JP6734980B1 - Cleaning robot, cleaning system and cleaning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning robot, a cleaning system, and a cleaning method that enable a worker to take measures in advance according to a radiation dose rate when a worker approaches a cleaning robot applied to an intermediate storage facility. provide. A cleaning robot (100) for collecting dust, including a traveling unit, a dust collecting unit, and a detecting unit, and a casing (10) having a dust collecting container (35) containing the collected dust therein, A first dosimeter 70, which is mounted in the housing 10 in the vicinity of the dust collection container 35 and measures the dose rate due to the radiation emitted from the collected dust, and a plurality of types of alarms according to the measured dose rate. The controller has a first alarm means 65 for emitting a warning, and a plurality of threshold values are stored in the controller. The controller compares the dose rate data transmitted from the first dosimeter 70 with the plurality of threshold values, and the dose rate data. A command signal for issuing an alarm of a type corresponding to is transmitted to the first alarm means 65. [Selection diagram] Figure 2

Description

The present invention relates to a cleaning robot, a cleaning system and a cleaning method.

Soil, waste, etc. generated by decontamination are stored safely and intensively in an intermediate storage facility until the final disposal. There are various worksites in the intermediate storage facility, such as the disposal soil storage/transportation facility building, the disposal soil receiving/sorting processing facility building, and the intermediate storage/disposal facility. The modified soil is stored in the dump truck or the like after being transported to the intermediate storage and disposal site.
In the above-mentioned intermediate storage facility, it is important to secure work workers and a safe work environment in the workplace, but it is difficult to secure sufficient work workers, and the exposure dose to work workers The use of a cleaning robot is effective as a means to solve both problems of minimizing the above.

Here, there is proposed a cleaning robot capable of recognizing a spatially provided off-limits display and preventing the entry into the off-limits place. Specifically, it is a cleaning robot having a traveling means and a cleaning means, which emits light and receives reflected light reflected by an obstacle to measure a distance to the obstacle, and a control device. And a device. The control device changes the emission angle of the light in the vertical direction, the distance measurement device control unit, and based on the measurement result in the distance measurement device, determines the traveling direction so as to avoid the obstacle, the traveling direction determination unit, And a traveling control unit that controls traveling of the traveling means in the traveling direction determined by the traveling direction determination unit (see, for example, Patent Document 1).

JP, 2017-228195, A

According to the cleaning robot described in Patent Document 1, the cleaning robot that automatically travels can clean the various workplaces that form the intermediate storage facility while saving labor.
By the way, when a cleaning robot is applied to various workplaces that make up an intermediate storage facility, when the cleaning robot is started or stopped, or when the worker collects the collected dust, Need to be close to the cleaning robot. The collected dust contains dust that may be radioactively contaminated, and since this type of dust is collected, the radiation dose rate in the cleaning robot tends to increase, When the worker turns on and off the operation switch in the vicinity of the cleaning robot and collects the collected dust, it is necessary to take an exposure reduction measure in accordance with the radiation dose rate in the cleaning robot.

INDUSTRIAL APPLICABILITY The present invention enables a worker to take measures in advance according to a radiation dose rate when a worker approaches a cleaning robot applied to an intermediate storage facility, a cleaning robot, a cleaning system, and a cleaning method. Is intended to provide.

In order to achieve the above object, one aspect of the cleaning robot according to the present invention is:
A cleaning robot that collects dust that may have radioactive contamination,
A casing provided with a traveling means, a dust collecting means, and a detecting means for detecting an obstacle, and a housing having a dust collecting container for accommodating the dust collected by the dust collecting means therein;
A first dosimeter attached to the housing in the vicinity of the dust collecting container, for measuring a dose rate of radiation emitted from the collected dust.
First alarm means for issuing a plurality of types of alarms according to the dose rate measured by the first dosimeter,
And a controller,
The controller stores a plurality of threshold values according to the dose rate,
In the controller, the dose rate data transmitted from the first dosimeter is compared with the plurality of threshold values, and a command signal for issuing an alarm of a type corresponding to the dose rate data is transmitted to the first alarm means. Is characterized by.

According to this aspect, the first dosimeter is provided inside the housing in the vicinity of the dust container (bucket) in which dust is stored, and the first alarm means for issuing a plurality of types of alarms according to the dose rate is provided. With the provision, the worker can visually or audibly recognize the alarm issued by the first alarm means, take a preset measure for each alarm, and then approach the cleaning robot. It will be possible. By approaching the cleaning robot, the worker can start and stop the operation of the cleaning robot, and further can collect the dust collected in the dust container. Here, examples of the first warning means include a lamp such as a patrol lamp and a notification buzzer that emits a notification sound. For example, when a patrol lamp is applied, it is possible to apply a mode in which lamps of a plurality of types of colors such as red, yellow, and green are lit in descending order of alarm level according to the alarm level. A corresponding dose rate threshold value is preset for each alarm level, and each threshold value is stored in a storage unit of a controller included in the cleaning robot or the like.

As an example of a measure according to the alarm level, when the patrol lamp emits a green color with a low alarm level, the worker may approach the cleaning robot without taking any measures. Alternatively, when it is obligatory to wear the protective inspection tool before entering the work place, the protective inspection tool may be kept attached and the robot may approach the cleaning robot.
In addition, when the warning light emits a yellowish intermediate warning level, the worker may approach the cleaning robot after wearing the protective inspection tool or reconfirming the wearing of the protective inspection tool.
Further, when the patrol lamp emits a red color having a high alarm level, the worker may temporarily stop the work, put on the shielding vest (for example, put it on the protective inspection tool), and then approach the cleaning robot.
Here, the “workplace” includes various buildings including a disposal soil storage/transportation facility building, a disposal soil receiving/sorting treatment facility building, and an intermediate storage/disposal facility in the intermediate storage facility.

The controller further has an operation unit in addition to the storage unit, and the operation unit compares the dose rate data transmitted from the first dosimeter with a plurality of threshold values stored in the storage unit and responds to the dose rate data. By transmitting the command signal for issuing the alarm of the above type to the first alarm means, the type of alarm corresponding to the dose rate data is issued from the first alarm means.

The cleaning robot of this aspect is a self-propelled robot that includes a traveling unit and a detection unit that detects an obstacle, and collects dust by the dust collecting unit in the process of self-propelling while avoiding the obstacle. Therefore, unattended cleaning work can be realized and labor saving can be achieved. Here, the cleaning robot may be in a form in which the actuator is driven by an equipped battery to cause the traveling means to travel and the dust collecting means to collect dust by turning on the operation switch, or the cleaning robot is an autonomous robot. May be. In the case of an autonomous robot, the operator does not need to operate it, and when the battery is about to run out of charge, it operates so that it is automatically installed in the charger and can be automatically charged. Then, after charging, it automatically operates and can clean the work area while running on its own.

Further, in another aspect of the cleaning robot according to the present invention, the first dosimeter is attached in the vicinity of the dust container on the outer wall surface of the housing,
Around the first dosimeter, a first shielding shield that shields radiation in the atmosphere outside the housing is provided,
An opening through which radiation emitted from the dust passes is provided on a side surface of the first shielding shield facing the dust collection container.

According to this aspect, since the first dosimeter for measuring the dose rate inside the cleaning robot is attached to the outer wall surface of the housing in the vicinity of the dust collecting container, it is caused by the dust floating inside the cleaning robot. Then, it is possible to prevent the first dosimeter from erroneously detecting the dose rate. A lot of dust is floating inside the cleaning robot, and if the first dosimeter is installed inside the housing, some of the dust that is radioactively contaminated is the first dosimeter. There is a risk that it will remain attached to and will not be removed. In this case, the first dosimeter constantly measures the dose rate of the attached dust, which can lead to false detection of the dose rate inside the cleaning robot. Such a problem is solved by mounting the first dosimeter on the outer wall surface of the housing.

