JP6881737B2 - Exploration robot - Google Patents

Description

The present invention relates to an exploration robot, and more particularly to a traveling exploration robot having an endless track.

Conventionally, as an exploration robot equipped with a camera, various sensors, and the like and used for finding a rescuer in the event of a disaster and inspecting the underfloor of a building, a robot that travels on an endless track is known. In this type of exploration robot, various methods have been proposed as a mechanism for overcoming obstacles such as steps.

For example, Patent Document 1 includes a main crawler, a front crawler provided at the front portion of the main crawler, and a rear crawler provided at the rear portion of the main crawler, which is a crawler type configured for underfloor inspection of a building. The traveling vehicle is disclosed. In the crawler type traveling vehicle of the same document, the front pulley of the main crawler and the rear pulley of the front crawler are configured to rotate in a coaxial arrangement, and the rear pulley of the main crawler and the front pulley of the rear crawler are interlocked in a coaxial arrangement. It is configured to rotate. Therefore, each belt of the front and rear crawlers orbits in the same direction as the belt of the main crawler at the same speed.

The front crawler is fixed in a non-rotatable state so as to face diagonally upward forward, and the rear crawler is prevented from rotating upward from the state facing backward and rotates downward due to its own weight. It is configured to be able to. With the above configuration, the crawler type traveling vehicle of the same document can travel over the stepped portion. The inspection camera, measuring instrument, etc. are mounted on the side of the main crawler.

Further, for example, Patent Document 2 discloses a crawler traveling type exploration robot provided with this character arm. Both ends of this character arm are fixed to support shafts provided at substantially the center of the endless track zone on both side walls of the vehicle body. Then, this character arm is driven by an arm drive motor and rotates 360 degrees around a support shaft without interfering with the front side, the rear side, and the crawler device of the vehicle body. As a result, it is possible to improve the running performance of the crawler traveling type exploration robot against obstacles and to adjust the shooting angle by the CCD camera provided on the front wall of the vehicle body.

Japanese Unexamined Patent Publication No. 2011-63110 Japanese Unexamined Patent Publication No. 2014-19210

However, in the configuration having a plurality of crawlers in the front-rear direction as in the prior art disclosed in Patent Document 1, there is a problem that the number of parts constituting the traveling device is large and the mechanism is complicated.

In addition, since the front crawler protrudes in front of the main crawler portion on which the camera or the like is mounted and the rear crawler protrudes in the rear, the dimensions of the crawler type traveling vehicle in the front-rear direction become large, and it becomes difficult to turn in a narrow place. There are also problems.

Further, in the configuration provided with this character arm that rotates about a support shaft provided at the center of the vehicle body in the front-rear direction as in the prior art disclosed in Patent Document 2, the character arm is moved forward or backward of the vehicle body. There is a problem that it is difficult to secure a large protrusion dimension. If the protruding dimension of this character arm is small, the running performance for overcoming a step or the like is deteriorated.

Further, in order to project this character arm to the front or the rear of the vehicle body, it is necessary to increase the length of the arm portion. When the arm portion is lengthened, the mass of this character arm increases, and a large amount of power is required to rotate this character arm.

Further, the pair of left and right arm portions are connected by an arm in the width direction of the vehicle body, and this character arm is in a state of protruding forward, rearward or upward of the vehicle body even when not in use. Therefore, this character arm protruding from the vehicle body may be an obstacle, and the crawler type traveling vehicle may be restricted from entering the narrow space and turning in the narrow space.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an exploration robot having excellent runnability that can overcome obstacles with a simple mechanism.

The exploration robot of the present invention has a main body provided with an imaging device, a pair of endless tracks provided on the left and right sides of the main body, and the main body provided on the side of the main body when overcoming an obstacle. An arm portion that rotates to support the main body is provided, and an arm shaft that is a rotation axis of the arm portion is provided coaxially with the front wheel or the rearmost wheel of the endless track, and the front wheel and the front wheel and the arm shaft are provided. the last wheel and Ri rotatably der independently, as the arm portion, and a pair of front arm portions provided on the left and right front side of the main body, a pair which is provided on the left and right of the rear side the body It has a rear arm portion, and the arm portion is formed of a plate-like body connected perpendicularly to the arm axis, and is on a side facing downward when rotated forward of the front arm portion. Is characterized in that a plurality of convex portions having a sharp tip are formed, and a plurality of convex portions having a round tip are formed on a side facing downward when the rear arm portion is rotated rearward. And.

