 a of the first screw 46 and the spiral wing 48 a of the second screw 48 project from the cover 32 and are grounded. Accordingly, the search device 10 travels forward as the first screw 46 and the second screw 48 rotate. The sensor 30 acquires land environmental data.

  FIG.3 (b) shows the mode of the search apparatus 10 in a liquid. In the liquid, the liquid intrudes into the cover 32 from the hole 40 a or the like formed in the cylindrical portion 40. Therefore, in the liquid, the first screw 46 and the second screw 48 are immersed in the liquid. Accordingly, the search device 10 travels through the liquid as the first screw 46 and the second screw 48 rotate. In the state where the liquid intrudes into the cover 32, the sensor 30 is located closer to the center of gravity G of the search apparatus 10 than the floating core B of the search apparatus 10, and the search apparatus than the center of gravity G of the search apparatus 10. The screw group 24 is configured to be positioned near the 10 floats B. That is, the size, the arrangement, and the like of each member (particularly the weight member 26) of the search device 10 are adjusted such that the center of gravity G and the floating center B have such a positional relationship.

  Here, the object in the liquid is stabilized when the center of gravity is located below the floating center. Therefore, as shown in FIG. 3B, the search device 10 is stabilized when the sensor 30 is positioned vertically below the screw group 24 (that is, the position where the center of gravity G is positioned vertically below the floating core B). . On the other hand, the object in the liquid becomes unstable when the floating center is located below the center of gravity. Therefore, the search device 10 becomes unstable when the sensor 30 takes an attitude vertically above the screw group 24 (ie, an attitude where the floating core B is vertically below the center of gravity G). In this case, when the search device 10 falls into the liquid from the land, the movement of the search device 10 due to the drive of the screw group 24, the shake of the liquid, etc. cause the search device 10 to be turned upside down. The sensor 30 takes an attitude (i.e., the attitude shown in FIG. 3B) in which the sensor 30 is positioned vertically below the screw group 24. By taking the posture as shown in FIG. 3B, the sensor 30 can acquire environmental data in the liquid without being disturbed by the screw group 24 or the like.

  FIG. 4 is a block diagram showing the functional configuration of the remote control device 14. The remote control device 14 includes an operation receiving unit 50, a control unit 52, a registration unit 54, a storage unit 56, and a display control unit 58. The operation receiving unit 50 is a user interface configured of, for example, a touch panel or a mechanical button, and receives an operation instruction from a user.

  The control unit 52 sends an instruction to the search device 10 to operate in accordance with the instruction received by the operation receiving unit 50. For example, the control unit 52 rotates the motor 22 to drive the screw group 24 and sends an instruction to the search device 10 to travel on land or in liquid. Also, for example, the control unit 52 sends an instruction to the sensor 30 to acquire environmental data.

  The registration unit 54 receives the environmental data transmitted from the search device 10 and stores the data in the storage unit 56. The storage unit 56 stores environment data acquired by the search device 10. The user analyzes the environmental data stored in the storage unit 56 to grasp the situation on the site. The display control unit 58 displays various operation screens on a predetermined display. Further, the display control unit 58 causes the image sent from the camera 28 of the search device 10 to be displayed on a predetermined display. The user inputs an operation instruction to the remote control device 14 while watching the video displayed on the display, and causes the search device 10 to travel.

The operation of the search system 100 configured as described above will be described.
The operation receiving unit 50 of the remote control device 14 receives an instruction from the user. The control unit 52 sends an instruction to the search device 10 to operate in accordance with the instruction received by the operation receiving unit 50. The screw group 24 of the search device 10 is driven in accordance with an instruction from the remote control device 14. As a result, the search device 10 moves. Further, the sensor 30 of the search device 10 acquires environmental data in accordance with an instruction from the remote control device 14. The environmental data acquired by the sensor 30 is sent to the remote controller 14 and stored in the storage unit 56. After the acquisition of the environmental data, the user pulls the cable 12 to recover the search device 10.

  Subsequently, an example of a situation where the search system 100 according to the present embodiment is effectively used will be described. FIG. 5 shows the situation. FIG. 5 shows the situation where there is a ground 62 with grating applied at the end of the elongated pipe 60 and at the end there is a pool 64 in which the liquid to be examined is collected. The search device 10 travels in an elongated pipe 60. Since the exploration device 10 can travel both on land and in liquid, the exploration device 10 can travel even if liquid flows or not in the piping 60. When the search device 10 passes through the pipe 60, it falls to the ground 62. The search device 10 lands on the foremost portion 42 b of the first dome portion 42. Since the center of gravity G of the search device 10 is located closer to the screw group 24 than the foremost portion 42 b, the search device 10 falls to the screw group 24 side, and the screw group 24 takes a posture of being in contact with the ground. In other words, it takes a posture to travel on land after falling. The searcher 10 travels on the ground 62 toward the pool 64. Since the spiral wings 46a and 48a of the first screw 46 and the second screw 48 are formed so as not to satisfy the equation (1), the search device 10 travels without the spiral wings 46a and 48a fitting in the lattice holes of grating. it can. When the search device 10 reaches the pool 64, the sensor 30 takes an attitude that is located vertically below the screw group 24, so that environmental data in the pool 64 can be accurately acquired.