On the other hand, since the first dosimeter is attached to the outer wall surface of the case, the first dosimeter measures not only the dose rate inside the case but also the dose rate due to radiation in the atmosphere outside the case. As a result, the dose rate inside the cleaning robot may be erroneously detected. Therefore, in this aspect, while the first dosimeter is attached to the outer wall surface of the housing, a first shielding shield that shields radiation in the external atmosphere of the housing around the first dosimeter is provided, and An opening through which the radiation emitted from the dust passes is provided on the side surface of the shielding shield which faces the dust container. With this configuration, the first shield shield has the radiation that was inside the housing that has passed through the wall surface of the housing while suppressing the first dosimeter from measuring the dose rate due to the radiation in the atmosphere outside the housing. It can be effectively guided to the first dosimeter through the opening, and the dose rate inside the cleaning robot can be accurately measured. Here, it is preferable that the first shield shield is formed of lead, which has excellent radiation shielding properties.

Further, in another aspect of the cleaning robot according to the present invention, a second shielding shield is attached to an outer wall surface of the housing, and the second shielding shield is provided with a dose rate due to radiation in an atmosphere outside the housing. A second dosimeter for measurement is attached,
Further provided is a second alarm means for issuing a plurality of types of alarms according to the dose rate measured by the second dosimeter,
In the controller, the dose rate data transmitted from the second dosimeter is compared with the plurality of threshold values, and a command signal for issuing an alarm of a type corresponding to the dose rate data is transmitted to the second alarm means. Is characterized by.

According to this aspect, the cleaning robot further includes a second dosimeter for measuring a dose rate due to radiation in the atmosphere outside the housing, and a plurality of types of alarms are issued according to the dose rate measured by the second dosimeter. The provision of the second alarm means to be emitted makes it possible to take measures in accordance with the dose rate in the atmosphere outside the housing in addition to the measures in accordance with the dose rate inside the cleaning robot. Therefore, the worker takes measures based on the alarm issued by the first alarm means in the case of work in the vicinity of the cleaning robot, and based on the alarm issued by the second alarm means in the case of work in a place away from the cleaning robot. Can take measures.

The increase of the dose rate inside the cleaning robot measured by the first dosimeter means that cleaning by the cleaning robot in the workplace is in progress. Therefore, the dust having the possibility of radioactive contamination scattered in the work place is collected by the cleaning robot, and the dose rate of radiation in the atmosphere (work place) outside the housing is reduced. For this reason, the degree of risk of exposure is completely different between the worker who attempts to collect the collected dust in the vicinity of the cleaning robot and the worker who works away from the cleaning robot. Can be.
According to the cleaning robot of the present aspect, the worker who works in the vicinity of the cleaning robot and the worker who works away from the cleaning robot can take measures in advance according to the dose rate, and thus the radiation exposure. It can be effectively prevented.

Further, in this aspect, the second shield shield is attached to the outer wall surface of the housing, and the second dosimeter is attached to the second shield shield, so that the radiation inside the cleaning robot is shielded from the housing. It is possible to suppress the penetration of the body to reach the second dosimeter. Therefore, the second dosimeter can accurately measure the dose rate of radiation in the atmosphere outside the housing. Here, it is preferable that the second shielding shield is also made of lead, which has excellent radiation shielding properties.

Further, in another aspect of the cleaning robot according to the present invention, the housing is further equipped with a first display means for displaying the dose rate data.
According to this aspect, since the first display means for displaying the dose rate data is attached to the housing, the worker can grasp the specific dose rate displayed on the first display means. it can. Therefore, for example, when the dose rate is extremely high, it is possible to stop the work or take further measures. Here, when the cleaning robot has both the first dosimeter and the second dosimeter, the dose rate data of both the first dosimeter and the second dosimeter are displayed on the first display means. Is good.

In another aspect of the cleaning robot according to the present invention, the controller transmits the dose rate data to a user terminal via a network and instructs the user terminal to turn on the operation of the cleaning robot. It further comprises a first communication interface for receiving a signal.

According to this aspect, the controller of the cleaning robot further has the first communication interface for transmitting and receiving a signal to and from the user terminal, so that the cleaning robot can be remotely controlled from the user terminal. Yes, the dose rate data from the first and second dosimeters of the cleaning robot can be received at the user terminal of the worker who is remote, and the dose rate inside the cleaning robot and the dose rate at the workplace can be remotely grasped. can do. Here, the user terminal includes a smartphone, a tablet, a personal computer (PC), and the like, and may be a terminal carried by a worker or a computer in a central management building in an intermediate storage facility. Further, the command signal transmitted from the user terminal may include a command signal for ON-controlling the operation of the cleaning robot and a command signal for OFF-controlling the operation of the cleaning robot.

One aspect of the cleaning system according to the present invention is
A cleaning system that automatically collects dust that may be radioactively contaminated,
The cleaning robot,
At least the user terminal having a second communication interface and a second display means,
The dose rate data is transmitted from the cleaning robot to the user terminal via the network, and a command signal for ON-controlling the operation of the cleaning robot is transmitted from the user terminal to the cleaning robot. Is characterized by.

According to this aspect, for example, before entering the work place, the worker can specify the dose rate in the work place (atmosphere outside the housing) based on the dose rate data from the second dosimeter, and this identification can be performed. You can enter the workplace after taking measures based on the dose rate. Also, before approaching the cleaning robot, the worker can specify the dose rate inside the cleaning robot based on the dose rate data from the first dosimeter, and take measures based on this specified dose rate. Above, you can get close to the cleaning robot.
In the cleaning system of this aspect, not only the cleaning robot has the second dosimeter, but the second dosimeter may be installed in a plurality of places in the work place. The dose rate data from the meter may be transmitted to the user terminal. For example, if the work area of the work area has five areas, the first area to the fifth area, a second dosimeter specific to each work area is installed, and the second dosimeter installed in each work area By transmitting the dose rate data to the user terminal, the worker can enter the work area in advance by taking measures based on the dose rate data of the work area in charge.

One aspect of the cleaning method according to the present invention is
A dust collecting method using a cleaning robot for collecting dust having a possibility of radioactive contamination,
An alarm step in which the cleaning robot issues a plurality of alarms according to a dose rate due to radiation emitted from the dust collected by the cleaning robot;
A dust collecting step, in which a worker in a space cleaned by the cleaning robot collects the dust collected by the cleaning robot by taking measures set for each of the plurality of alarms. And are included.

According to this aspect, by providing the alarm process for issuing a plurality of alarms according to the dose rate due to the radiation emitted from the dust collected by the cleaning robot, the worker can perform the alarm process in the alarm process. It is possible to recognize the generated alarm visually or audibly, take a preset measure for each alarm, and then approach the cleaning robot.

Further, in another aspect of the cleaning method according to the present invention, in the alarm step, the cleaning robot issues a plurality of alarms according to a dose rate due to radiation emitted from the collected dust, Issues a plurality of alarms according to the dose rate of radiation in the external atmosphere around the cleaning robot;
A worker in the space cleaned by the cleaning robot performs the work in the space by taking measures set for each of a plurality of alarms according to the dose rate of radiation in the external atmosphere, It is characterized by further having a working process.

According to this aspect, in the alarm step, in addition to the plurality of alarms according to the dose rate of the radiation emitted from the dust collected by the cleaning robot, the dose rate of the radiation in the external atmosphere around the cleaning robot is added. By issuing a plurality of alarms according to the above, the worker can take measures in accordance with the dose rate in the atmosphere outside the housing in addition to the measures in accordance with the dose rate inside the cleaning robot.