According to the exploration robot of the present invention, an imaging device and an arm portion that rotates on the side of a main body provided with an endless track are provided, and the arm axis that is the rotation axis of the arm portion is the front wheel or the last wheel of the endless track. It is provided coaxially with the wheels and is rotatable independently of the front and rear wheels. By providing the arm shaft coaxially with the front wheel, the arm portion protrudes forward from the front portion of the main body when the tip thereof is rotated so as to face the front side of the main body. Similarly, with respect to the arm portion whose arm shaft is provided coaxially with the rearmost wheel, the arm portion is rotated rearward, so that the arm portion protrudes significantly to the rear of the main body. As a result, by using the arm portion as a lifter for lifting or supporting the main body when the exploration robot gets over an obstacle such as a step, excellent running performance against the obstacle is exhibited. Further, when the arm portion is used as a supporting means, an operating means, or the like of various sensors, the sensor, the manipulator, or the like can be reached at a position away from the main body.

Further, as compared with the configuration in which the support shaft of the arm portion is provided at the center portion in the front-rear direction of the vehicle body as in the prior art disclosed in Patent Document 2, the arm shaft is provided coaxially with the frontmost wheel or the rearmost wheel. The length of the arm portion can be shortened when the size of the arm portion protruding forward or backward from the main body is equally secured. As a result, it is possible to reduce the size and weight of the arm portion and the motor that rotates the arm portion.

Further, since the arm shaft is provided coaxially with the front wheel, the arm portion can be rotated along the side portion of the main body so that the tip thereof faces the rear side of the main body when not in use. .. Similarly, when the arm portion whose arm shaft is provided coaxially with the rearmost wheel is not in use, its tip is directed forward and is arranged at a storage position along the side portion of the main body. As a result, the arm portion does not get in the way, and it is possible to enter a narrow place and turn in a narrow place, and the running performance of the exploration robot is improved.

Further, according to the exploration robot of the present invention, as arm portions, a pair of front arm portions provided on the left and right sides on the front side of the main body, and a pair of rear arm portions provided on the left and right sides on the rear side of the main body. The arm portion may rotate to support the main body when overcoming an obstacle. As a result, the exploration robot can overcome steps and the like, and exhibits excellent running performance capable of running inside a collapsed house or in a place where rubble is scattered in the event of a disaster or the like.

Further, according to the exploration robot of the present invention, the arm portion may be formed of a plate-like body connected perpendicularly to the arm axis. As a result, an arm portion that is easy to process and has sufficient strength to support the main body can be obtained.

Further, a plurality of convex portions may be formed on at least one of the side facing downward when the front arm portion is rotated forward and the side facing downward when the rear arm portion is rotated rearward. .. As a result, the convex portion formed on the arm portion is caught on the step or the like, and slippage between the arm portion and the step or the like can be suppressed. Therefore, the main body can be suitably supported by the arm portion.

Further, according to the exploration robot of the present invention, the front arm driving motor for driving the front arm portion is arranged so that the output shaft faces forward, and the rear arm driving motor for driving the rear arm portion outputs. The shafts may be arranged so as to face rearward, and the output shafts may be connected to the arm shafts via gears. As a result, the relatively heavy front arm drive motor and rear arm drive motor can be arranged near the center in the front-rear direction of the main body, the balance of the exploration robot is improved, and the running performance is improved.