  According to the search device 10 of the present embodiment, on land, the screw group 24 is grounded and the sensor 30 is positioned vertically above the screw group 24. In the liquid, the vertical direction of the screw group 24 is downward. And the sensor 30 is positioned. This enables accurate acquisition of environmental data on land on land and environmental data in liquid on liquid.

  Further, according to the searching device 10 according to the present embodiment, the motor 22, the screw group 24, the weight member 26, the camera 28 and the sensor 30 are accommodated in the cover 32 and protected. Therefore, it is possible to suppress the occurrence of a failure due to each member colliding with an obstacle or the like. In addition, since the cover 32 is provided with the holes 32a, the liquid penetrates into the cover 32 when the search device 10 is in the liquid. Therefore, the position of the floating core of the search device 10 can be adjusted by adjusting the size, the arrangement, and the like of the members (particularly, weight members) accommodated in the cover 32. In particular, the position of the floating core can be adjusted so that the sensor 30 is located closer to the center of gravity than the floating core. That is, according to the search device 10 relating to the present embodiment, it is possible to adjust the position of the floating core while protecting each member.

  Further, according to the searching device 10 according to the present embodiment, the respective members of the motor 22, the screw group 24, the weight member 26, the camera 28 and the sensor 30 are accommodated in the cover 32. In particular, the front side and the rear side are covered by the first dome portion 42 and the second dome portion 44. Therefore, it is possible to prevent each member of the searching device 10 from being caught by an obstacle while the searching device 10 is traveling or being collected, and the traveling device 10 can not be moved or collected.

  Further, according to the search device 10 according to the present embodiment, the first dome portion 42 is formed such that the foremost portion 42 b is located on the opposite side of the screw group 24 with respect to the center of gravity G of the search device 10 . Therefore, when the search device 10 falls from the step while traveling on land, the search device 10 lands at the foremost portion 42b of the first dome portion 42, falls to the screw group 24 side, and takes the posture that the screw group 24 is grounded. . That is, it is possible to take an attitude when traveling on land even after the fall.

  The configuration and operation of the rotating device according to the embodiment have been described above. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to the combination of the respective constituent elements, and such modifications are also within the scope of the present invention. Moreover, the combination of embodiment is also possible.

(Modification 1)
In the embodiment, the case where the cylindrical portion 40 of the search device 10 is formed in a mesh shape, that is, the case where a plurality of substantially rectangular holes 40 a are provided in a matrix in the cylindrical portion 40 has been described. It is not limited to. The cylindrical portion 40 may be provided with at least one hole having a circular shape, an elliptical shape, or another shape. That is, the cylindrical portion 40 may be provided with a hole through which the liquid can infiltrate in the cover 32 when the exploration device 10 is in the liquid.

(Modification 2)
Although embodiment explained the case where search device 10 was provided with screw group 24, it is not restricted to this. Instead of the screw group 24, the search device 10 may be provided with, for example, a tire having a projection for storing a liquid. That is, the search device 10 may be provided with a moving mechanism capable of traveling on land and in liquid.

(Modification 3)
In the embodiment, although the case where the screw group 24 of the search device 10 has a pair of first screw 46 and second screw 48 has been described, the present invention is not limited thereto. For example, screw group 24 may have two pairs of screws, three pairs of screws, or more.

(Modification 4)
Although in the embodiment, the helical wings 46a and 48a are formed so as not to fit in the grating holes of grating when the search device 10 travels on the grating, the invention is not limited thereto. The spiral wings 46a, 48a are not limited to gratings, and may be formed so as not to fit in holes or grooves provided in the ground on which the exploration device 10 travels, for example.

  Combinations of any of the embodiments and variations described above are also useful as embodiments of the present invention. The new embodiments resulting from the combination combine the effects of each of the combined embodiments and variations. Further, it should be understood by those skilled in the art that the functions to be performed by the respective constituent elements described in the claims are realized by a single member of each constituent shown in the embodiment and the modification or a combination thereof. . For example, the movable body described in the claims may be realized by a combination of the support frame 20 and the screw group 24 described in the embodiment.

  10 search devices, 12 cables, 14 remote control devices, 20 support frames, 22 motors, 24 screws, 26 weight members, 28 cameras, 30 sensors, 32 covers, 100 search systems.

Claims (4)

A moving mechanism that moves on land and in liquid;
Comprising: a sensor, a,
A search device characterized in that the sensor is located closer to the center of gravity of the search device than the floating center of the search device, and the moving mechanism is located closer to the floating core than the center of gravity. . A cover that covers the movement mechanism and the sensor;
The cover has a hole configured to allow liquid to penetrate into the cover when the probe is in liquid,
The search apparatus according to claim 1, wherein the sensor is positioned closer to the center of gravity than the floating core in a state in which liquid intrudes into the cover. A cover that covers the movement mechanism and the sensor;
The search apparatus according to claim 1, wherein the foremost part of the cover in the moving direction forward of the moving mechanism is located on the opposite side to the moving mechanism with respect to the center of gravity. The moving mechanism includes an alky median screw.
The screw is

The search device according to any one of claims 1 to 3, wherein the search device is formed so as not to satisfy.

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