According to the cleaning robot, the cleaning system, and the cleaning method of the present invention, when the worker approaches the cleaning robot applied to the intermediate storage facility, the worker can take measures in advance according to the radiation dose rate. ..

It is the perspective view which looked at an example of the cleaning robot concerning a 1st embodiment from the front slanting upper part. It is the perspective view which looked at an example of the cleaning robot which concerns on 1st Embodiment from the back diagonally upward. It is an internal view which shows the internal structure of the cleaning robot which concerns on 1st Embodiment. It is a figure which shows the state which is measuring the dose rate by the radiation inside the cleaning robot which concerns on 1st Embodiment with the 1st dosimeter. It is a figure which shows an example of the hardware constitutions of the controller which a cleaning robot has with a peripheral device. It is a figure showing an example of functional composition of a controller. It is a flowchart of an example of the cleaning method which concerns on embodiment. It is the perspective view which looked at an example of the cleaning robot which concerns on 2nd Embodiment from front diagonally upward. The figure which shows the state which is measuring the dose rate by the radiation inside the cleaning robot which concerns on 2nd Embodiment with a 1st dosimeter, and is measuring the dose rate by the radiation in an external atmosphere with a 2nd dosimeter. Is. It is a figure showing an example of the whole composition of the cleaning system concerning an embodiment. It is a figure which shows an example of the hardware constitutions of a user terminal.

Hereinafter, a cleaning robot, a cleaning system, and a cleaning method according to each embodiment will be described with reference to the accompanying drawings. In the present specification and the drawings, substantially the same components may be denoted by the same reference numerals to omit redundant description.

[Cleaning Robot According to First Embodiment]
First, an example of the cleaning robot according to the first embodiment will be described with reference to FIGS. 1 to 6. Here, FIG. 1 and FIG. 2 are perspective views of an example of the cleaning robot according to the first embodiment as seen from diagonally upper front and diagonally upper rear, respectively. FIG. 3 is an internal view showing the internal structure of the cleaning robot according to the first embodiment, and FIG. 4 shows the dose rate of radiation inside the cleaning robot according to the first embodiment as the first dose. It is a figure which shows the state currently measured with the meter.

The cleaning robot 100 is mainly applied not only to various buildings including a disposal soil storage/transportation facility building and a disposal soil receiving/separation processing facility building in an intermediate storage facility, but also to an intermediate storage/disposal facility and the like, which may cause radioactive contamination. Although it is a robot that collects dust that has a certain property, it may be applied to various facilities other than the intermediate storage facility.

The cleaning robot 100 includes a housing 10 made of steel or a hard resin, a traveling means 20, a dust collecting means 30, a detecting means 40 for detecting an obstacle, and a first dosimeter 70 which are provided in the housing 10. , A first alarm means 65 and a controller 80.

As shown in FIG. 3, the traveling means 20 includes a front wheel caster 22 (driven wheel) at the front center portion in the Y direction, which is the traveling direction, at the bottom of the rectangular shape in plan view of the housing 10, and on both sides in the traveling direction at the rear side. It is provided with a pair of drive wheels 21. When the drive wheel motor 23 disposed inside the housing 10 is driven, the pair of drive wheels 21 are transmitted through the endless timing belt 24 that is installed between the pulleys. Driven by. The front wheel caster 22 is a free wheel that is rotatably supported by 360 degrees about an eccentric support shaft portion 22a (vertical axis). The front wheel casters 22 follow the Y direction, which is the traveling direction of the cleaning robot 100, and are driven to rotate. The cleaning robot 100 is applied in a state where the front wheel casters 22 and the pair of drive wheels 21 are in contact with the floor surface F of the workplace. Electric power is supplied to each drive wheel motor 23 from a rechargeable lithium-ion battery 52. The lithium-ion battery 52 mounted inside the housing 10 can be charged via the charger 51 by connecting an outlet to the commercial power supply AC100V.

The rotation amounts of the right-side drive wheel motor 23a and the left-side drive wheel motor 23b that form the drive-wheel motor 23 are individually controlled by the controller 80. When the rotation amount of the right drive wheel motor 23a and the rotation amount of the left drive wheel motor 23b are the same, the cleaning robot 100 moves straight. On the other hand, when the rotation amount of the right drive wheel motor 23a is larger than the rotation amount of the left drive wheel motor 23b, the cleaning robot 100 turns so as to bend to the left, and the rotation amount of the right drive wheel motor 23a is left. When it is smaller than the rotation amount of the drive wheel motor 23b, the cleaning robot 100 turns so as to turn to the right.

The diameters of the pair of drive wheels 21 and the torques of the drive wheel motors 23a and 23b are such that nails or screws are dropped in the work place, or the floor F has an inclined surface or a step surface in a predetermined height range. Even if it does, the drive wheels 21 are designed so that they can be overcome without being locked.

Ball casters 54 (auxiliary wheels: swivel casters) are rotatably attached to the bottom of the rectangular shape of the housing 10 in front of the front wheel casters 22 near the front corner of the bottom surface of the housing 10. There is. The height h of the ball casters 54 from the floor surface is lower than the bottom surface of the housing 10 and higher than the floor surface F.

With the above-described various configurations of the traveling means 20, when the cleaning robot 100 automatically travels and approaches various obstacles such as a stepped surface or an inclined surface on the floor F from diagonally left and right front, the ball caster 54 first obstructs. The ball caster 54 does not stop the movement of the housing 10 due to contact with an object, and the cleaning operation can be continued by the ball caster 54 riding on and over the step surface or the inclined surface. Further, in the case where the floor surface F has a through hole such as a hanging hole, even if the front wheel casters 22 fall into the through hole, the pair of ball casters 54 abut on the floor surface F, so that the housing The bottom of the housing 10 is prevented from coming into direct contact with the floor surface F by stopping the fall of the housing 10. As a result, the front wheel casters 22 can be removed from the through holes by driving the pair of drive wheels 21, and the cleaning work can be continued.

Further, when the inclined surface approaches from the front left and right in the traveling direction of the housing 10, the bottom of the housing 10 may ride on the inclined surface and become inoperable, but the housing of the ball caster 54 causes the housing to be inoperable. It is possible to prevent the bottom of the body 10 from riding up. In particular, since the ball caster 54 has no rotational directionality, it can be driven and rotated regardless of which direction it comes into contact with an obstacle (a step surface, an inclined surface, or the like), and therefore the traveling direction of the housing 10 is changed. It is possible to drive by driving the drive wheels 21 without driving.

On the other hand, the dust collecting means 30 has a rotating brush 31 (cleaning brush) and a brush drive motor 32. Further, a dust collecting container 35 for collecting the dust collected by the rotating brush 31 is arranged at a rear position of the dust collecting means 30, and the dust collecting container 35 is also included in the dust collecting means 30. Good.

The rotary brush 31 has a columnar shape, and a large number of brushes are attached to the side surface of the cylinder in a state of standing upright in the radial direction. The rotating brush 31 is arranged so that the axial direction thereof coincides with the left and right side surface directions of the housing 10, and is rotatably assembled around a cylindrical central axis. The rotating brush 31 is attached to the bottom of the housing 10, and the lower side of the brush is always in contact with the floor surface F. The rotating brush 31 is rotated counterclockwise by a brush drive motor 32 that is activated by being supplied with power from the lithium-ion battery 52, entangles and catches dust present on the floor surface F, and sends it out to the rear inside the housing 10. .. Inside the housing 10, a dust collecting container 35 is arranged behind the rotating brush 31, and the dust collecting container 35 sucks dust sent to the rear of the housing 10 by rotation of the rotating brush 31 by air suction. While collecting, store. The brush drive motor 32 is controlled by the controller 80 to rotate at a constant speed.