Further, according to the exploration robot of the present invention, a remote control device that is configured to enable wireless communication with a control device provided in the main body and controls an image pickup device, an infinite trajectory, and an arm portion away from the main body, and a remote control device provided in the main body. The remote control device is provided with a detection means for detecting the rotational position of the arm unit, and the remote control device displays an image display unit for displaying an image captured by the imaging device and position information of the arm unit detected by the detection means. It may have an arm position display unit and an arm position display unit. With such a configuration, the operator can accurately grasp the surrounding situation of the exploration robot and the state of the arm part from a place where the exploration robot cannot be directly visually recognized by using the remote control device, and perform exploration. The robot can be operated accurately.

It is a perspective view of the exploration robot which concerns on embodiment of this invention. It is a top view which shows the schematic structure of the exploration robot which concerns on embodiment of this invention. It is a partial cross-sectional plan view near the front wheel on the left side of the exploration robot according to the embodiment of the present invention. It is a side view of the front wheel of the exploration robot which concerns on embodiment of this invention. It is a side view which shows (A) the state which the arm part of the exploration robot which concerns on embodiment of this invention is stored, and (B) the state which is deployed. It is an enlarged view of (A) front arm part and (B) rear arm part of the exploration robot according to the embodiment of the present invention. It is a front view of the remote control device which concerns on embodiment of this invention. It is a control block diagram which shows the schematic structure of the exploration robot and the remote control device which concerns on embodiment of this invention. Shows (A) a normal running state of the exploration robot according to the embodiment of the present invention, (B) a state in which the front arm portion is hooked on the first step portion, and (C) a state in which the front portion is lifted. It is a side view. It is a side view which shows (A) the state where the front part of the endless track reached the first step part, and (B) the state where the rear part is lifted of the exploration robot which concerns on embodiment of this invention. Shows (A) a state in which the front arm portion of the exploration robot according to the embodiment of the present invention is applied to the second step portion, and (B) a state in which the front portion of the endless track reaches the second step portion. It is a side view. It is a side view which shows (A) the state which the rear part of the exploration robot which concerns on embodiment of this invention is lifted, and (B) the state after getting over the 2nd step part.

Hereinafter, the exploration robot according to the embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a perspective view of the exploration robot 10 according to the embodiment of the present invention. The exploration robot 10 is a traveling robot configured to be remotely controllable, and is used for finding a rescuer in the event of a disaster, inspecting the underfloor of a building, and the like.

As shown in FIG. 1, the exploration robot 10 has a substantially box-shaped vehicle body portion 12. A front wheel 21, a rear wheel 22, and a rolling wheel 23 are provided on the side of the vehicle body portion 12. Tracks 20 are attached to the front wheels 21, the rear wheels 22, and the rolling wheels 23. As a result, the exploration robot 10 can travel on rough terrain and the like.

An image pickup device 14 is provided on the upper portion of the vehicle body portion 12. The imaging device 14 includes a camera and a pan / tilt device that rotates the camera in the pan direction and the tilt direction. The pan / tilt device includes, for example, a servomotor or the like as a means for changing the direction of the camera.

A distance sensor 15 is attached to the front surface of the vehicle body portion 12. The distance sensor 15 is, for example, a photoelectric sensor, an ultrasonic sensor, or the like, and can measure the presence or absence of an obstacle such as a step and the distance between the exploration robot 10 and the obstacle or the like.

The exploration robot 10 has a body portion 12, an image pickup device 14, and a rotatable arm portion 30 provided on a side portion of a main body 11 provided with an endless track 20. Specifically, on the outside of the front wheel 21 and the rear wheel 22, a wheel guard 36 having a substantially plate-like shape and fixed to the vehicle body portion 12 is provided, and an arm portion 30 is provided on the outside of the wheel guard 36. Has been done. The arm portion 30 has a pair of front arm portions 31 attached to the side of the front wheel 21 and a pair of rear arm portions 32 attached to the side of the rear wheel 22.

FIG. 2 is a plan view showing a schematic structure of the exploration robot 10, and shows the internal structure of the vehicle body portion 12. As shown in FIG. 2, the front arm shaft 33, which is the rotation shaft of the front arm portion 31, extends in the left-right direction and is provided coaxially with the front wheel 21. A front arm portion 31 is attached in the vicinity of the left and right ends of the front arm shaft 33. The front arm portion 31 is formed in a substantially plate shape, and is attached so that its main surface is substantially perpendicular to the front arm shaft 33.