A pair of auxiliary brushes 33 are attached to the bottom of the housing 10 on both sides of the front wheel caster 22 so that the width between the brushes gradually expands to both sides in the Y direction, which is the traveling direction. The auxiliary brush 33 is provided in front of the rotating brush 31, and guides dust existing on the floor surface F toward the rotating brush 31 while the housing 10 travels. A pair of shield plates (not shown) are provided on both sides of the rotary brush 31 in the axial direction. The shielding plate is formed of a flexible rubber plate or the like, and covers the gap with the floor surface F so that dust sent backward by the rotating brush 31 does not spread laterally of the housing 10.

The pair of ball casters 54 are provided in front of the auxiliary brush 33 and near the bottom front corner of the housing 10 at the bottom of the housing 10 in a rectangular shape in plan view. As a result, the ball caster 54 first rides on and climbs over the stepped surface or the inclined surface, so that it is possible to prevent the auxiliary brush 33 from directly contacting an obstacle such as the stepped surface or the inclined surface to be deformed or damaged. Further, since the auxiliary brush 33 is arranged in front of the drive wheel 21, the dust adhering to the drive wheel 21 can be reduced, and thereby the reattachment of the dust to the floor surface F can be reduced. ..

As shown in FIG. 2, the dust container 35 is installed in the housing 10 so that it can be freely taken in and out through an opening formed in the back surface 13 of the housing 10. A plurality of handles 35 a are attached to the dust collecting container 35, and when dust is collected in the dust collecting container 35 to some extent, an operator holds the handle 35 a to hold the dust collecting container 35 in the housing 10. The collected dust can be collected. Although not shown in the figure, a worker is equipped with a level switch inside the casing 10, the level switch detects the level of the collected dust, and it is necessary to collect the collected dust. May be configured to notify.

The detection means 40 has a distance measuring device 41, an ultrasonic sensor 42, and a limit switch 43. The distance measuring device 41 is attached to a central portion of the front surface 12 in the traveling direction of the housing 10, emits light, and receives reflected light reflected by an obstacle until the reflected light is received. Time is measured to measure the distance to the obstacle.

A laser range finder or the like can be applied as the distance measuring device 41, and laser light is emitted from a light source. The distance measuring device 41, for example, reflects laser light emitted from a light source forward by a reflecting mirror, and scans in the horizontal direction by rotationally driving a motor incorporating the reflecting mirror. For example, scanning the laser light in the horizontal direction at a frequency of about 1000 times per second while reciprocating from the front in the traveling direction to the left and right sides in a range exceeding 90 degrees (maximum detection range of 270 degrees). Measures the distance to surrounding objects. The range of light of the distance measuring device 41 is, for example, about 30 m at maximum.

The distance measuring device 41 scans the laser light in the vertical direction by reciprocating once per second at a rotation angle of about 30 degrees in the upward direction and a rotation angle of about 40 degrees in the downward direction when the horizontal posture is 0 degree. Then, the distance to surrounding objects can be measured. Specifically, the distance measuring device 41 is erected from a supporting portion 12 a provided on the front surface 12 of the housing 10. The distance measuring device 41 has a range sensor 41a that horizontally scans the laser beam, and a rotation drive unit 41b that vertically moves the range sensor 41a. The rotation drive unit 41b includes a vertical swing motor (not shown) that rotates in the vertical direction within a predetermined angle range. A stepping motor, for example, is used as the vertical swing motor. The motor shaft (rotary shaft) of the vertical swing motor is connected to the bottom of the range sensor 41a via a jig. By driving the vertical swing motor, the range sensor 41a rotates about the motor shaft in the vertical direction within a predetermined angle range (for example, 30 degrees in the upward direction and 40 degrees in the downward direction).

With the above-described configuration, the distance measuring device 41 has the angle range of −90° to +90° in the horizontal direction and the angle range of +30° to −40° in the vertical direction with the straight traveling direction of the cleaning robot 100 as the base point (0°). In, the distance from the distance measuring device 41 to the object located at the forward measurement distance (for example, within about 500 mm) can be measured. That is, the two-dimensional arrangement of obstacles in front of the measurement distance from the light source is measured by the reflected light of the laser light that is scanned in the horizontal direction and the vertical direction from the range sensor 41a. The range sensor 41a may be, for example, a laser range finder having a distance measurement accuracy of ±30 mm of ±30 mm, a distance measurement resolution of 1 mm unit, an angular resolution of about 0.25 degrees, and a scanning time of 25 ms. .. The distance measurement information acquired by the distance measuring device 41 is transmitted to the controller 80. In this way, the range sensor 41a rotates not only in the horizontal direction but also in the vertical direction, so that it is possible to detect an obstacle with a small blind spot in a wide range.

The ultrasonic sensors 42 are sensors for avoiding collisions with obstacles, and are provided at a plurality of positions on the front surface 12 of the housing 10. The ultrasonic sensor 42 transmits an ultrasonic wave, measures the time until the reflected wave is received, and detects the distance to the obstacle without contact. The ultrasonic sensor 42 complements the detection range of the range sensor 41a and grasps the presence of the housing 10 before approaching the obstacle without contact. High safety can be ensured by double-detecting the presence or absence of an obstacle in combination with the range-finding sensor 41a, and further, a transparent body such as glass which is difficult for the range-finding sensor 41a to detect. It is possible to avoid collisions with the cones and the like that have a reflective film attached, while reliably detecting them.

The limit switches 43 are provided at both front end portions of the housing 10 diagonally forward and leftward. The limit switch 43 is, for example, a contact switch provided at the base of the detection bar 43a having a length of about 70 mm, and is provided to complement the detection range of the range sensor 41a and the ultrasonic sensor 42 which are non-contact sensors. ing. For example, when the housing 10 travels over a step having a height of 25 mm or less, it detects an obstacle existing on the left and right sides in the traveling direction, and detects an obstacle when the housing 10 performs an obstacle avoidance operation. For example, triple detection of the presence or absence of an obstacle can ensure even higher safety. When the limit switch 43 detects an obstacle, the controller 80 stops the traveling of the housing 10 in the traveling direction and prompts the direction change of the housing 10.

The detecting means 40 may further include a bumper sensor (not shown) that is a contact sensor. The bumper sensor is arranged in an elastic bumper (not shown) provided below the front surface 12 of the housing 10. Similar to the limit switch 43, the bumper sensor avoids a collision when a foreign object such as an intermediate protrusion exists in the traveling direction, not only on the floor surface F, while the housing 10 is traveling. When the bumper sensor detects an obstacle, the controller 80 stops the traveling of the housing 10 in the traveling direction and prompts the direction change of the housing 10.

As shown in FIGS. 1 and 2, on the upper surface 11 of the housing 10, an operation panel 55, a first display monitor 60 (an example of a first display means), and a first patrol lamp 65 (an example of a first alarm means). ) Is provided.

The operation panel 55 has a power switch 55a, an automatic operation button 55b, an emergency stop button 55c, an input button 55d for inputting various input information such as a moving speed and a moving direction of the housing 10, and the like. Input information input to various switches and buttons is transmitted to the controller 80.

The first display monitor 60 has a display device such as a liquid crystal panel (LCD: Liquid Crystal Display) or an organic EL panel (EL: Electroluminescence), and is provided inside the housing 10 measured by the first dosimeter 70. Display dose rate.

The first patrol lamp 65 lights up lamps of a plurality of types of colors such as red, yellow, and green in descending order of alarm level according to the alarm level. In the illustrated example, it has a red lighting part 65a, a yellow lighting part 65b, and a green lighting part 65c. A corresponding dose rate threshold value is preset for each alarm level, and each threshold value is stored in the controller 80. The controller 80 calculates an alarm level according to the dose rate measured by the first dosimeter 70, and the controller 80 turns on the alarm level lighting unit according to the measured dose rate.

The first warning means may be a visual recognition warning means such as a patrol lamp or an auditory recognition warning means such as a notification buzzer that emits a notification sound. For example, when the notification buzzer is applied, it is possible to apply a plurality of types of sounds (including silence without sound) such as continuous sound, sounds at regular intervals, and silence in descending order of alarm level.

As shown in FIGS. 2 and 3, the first dosimeter 70 is attached to the rear surface 13 (outer wall surface) of the housing 10 in the vicinity of the dust container 35. A first shield shield 75 is provided around the first dosimeter 70, and an opening 75a is provided on a side surface of the first shield shield 75 facing the dust collecting container 35. Here, the first shielding shield 75 is formed of lead, which has excellent radiation shielding properties.

As shown in FIG. 4, the dust D collected in the dust collecting container 35 disposed inside the housing 10 is discharged, and the wall surface of the housing 10 and the wall surface of the dust collecting container 35 are moved in the X1 direction. The transmitted radiation is guided through the opening 75 a to the first dosimeter 70 which is the rear surface 13 (outer wall surface) of the housing 10 and is installed in the first shielding shield 75, and further, the rear surface 13 (outer wall). Radiation that has passed through the wall surface in the X1′ direction is also guided to the first dosimeter 70, and the dose rates thereof are measured.

As described above, the first dosimeter 70 that measures the dose rate inside the cleaning robot 100 is attached to the outer wall surface of the housing 10 in the vicinity of the dust container 35, and thus floats inside the cleaning robot 100. It is possible to prevent the first dosimeter 70 from erroneously detecting the dose rate due to the generated dust D. If the first dosimeter is installed inside the cleaning robot 100, a large amount of dust D floats inside the cleaning robot 100, and part of the dust D radioactively contaminated in the first dosimeter. There is a risk that they will remain attached and will not separate. In this case, the first dosimeter constantly measures the dose rate of the attached dust, which may lead to false detection of the dose rate inside the cleaning robot 100. In the cleaning robot 100, such a problem is solved by mounting the first dosimeter 70 on the outer wall surface of the housing 10.

On the other hand, since the first dosimeter 70 is attached to the outer wall surface of the housing 10, the first dosimeter 70 can be used not only in the dose rate inside the housing 10 but also in the outside atmosphere E of the housing 10. The dose rate due to the radiation is also measured, and as a result, the dose rate inside the cleaning robot 100 may be erroneously detected. Therefore, in the cleaning robot 100, the first shielding shield that shields the radiation in the external atmosphere E of the housing 10 around the first dosimeter 70 while mounting the first dosimeter 70 on the outer wall surface of the housing 10. 75, and an opening 75a through which the radiation emitted from the dust D passes is provided on the side surface of the first shielding shield 75 facing the dust collecting container 35. With this configuration, the radiation in the external atmosphere E of the housing 10 reaches the first dosimeter 70 in the X2 direction is shielded by the first shielding shield 75, and the dose rate of the radiation in the external atmosphere E is measured. Can be suppressed. Further, the radiation that has passed through the wall surface of the housing 10 and is inside the housing 10 can be effectively guided to the first dosimeter 70 through the opening 75a of the first shielding shield 75, and the cleaning robot 100 It is possible to measure the internal dose rate accurately.

Next, the controller 80 included in the cleaning robot 100 will be described with reference to FIGS. 5 and 6. Here, FIG. 5 is a diagram showing an example of the hardware configuration of the controller of the cleaning robot together with peripheral devices, and FIG. 6 is a diagram showing an example of the functional configuration of the controller.

The controller 80 is configured by a computer, and includes a CPU (Central Processing Unit) 81, a main storage device 82, an auxiliary storage device 83, an input/output interface 84, and a first communication interface 85 that are mutually connected by a connection bus. .. The main storage device 82 and the auxiliary storage device 83 are computer-readable recording media. It should be noted that the above components may be provided individually, or some of the components may not be provided.

The CPU 81 is also called an MPU (Microprocessor) or a processor, and the CPU 81 may be a single processor or a multiprocessor. The CPU 81 is a central processing unit that controls the entire controller 80 including a computer. The CPU 81 expands a program stored in the auxiliary storage device 83 into a work area of the main storage device 82 so as to be executable, and controls peripheral devices through the execution of the program, thereby performing a function matching a predetermined purpose. I will provide a.

The main storage device 82 stores a computer program executed by the CPU 81, data processed by the CPU 81, and the like. The main storage device 82 includes, for example, a flash memory, a RAM (Random Access Memory), and a ROM (Read Only Memory). The auxiliary storage device 83 stores various programs and various data in a recording medium in a readable and writable manner, and is also called an external storage device. The auxiliary storage device 83 stores, for example, an OS (Operating System), various programs, various tables, and the like. The OS includes, for example, a communication interface program that exchanges data with an external device or the like connected via the first communication interface 85. The external device and the like include, for example, an information processing device such as a personal computer (PC), a workstation (WS), a server, and a mobile terminal connected to a network, an external storage device, and the like.

The auxiliary storage device 83 is used, for example, as a storage area that supplements the main storage device 82, and stores a computer program executed by the CPU 81, data processed by the CPU 81, and the like. The auxiliary storage device 83 is a silicon disk including a non-volatile semiconductor memory (flash memory, EPROM (Erasable Programmable ROM)), a solid state drive device, a hard disk drive (HDD) device, or the like. Further, as the auxiliary storage device 83, a drive device for a removable recording medium such as a CD drive device, a DVD drive device, and a BD drive device is exemplified. Examples of removable recording media include CD, DVD, BD, USB (Universal Serial Bus) memory, SD (Secure Digital) memory card, and the like.

The first communication interface 85 is an interface with a network connected to the controller 80. As will be described later, in the cleaning system 600 (see FIG. 10 ), the first communication interface 85 is connected to the user terminal 400 carried by the worker via the network 500, and the first communication interface 85 is connected to the user terminal 400 in a predetermined manner. Data is exchanged according to the communication standard.

The input/output interface 84 is an interface that inputs and outputs data to and from a device connected to the controller 80. A keyboard, a pointing device such as a touch panel or a mouse, an input device such as a microphone, or the like is connected to the input/output interface 84. The controller 80 receives an operation instruction or the like from an operator who operates the input device via the input/output interface 84.

Further, for example, a display device such as a liquid crystal panel (LCD: Liquid Crystal Display) or an organic EL panel (EL: Electroluminescence), or an output device such as a printer or a speaker is connected to the input/output interface 84. The controller 80 outputs data and information processed by the CPU 81 and data and information stored in the main storage device 82 and the auxiliary storage device 83 via the input/output interface 84.

Various operations of the drive wheel motor 23 (23a, 23b), the brush drive motor 32, the distance measuring device 41, the ultrasonic sensor 42, the limit switch 43, the first patrol lamp 65, and the first display monitor 60 by the execution of the program by the CPU 81. Is controlled. The various operations of the second dosimeter 71 and the second patrol lamp 66 are controlled to be executed by a controller 80 which constitutes a cleaning robot according to a second embodiment described later.