The rear arm shaft 34, which is the rotation shaft of the rear arm portion 32, extends in the left-right direction and is provided coaxially with the rear wheel 22. Rear arm portions 32 are attached in the vicinity of the left and right ends of the rear arm shaft 34. The rear arm portion 32 is formed in a substantially plate shape, and is attached so that its main surface is substantially perpendicular to the rear arm shaft 34.

As described above, since the arm portion 30 is formed from a plate-like body, the processing of the arm portion 30 is easy. Further, since the main surface of the arm portion 30 is connected substantially perpendicular to the front arm shaft 33 and the rear arm shaft 34, the load for supporting the main body 11 is substantially perpendicular to the main surface of the arm portion 30. Act in parallel. Therefore, the arm portion 30 is formed of a plate-like body and is lightweight, yet exhibits sufficient strength to support the main body 11.

A front arm driving motor 47 for rotating the front arm portion 31 and a rear arm driving motor 50 for rotating the rear arm portion 32 are provided substantially in the center of the vehicle body portion 12 in the front-rear direction. Has been done. The output shaft 48 of the front arm driving motor 47 is provided substantially perpendicular to the front arm shaft 33, and the tip thereof faces forward. The output shaft 51 of the rear arm driving motor 50 is provided substantially perpendicular to the rear arm shaft 34, and the tip thereof faces rearward.

As described above, by directing the tip of the output shaft 48 to the front and the tip of the output shaft 51 to the rear, the relatively heavy front arm driving motor 47 and the rear arm driving motor 50 are moved in the front-rear direction of the vehicle body portion 12. It can be placed near the center. As a result, the balance of the exploration robot is improved and the running performance is improved.

The exploration robot 10 is front-wheel drive, and a traveling motor 41 for driving the right front wheel 21a and a traveling motor 44 for driving the left front wheel 21b are provided inside the vehicle body portion 12. As the front wheels 21 rotate, the endless track 20 rotates, and the rear wheels 22 and the rolling wheels 23 follow the rotation of the front wheels 21. Further, since the front wheel 21a on the right side and the front wheel 21b on the left side are driven by the traveling motor 41 and the traveling motor 44, which are independent of each other, the exploration robot 10 can perform a turning operation in addition to forward and reverse movements. ..

The output shaft 42 of the traveling motor 41 is provided substantially parallel to the axle 25a of the front wheel 21a, and its tip is directed to the right. Further, the output shaft 45 of the traveling motor 44 is provided substantially parallel to the axle 25b of the front wheel 21b, and its tip is directed to the left. By directing the tip of the output shaft 42 that drives the right front wheel 21a to the right and the tip of the output shaft 45 that drives the left front wheel 21b to the left, the traveling motor 41 and the traveling motor 44 are directed to the vehicle body 12 It can be placed near the center in the left-right direction of.

Although not shown in FIG. 2, the inside of the vehicle body portion 12 includes, for example, a control device 18 (see FIG. 8) for controlling the exploration robot 10, a power supply circuit, and an imaging device 14 (see FIG. 1). The control unit, the angle sensor 16 (see FIG. 8) for detecting the inclination of the vehicle body portion 12, the arm position sensor 17 (see FIG. 8) for detecting the angle of the arm portion 30, a temperature sensor, and the like are provided. The angle sensor 16 is, for example, a gyro sensor or the like. As the arm position sensor 17, for example, a rotary encoder or the like that detects the rotation angles of the front arm shaft 33 and the rear arm shaft 34 can be adopted.

FIG. 3 is a partial cross-sectional plan view showing a schematic structure in the vicinity of the front wheel 21b, and shows the vicinity of the portion A in FIG. As shown in FIG. 3, a gear 35 is fixed to the front arm shaft 33. A gear 49 that meshes with the gear 35 is fixed to the output shaft 48 of the front arm driving motor 47. The gear 35 and the gear 49 are, for example, a worm gear or the like, and the rotation of the gear 49 causes the gear 35 to rotate. Further, the vicinity of the tip of the output shaft 48 is rotatably supported by a bearing 55 provided on the vehicle body portion 12. The output shaft 48 may be extended by connecting the rotating shafts using a shaft joint (not shown).