Further, as shown in FIG. 6, the controller 80 provides at least various functions of the input/output unit 801, the arithmetic unit 803, the travel control unit 805, and the storage unit 807 by executing the program by the CPU 81. At least a part of the processing functions may be provided by a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), or the like. Similarly, at least a part of the processing functions may be provided by an FPGA (Field-Programmable Gate). It may be a dedicated LSI (large scale integration) such as an Array), a numerical processor, or an image processor, or other digital circuits.

The input/output unit 801 accepts a plurality of threshold value data corresponding to the dose rate, which is transmitted by the construction manager or the like via the user terminal or directly input via the operation panel 55. The input/output unit 801 also receives the dose rate data transmitted from the first dosimeter 70. Further, the input/output unit 801 receives various measurement data transmitted from the distance measuring device 41, the ultrasonic sensor 42, and the limit switch 43.

A plurality of threshold value data corresponding to the dose rate received by the input/output unit 801 and the dose rate data transmitted from the first dosimeter 70 are stored in the storage unit 807. For example, when there are three alarm levels, the first threshold value and the second threshold value are set in descending order of alarm level and stored in the storage unit 807. Further, since the dose rate data is transmitted from the first dosimeter 70 at any time, the dose rate data received by the input/output unit 801 is stored in the storage unit 807 each time.

Further, the dose rate data received by the input/output unit 801 is output and displayed on the first display monitor 60. As described above, since the dose rate data is transmitted from the first dosimeter 70 at any time, the dose rate data received by the input/output unit 801 is output and displayed on the first display monitor 60 each time.

Further, the storage unit 807 is assigned a command signal corresponding to a plurality of stages of alarm ranges based on a plurality of threshold data.

The calculation unit 803 reads a plurality of threshold value data corresponding to the dose rate stored in the storage unit 807 and the dose rate data similarly stored in the storage unit 807, and compares the dose rate data with the plurality of threshold values. Perform an operation. For example, when there are three alarm levels, the first threshold (T1 μSv/h (micro sievert per hour)) and the second threshold (T2 μSv/h) are set in descending order of alarm level. When the dose rate data is in the range exceeding the first threshold value, the corresponding command signal A is transmitted to the first patrol lamp 65, and the corresponding red lighting portion 65a of the first patrol lamp 65 is turned on. On the other hand, as a result of the comparison calculation, when the dose rate data exceeds the second threshold value and is equal to or less than the first threshold value, the corresponding command signal B is transmitted to the first patrol lamp 65, and the corresponding yellow lighting portion 65b in the first patrol lamp 65. Light up. On the other hand, when the dose rate data is equal to or less than the second threshold value as a result of the comparison calculation, the corresponding command signal C is transmitted to the first patrol lamp 65, and the corresponding green lighting portion 65c of the first patrol lamp 65 is turned on.

Further, when the input/output unit 801 receives the direction and distance information of the obstacle from the distance measuring device 41 and the ultrasonic sensor 42, the traveling control unit 805 performs cleaning so as to avoid the obstacle based on the received information. The traveling direction of the robot 100 is determined, and a command signal according to the traveling direction (a command signal regarding the rotation amount of the left and right driving wheels 21) is transmitted to the right driving wheel motor 23a and the left driving wheel motor 23b. If the object determined to be an obstacle does not exist, a command signal of the same rotation amount is transmitted to the right drive wheel motor 23a and the left drive wheel motor 23b, and the cleaning robot 100 is moved straight.

When there is an object determined as an obstacle, the controller 80 determines the traveling direction of the cleaning robot 100 as follows, for example. When the rightward distance and the leftward distance from the straight traveling direction are equal, it is determined that the cleaning robot 100 is approaching an obstacle such as a cone bar or a wall so as to be orthogonal to the cleaning robot 100, and the cleaning robot 100 bends to the left or right. Instruct them to avoid obstacles.

Further, when the distance to the right from the straight ahead direction to the obstacle is shorter than the distance to the left, the controller 80 determines that the cleaning robot 100 is approaching the obstacle from the diagonally right side. Turn left and instruct to avoid obstacles. On the contrary, when the distance from the straight direction to the right is longer than the distance from the left, the controller 80 determines that the cleaning robot 100 is approaching the obstacle from the diagonal left side, and the right side. Ask them to turn around and avoid obstacles.

As described above, when it is determined that the obstacle is approaching in an oblique direction, the controller 80 bends in an obtuse angle to bend the obstacle so that the obstacle can be avoided. Instruct them to avoid it. The control operation may be performed by combining the detection result of the limit switch 43.

The controller 80 controls the drive of the brush drive motor 32 so as to rotate the rotary brush 31 at a constant speed. Further, the controller 80 controls the rotation direction and the rotation amount of each of the right side drive wheel motor 23a and the left side drive wheel motor 23b, depending on obstacles detected by various sensors, presence or absence of a hanging hole or opening, and the like. Thus, the cleaning robot 100 is controlled to switch between the straight movement, the backward movement, and the turning movement.

[Cleaning method according to the first embodiment]
Next, in addition to the above description, an example of the cleaning method according to the first embodiment will be described with reference to FIG. 7. Here, FIG. 7 is a flowchart of an example of the cleaning method according to the embodiment. 7. FIG. 7 is a diagram showing both the flowcharts of the cleaning method of the first embodiment and the cleaning method of the second embodiment.

First, the cleaning robot 100 is operated in various workplaces constituting the intermediate storage facility, and the cleaning robot 100 collects dust having a possibility of radioactive contamination. At the stage before the cleaning robot 100 is in operation, since dust having a possibility of radioactive contamination is not collected inside the cleaning robot 100, the worker can approach the cleaning robot 100 without fear of exposure. The power switch 55a of the cleaning robot 100 can be ON-controlled and operated.

The cleaning robot 100 issues an alarm each time via the first patrol lamp 65 according to the dose rate due to the radiation emitted from the dust collected in the dust container 35 inside the housing 10 (step S902). , Alarm process).

After operating the cleaning robot 100 for a predetermined time, the worker approaches the cleaning robot 100 in order to collect the dust collected in the dust container 35 inside the housing 10. Upon approaching this proximity, the worker takes measures depending on the color of the lamp emitted by the first patrol lamp 65.

When the first warning light 65 emits a green color with a low alarm level, the worker may approach the cleaning robot 100 without taking any measures. Alternatively, when it is obligatory to wear the protective inspection tool before entering the workplace, the cleaning robot 100 is approached with the protective inspection tool still attached.

When the first patrol lamp 65 emits an intermediate yellow alarm level, the worker approaches the cleaning robot 100 after wearing the protective inspection tool or reconfirming the wearing of the protective inspection tool.

In addition, when the first warning light 65 emits a red color with a high alarm level, the worker temporarily stops the work, puts on the shielding vest (for example, puts it on the protection/inspection tool), and then approaches the cleaning robot 100. ..

As described above, after taking measures according to the dose rate inside the cleaning robot 100, the worker approaches the cleaning robot 100 and collects the collected dust (step S904, dust collecting step). The working process (step S906) in FIG. 7 will be described in the cleaning method according to the second embodiment described below.

As described above, according to the cleaning method using the cleaning robot 100, when the worker approaches the cleaning robot applied to the intermediate storage facility, the worker can take measures according to the radiation dose rate in advance. Therefore, the radiation exposure can be effectively prevented.

[Cleaning Robot According to Second Embodiment]
Next, an example of the cleaning robot according to the second embodiment will be described with reference to FIGS. 8 and 9. Here, FIG. 8 is a perspective view of an example of the cleaning robot according to the second exemplary embodiment as viewed from diagonally above and front. Further, in FIG. 9, the dose rate of radiation inside the cleaning robot according to the second embodiment is measured by the first dosimeter, and the dose rate of radiation in the external atmosphere is measured by the second dosimeter. It is a figure showing the state where it is.

The cleaning robot 200 further has a second dosimeter 71 on the upper surface 11 of the housing 10 via a second shielding shield 76, and issues a plurality of types of alarms according to the dose rate measured by the second dosimeter 71. The cleaning robot 100 differs from the cleaning robot 100 in that it further includes a second patrol lamp 66 (an example of a second alarm means). As shown in FIG. 5, in the cleaning robot 200, various operations of the second dosimeter 71 and the second patrol lamp 66 are executed and controlled by the controller 80.

Like the first shield shield 75, the second shield shield 76 is also made of lead, which has excellent radiation shielding properties. Further, a square tube 77 is mounted on the second shielding shield 76, and the second dosimeter 71 is installed in the square tube 77.

As shown in FIG. 2, the cleaning robot 200 includes a first dosimeter 70 in the vicinity of the dust container 35 on the back surface 13 (outer wall surface) thereof, as in the cleaning robot 100, and is provided around the first dosimeter 70. Is equipped with a first shield shield 75, and the dose rate inside the cleaning robot 200 is measured by the first dosimeter 70. Then, in the cleaning robot 200, the second dosimeter 71 measures the dose rate of radiation in the external atmosphere E of the housing 10.

As shown in FIG. 9, the dust D collected in the dust collecting container 35 disposed inside the housing 10 is discharged, and the wall surface of the housing 10 and the wall surface of the dust collecting container 35 are moved in the X1 direction. The transmitted radiation is guided through the opening 75 a to the first dosimeter 70 which is the rear surface 13 (outer wall surface) of the housing 10 and is installed in the first shielding shield 75, and further, the rear surface 13 (outer wall). Radiation that has passed through the wall surface in the X1′ direction is also guided to the first dosimeter 70, and the dose rates thereof are measured. At this time, the first shield shield 75 shields the radiation in the external atmosphere E of the housing 10 from reaching the first dosimeter 70 in the X2 direction.

On the other hand, the second dosimeter 71 measures the dose rate of radiation in the external atmosphere E of the housing 10 that reaches the second dosimeter 71 in the X3 direction. At this time, since the second dosimeter 71 is installed on the upper surface 11 of the housing 10 via the second shielding shield 76, the second dosimeter 71 is collected in the dust collecting container 35 arranged inside the housing 10. The radiation emitted from the dust D that has been dusted passes through the upper surface 11 in the X4 direction, but is shielded by the second shield shield 76 and does not reach the second dosimeter 71.

As described above, in the cleaning robot 200, the dose rate inside the housing 10 can be accurately measured by the first dosimeter 70, and the dose rate in the external atmosphere E of the housing 10 by the second dosimeter 71. Can be accurately measured.

The dose rate data measured by the second dosimeter 71 is transmitted to the controller 80 similarly to the dose rate data measured by the first dosimeter 70. A corresponding dose rate threshold value is preset for each alarm level, and each threshold value is stored in the controller 80. An alarm level corresponding to the dose rate measured by the second dosimeter 71 is calculated by the controller 80, and the controller 80 turns on the lighting portion of the alarm level corresponding to the measured dose rate.

Similarly to the first patrol lamp 65, the second patrol lamp 66 also turns on lamps of a plurality of colors such as red, yellow, and green in descending order of the alarm level according to the alarm level. In the illustrated example, it has a red lighting part 66a, a yellow lighting part 66b, and a green lighting part 66c. In order to clearly distinguish the lighting parts of the first patrol lamp 65 and the second patrol lamp 66, all of the red lighting part 65a, the yellow lighting part 65b, and the green lighting part 65c of the first patrol lamp 65 are continuously turned on. All of the red lighting part 66a, the yellow lighting part 66b, and the green lighting part 66c of the second patrol lamp 66 may be turned on intermittently (intermittently), and both lighting modes may be set reversely. .. By deciding the lighting method in this way, the worker can clearly distinguish between the alarm level of the dose rate inside the cleaning robot 200 and the alarm level of the dose rate in the workplace (external atmosphere E). it can.

As shown in FIG. 8, in the cleaning robot 200, the dose rate measured by the first dosimeter 70 and the dose rate measured by the second dosimeter 71 are both displayed on the first display monitor 60A. It is like this.

According to the cleaning robot 200, the cleaning robot 200 further includes a second dosimeter 71 that measures a dose rate of radiation in the external atmosphere E of the housing 10 (a position away from the cleaning robot in the work place). Since the second patrol lamp 66 that issues a plurality of types of alarms according to the dose rate measured by the dosimeter 71 is provided, in addition to the measures according to the dose rate inside the cleaning robot 200, the outside of the housing 10 is provided. It becomes possible to take measures according to the dose rate in the atmosphere E. Therefore, the worker takes measures based on the alarm issued by the first patrol lamp 65 in the case of work in the vicinity of the cleaning robot 200, and takes the alarm issued by the second patrol lamp 66 in the case of work in a place away from the cleaning robot 200. You can take measures based on this.

[Cleaning Method According to Second Embodiment]
Next, an example of the cleaning method according to the second embodiment will be described based on the above description.

First, the cleaning robot 200 is operated in various workplaces constituting the intermediate storage facility, and the cleaning robot 200 collects dust having a possibility of radioactive contamination. The cleaning robot 200 issues an alarm each time via the first patrol lamp 65 according to the dose rate of the radiation emitted from the dust collected in the dust container 35 inside the housing 10. Further, an alarm corresponding to the dose rate in the external atmosphere E of the housing 10 is issued each time via the second patrol lamp 66 (S902 in FIG. 7, alarm process).

Here, the higher dose rate inside the cleaning robot 200 measured by the first dosimeter 70 means that cleaning by the cleaning robot 200 in the workplace is in progress. Therefore, dust having a possibility of radioactive contamination scattered in the work space is collected by the cleaning robot 200, and the dose rate of radiation in the external atmosphere E (work space) of the housing 10 is reduced. For this reason, the degree of risk of exposure is completely different between the worker who attempts to collect dust collected near the cleaning robot 200 and the worker who works away from the cleaning robot 200. Can be.

Therefore, various workers who work in the space cleaned by the cleaning robot 200 confirm the warning of the patrol lamp suitable for their own work based on the first patrol lamp 65 and the second patrol lamp 66, and take necessary measures. Work on it. Specifically, the worker who works in the vicinity of the cleaning robot 200 takes necessary measures based on the alarm issued by the first patrol lamp 65, and the worker who works in a place away from the cleaning robot 200 is The work is performed after taking necessary measures based on the alarm issued by the two patrol lamps 66 (in step S906 in FIG. 7, the work process (the superordinate concept of step S904)).

As described above, according to the cleaning method using the cleaning robot 200, it is possible to effectively reduce all the exposures of the worker who works in the vicinity of the cleaning robot 200 and the worker who works away from the cleaning robot 200. Will be possible.

[Cleaning system according to the embodiment]
Next, an example of the cleaning system according to the embodiment will be described with reference to FIGS. 10 and 11. Here, FIG. 10 is a diagram showing an example of the overall configuration of the cleaning system according to the embodiment, and FIG. 11 is a diagram showing an example of the hardware configuration of the user terminal. In addition, in the illustrated cleaning system 600, the cleaning robot 200 is applied.

In the cleaning system 600, the cleaning robot 200, the workplace installed dosimeter 300 (an example of the second dosimeter), and the user terminal 400 are communicatively connected via the network 500.

The network 500 includes a public network such as the Internet, a wireless network such as a mobile phone network, a dedicated network such as a VPN (Virtual Private Network), and a LAN (Local).
Area Network) and other networks are included.