The front wheels 21, axles 25, and gears 24 are configured to be substantially equal on the left and right. The axle 25 is rotatably supported with respect to the vehicle body 12 via bearings 53 such as slide bearings and rolling bearings, for example. A front wheel 21 is attached to the axle 25. The front wheel 21 is, for example, a sprocket or the like, and is fixed to the axle 25 by a bolt, a friction type fastener, or the like (not shown). By using fasteners such as bolts for fixing the front wheels 21, the front wheels 21 can be easily attached, removed, and positioned.

A gear 24 is attached to the vehicle body 12 side of the axle 25. A gear 46 that meshes with the gear 24b on the left side is fixed to the output shaft 45 of the traveling motor 44 on the left side. The gear 24b and the gear 46 are, for example, spur gears and the like, and the rotation of the gear 46 causes the gear 24b to rotate.

The traveling motor 41 on the right side shown in FIG. 2 is also formed in substantially the same manner as the traveling motor 44. Specifically, the gear 43 fixed to the output shaft 42 is a spur gear and meshes with the gear 24a on the right side.

With reference to FIG. 3, the axle 25 and the gear 24 are formed in a substantially tubular shape, and the front arm shaft 33 is inserted through the inner diameter portion of the axle 25 and the gear 24. That is, the front arm shaft 33 is provided coaxially with the axle 25 and the gear 24. Bearings such as slide bearings and needle bearings are provided between the axle 25, the gear 24, and the front arm shaft 33, and the axle 25, the gear 24, and the front arm shaft 33 rotate independently. It is free.

The vicinity of the tip of the output shaft 45 of the traveling motor 44 is rotatably supported by a bearing 54 provided on the vehicle body 12. The output shaft 45 may be extended by connecting the rotating shafts using a shaft joint (not shown). As a result, a space for arranging the output shaft 48 of the front arm driving motor 47 can be secured on the left side of the traveling motor 44.

As shown in FIG. 2, the axle 26 of the rear wheel 22 is formed in a hollow shape substantially like the axle 25 of the front wheel 21, and the rear arm shaft 34 is inserted through the inner diameter portion of the axle 26. .. A bearing is provided between the axle 26 and the rear arm shaft 34, and the axle 26 and the rear arm shaft 34 are independently rotatably configured.

The rear arm driving motor 50 is formed in substantially the same manner as the front arm driving motor 47. Specifically, the gear 52 fixed to the output shaft 51 is a worm gear or the like, and meshes with the gear fixed to the rear arm shaft 34.

As described above, the front arm shaft 33 is provided coaxially with the axle 25, and the rear arm shaft 34 is provided at the same time as the axle 26, thereby reducing the number of shaft seal points for dustproof and explosion-proof and improving the sealing performance of the vehicle body 12. Can be enhanced. This makes it possible to configure a highly reliable exploration robot 10 that can withstand use in a harsh environment.

FIG. 4 is a side view of the vicinity of the front wheel 21b, showing a state in which the front arm portion 31 and the wheel guard 36 shown in FIG. 1 have been removed. As shown in FIG. 4, a plurality of holes 27 are formed in the front wheel 21. As a result, the front wheels 21 can be made lighter to reduce the weight of the exploration robot 10 and reduce the load on the traveling motor 41 (see FIG. 2) and the traveling motor 44 (see FIG. 2). Similarly, holes for weight reduction may be formed in the rear wheel 22 (see FIG. 2).

FIG. 5A is a side view of the exploration robot 10 in a state where the arm portion 30 is housed. FIG. 5B is a side view of the exploration robot 10 in a state where the arm portion 30 is deployed. As shown in FIG. 5A, the front arm portion 31 is along the side portion of the main body 11 of the exploration robot 10, that is, the side portion of the endless track 20, so that the tip of the front arm portion 31 faces rearward when not in use. It is stored.

Here, the front arm portion 31 is formed so that the turning radius of the tip thereof is shorter than the distance between the axles 25 and the axles 26. Specifically, the front arm portion 31 is formed so as to be rotatable 360 degrees without being in contact with the axle 26. As a result, the front end of the front arm portion 31 is located in front of the axle 26 even in the storage position, and is stored in a predetermined storage position without contacting the axle 26.

Similarly, the rear arm portion 32 is also arranged at a storage position along the side portion of the endless track 20 so that the tip of the rear arm portion 32 faces forward when not in use. Since the rear arm portion 32 is arranged outside the front arm portion 31, the turning radius of the tip may be formed longer than the distance between the axles 25 and the axles 26.

Since the front arm portion 31 and the rear arm portion 32 are housed along the side portions of the main body 11 as described above, the front arm portion 31 and the rear arm portion 32 do not interfere with the traveling of the exploration robot 10. As a result, the exploration robot 10 can enter a narrow space and turn in a narrow space, and the traveling performance is improved.

As described above, the front arm portion 31 is configured to be rotatable 360 degrees. For example, as shown in FIG. 5B, the front arm portion 31 rotates so that the tip faces forward and protrudes forward from the main body 11. It will be in the state of By rotating the front arm portion 31, the front arm portion 31 can be used as a lifter for lifting the main body 11 when the exploration robot 10 gets over an obstacle such as a step, and is excellent in traveling against an obstacle. Performance is demonstrated.

As described above, the front arm portion 31 is provided coaxially with the front wheel 21 (see FIG. 2). Therefore, as compared with the case where the arm shaft 33 of the front arm portion 31 is not provided coaxially with the front wheel 21 but is provided behind the front wheel 21, the front arm portion 31 protrudes significantly in front of the main body 11. In other words, the length of the front arm portion 31 can be shortened when the dimensions of the front arm portion 31 projecting forward from the main body 11 are equally secured. As a result, the size and weight of the front arm portion 31 and the front arm driving motor 47 (see FIG. 2) can be reduced.

Further, the front arm portion 31 may be used as a supporting means, an operating means, or the like of various sensors. For example, by providing a sensor, a manipulator, or the like at the tip of the front arm portion 31, the sensor, the manipulator, or the like can be reached at a position away from the main body 11.

Similarly, the rear arm portion 32 is also configured to be rotatable 360 degrees. For example, as shown in FIG. 5B, the rear arm portion 32 rotates so that the tip faces rearward and protrudes rearward from the main body 11. Become in a state. As a result, the rear arm portion 32 can be used as a lifter for supporting the main body 11 when the exploration robot 10 gets over an obstacle such as a step, a supporting means for various sensors, an operating means, and the like.

Further, since the rear arm portion 32 is also provided coaxially with the rear wheel 22 (see FIG. 2), a long reach to the rear can be secured, and the rear arm portion 32 and the rear arm driving motor can be secured. It is possible to reduce the size and weight of 50 (see FIG. 2).

FIG. 6A is an enlarged side view showing the vicinity of the front arm portion 31. FIG. 6B is an enlarged view showing the vicinity of the rear arm portion 32 in an enlarged manner. As shown in FIG. 6A, a plurality of convex portions 37 may be formed on the side facing downward when the front arm portion 31 is rotated forward.

For example, the convex portion 37 is formed in a substantially mountain shape, and the tip thereof is sharp. Further, the front side side 37a of the convex portion 37 is formed obliquely with respect to the extending direction of the front arm portion 31, and the rear side side 37b of the convex portion 37 is formed in the extending direction of the front arm portion 31. It is formed approximately perpendicular to. As a result, the running performance when the front arm portion 31 is used as a lifter is improved.
Further, a plurality of holes 39 may be formed in the front arm portion 31. As a result, the weight of the front arm portion 31 can be reduced.

As shown in FIG. 6B, a plurality of convex portions 38 may be formed on the side facing downward when the rear arm portion 32 is rotated rearward and in the vicinity of the tip end of the rear arm portion 32. The tip of the convex portion 38 is formed to be slightly round. As a result, the running performance when the rear arm portion 32 is used as a lifter is improved.
Further, the rear arm portion 32 may be formed with a plurality of holes 40 for weight reduction.