The user terminal 400 includes a terminal carried by a worker who works in the workplace, a server in a centralized management building, and the like. For example, the dose rate data measured by the first dosimeter 70 and the second dosimeter 71 by the user terminal 400 carried by the worker between the cleaning robot 200 and the workplace installed dosimeter 300 via the network 500. Give and receive.

As shown in FIG. 11, the user terminal 400 is composed of a computer, and is connected to each other by a connection bus such as a CPU 401, a main storage device 402, an auxiliary storage device 403, an input/output interface 404, a second communication interface 410, and a second communication interface 410. A dual display monitor 420 (an example of a secondary display unit) is provided. The user terminal 400 includes a smartphone, a tablet, a personal computer (PC), and the like.

A plurality of work areas are set in the work area, and a unique work area installed dosimeter 300 is installed in each work area, and dose rate data is obtained from the work area installed dosimeter 300 installed in each work area in the network 500. Is transmitted to the user terminal 400 via. A computer equipped with a communication interface for receiving the dose rate data measured by the workplace installed dosimeter 300 and transmitting the dose rate data to the user terminal 400 is installed in each work area.

On the other hand, the cleaning robot 200 transmits the dose rate data measured by the first dosimeter 70 and the second dosimeter 71 to the user terminal 400.

The worker uses the second display monitor 420 of the user terminal 400 to enter the work area (the external atmosphere E of the housing 10 based on the dose rate data from the second dosimeter 71 or each work area installed dosimeter 300 before entering the work area. It is possible to specify the dose rate in parentheses and enter the workplace after taking measures based on the specified dose rate. If the dose rate of the external atmosphere E is too high, the cleaning robot 200 should be operated remotely before entering the work place, and the dose rate of the external atmosphere E should be reduced before entering the workplace. You can

Further, based on the dose rate data by the first dosimeter 70 displayed on the second display monitor 420, before approaching the cleaning robot 200, the worker takes measures based on the dose rate inside the cleaning robot 200. Thus, it is possible to approach the cleaning robot 200.

[Verification of presence/absence of cleaning robot and worker restraint time]
<Experiment outline>
The present inventors conducted an experiment in the test area to verify the restraint time of the worker in each of the cases where the cleaning robot according to the embodiment is used and not used. Here, the test area was a flat work area of a square (8 m×8 m) in plan view. The cleaning method using the cleaning robot according to the embodiment was taken as an example, and the manual cleaning by an operator was used as a comparative example without using the cleaning robot.

<Experimental results>
As a result of the experiment, in the comparative example, the time required for the cleaning work is 30 minutes, and the restraint time of the worker is 30 minutes required for the cleaning work.

On the other hand, in the embodiment, the time required for the cleaning work for cleaning by the cleaning robot is as long as 60 minutes, but the restraining time of the worker is about 5 minutes required for ON control and OFF control of the power of the cleaning robot. It was found that the restraint time of the worker can be reduced to 1/6 of that of the comparative example, and the restraint time can be significantly shortened.

From this verification result, by performing the cleaning work using the cleaning robot according to the embodiment, the actual work space in the intermediate storage facility can have a large area, so that the effect of reducing the restraint time of the worker becomes more remarkable, It has been proved that labor saving can be achieved. Furthermore, it has been proved that the exposure dose to workers can be significantly reduced by greatly reducing the restraint time.

It should be noted that other configurations such as other components may be combined with the configurations and the like described in the above embodiments, and the present invention is not limited to the configurations shown here. .. This point can be changed without departing from the spirit of the present invention, and can be appropriately determined according to the application form.

10: Case 20: Traveling means 30: Dust collecting means 35: Dust collecting container 40: Detection means 55: Operation panel 60, 60A: First display means (first display monitor)
65: First alarm means (first patrol lamp)
66: Second alarm means (second patrol lamp)
70: First Dosimeter 71: Second Dosimeter 75: First Shield Shield 76: Second Shield Shield 75a: Opening 80: Controller 85: First Communication Interface 100, 200: Cleaning Robot 300: Workplace Installed Dosimeter (No. (Two dosimeters)
400: User terminal 410: Second communication interface 420: Second display means (second display monitor)
500: Network 600: Cleaning system D: Dust E: External atmosphere

Claims (8)

A cleaning robot that collects dust that may have radioactive contamination,
A traveling container, a dust collecting unit for the cleaning robot to clean, and a detecting unit for detecting an obstacle, and a dust container in which the dust collected by the dust collecting unit is stored is provided inside. With a housing,
A first dosimeter attached to the outer wall surface of the housing in the vicinity of the dust container, for measuring a dose rate of radiation emitted from the collected dust and transmitted through the outer wall surface of the housing;
First alarm means for issuing a plurality of types of alarms according to the dose rate measured by the first dosimeter,
And a controller,
The controller stores a plurality of threshold values according to the dose rate,
In the controller, the dose rate data transmitted from the first dosimeter is compared with the plurality of threshold values, a command signal for issuing an alarm of a type corresponding to the dose rate data is transmitted to the first alarm means,
The housing does not have a radiation shielding and shielding function,
Wherein the periphery of the front-line meter, characterized that you have first shielding shield is provided for shielding the radiation of the ambient atmosphere of the housing, the cleaning robot. On the side opposite to the dust container in the first shielding shields, wherein the openings radiation that has passed through the outer wall surface of the housing is released from the dust passes it is provided, claim The cleaning robot according to 1 . Wherein the outer wall surface of the housing is mounted further the second shielding shield, the said second shielding shield, the second dosimeter for measuring the dose rate due to radiation in the ambient atmosphere of the housing is mounted, said The two shielding shields prevent radiation emitted from the dust container from reaching the second dosimeter through the outer wall surface of the housing.
Further provided is a second alarm means for issuing a plurality of types of alarms according to the dose rate measured by the second dosimeter,
In the controller, the dose rate data transmitted from the second dosimeter is compared with the plurality of threshold values, and a command signal for issuing an alarm of a type corresponding to the dose rate data is transmitted to the second alarm means. The cleaning robot according to claim 1, wherein the cleaning robot is a cleaning robot. The cleaning robot according to any one of claims 1 to 3, wherein a first display means for displaying the dose rate data is further attached to the housing. The controller further includes a first communication interface for transmitting the dose rate data to a user terminal via a network and receiving a command signal for ON-controlling the operation of the cleaning robot from the user terminal. The cleaning robot according to claim 1, wherein the cleaning robot is a cleaning robot. A cleaning system that automatically collects dust that may be radioactively contaminated,
A cleaning robot according to claim 5;
At least the user terminal having a second communication interface and a second display means,
The dose rate data is transmitted from the cleaning robot to the user terminal via the network, and a command signal for ON-controlling the operation of the cleaning robot is transmitted from the user terminal to the cleaning robot. Cleaning system characterized by. A cleaning method using the cleaning robot according to any one of claims 1 to 5, wherein dust having a possibility of radioactive contamination is collected.
An alarm step in which the cleaning robot issues a plurality of alarms according to a dose rate due to radiation emitted from the dust collected by the cleaning robot;
A dust collecting step, in which a worker in a space cleaned by the cleaning robot collects the dust collected by the cleaning robot by taking measures set for each of the plurality of alarms. And a cleaning method. In the alarm step, the cleaning robot issues a plurality of alarms in accordance with a dose rate of radiation emitted from the collected dust, and in addition, a dose of radiation in an external atmosphere around the cleaning robot. Issues multiple alerts depending on the rate,
A worker in the space cleaned by the cleaning robot performs the work in the space by taking measures set for each of a plurality of alarms according to the dose rate of radiation in the external atmosphere, The cleaning method according to claim 7, further comprising a working step.

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