The shapes of the front arm portion 31 and the rear arm portion 32 are not limited to the above examples, and may be, for example, a shape in which a recess is formed on a side facing downward when deployed, a substantially hook-shaped shape, or the like. good. Further, for example, the front arm portion 31 and the rear arm portion 32 may have a sensor, an operating means, or the like attached to the tip thereof, and various shapes suitable for the sensors or the like can be adopted.

FIG. 7 is a front view of the remote control device 60 for remotely controlling the exploration robot 10. In the following description, FIGS. 1 and 2 will be referred to as appropriate. As shown in FIG. 7, the remote control device 60 includes an image display unit 61, an arm position display unit 62, a traveling operation unit 63, and an arm operation unit 64.

The image display unit 61 is, for example, a liquid crystal display or the like, and has a first display unit 61a and a second display unit 61b. An image taken by the image pickup apparatus 14 is displayed on the first display unit 61a. Further, the second display unit 61b shows the distance information to the obstacle or the like detected by the distance sensor 15, the remaining amount of the battery and the travelable time, and the vehicle body unit 12 detected by the angle sensor 16 (see FIG. 8). Tilt information, temperature information detected by the temperature sensor, detection results by various other sensors, etc. are displayed.

The arm position display unit 62 displays the position information of the front arm unit 31 and the rear arm unit 32 detected by the arm position sensor 17 (see FIG. 8) which is the detection means. The arm position display unit 62 is formed of, for example, a plurality of LEDs arranged in a substantially circular shape corresponding to the front arm portion 31 and the rear arm portion 32, respectively. The arm position display unit 62 can visually indicate the positions of the front arm unit 31 and the rear arm unit 32 by the lighting position of the LED.
The image taken by the image pickup apparatus 14 and the various information described above including the position information of the front arm portion 31 and the rear arm portion 32 may be displayed on one display.

The traveling operation unit 63 includes a right front wheel operation unit 63a that operates the right front wheel 21a of the exploration robot 10, and a left front wheel operation unit 63b that operates the left front wheel 21b. The traveling operation unit 63 is, for example, an analog switch or the like, and can adjust the rotation direction, rotation speed, and the like of the front wheels 21a and the front wheels 21b.

Further, the arm operation unit 64 has a front arm operation unit 64a for operating the front arm unit 31 and a rear arm operation unit 64b for operating the rear arm unit 32. The arm operation unit 64 is formed by, for example, a plurality of push-type switches, and the front arm operation unit 64a includes a switch for rotating the front arm unit 31 in a predetermined direction, a switch for rotating the front arm unit 31 in the reverse direction, and a front arm unit 31. It is formed by a switch that returns it to a predetermined position. Like the front arm operating unit 64a, the rear arm operating unit 64b is formed by a switch that rotates the rear arm unit 32 in a predetermined direction, a switch that rotates in the reverse direction, and a switch that returns the rear arm unit 32 to a predetermined position.

The remote control device 60 is provided with a plurality of toggle switches 65. By operating the toggle switch 65, for example, power ON / OFF, mode switching during traveling, communication synchronization of the exploration robot 10 and the like are performed. Further, although not shown, the remote control device 60 is provided with an operation unit or the like for operating the image pickup device 14.

With the above configuration, the operator of the exploration robot 10 can use the remote control device 60 to directly see the exploration robot 10 from a place where the operator cannot directly see the exploration robot 10 and the surrounding conditions of the exploration robot 10 and the state of the arm portion 30. Can be accurately grasped and the exploration robot 10 can be operated accurately.

FIG. 8 is a control block diagram showing a system configuration of the remote control device 60 and the exploration robot 10. As shown in FIG. 8, the remote control device 60 has a control device 67. The control device 67 has a communication unit 68 for wirelessly communicating with the exploration robot 10. The control device 67 performs various calculations and the like based on the input signal, controls the remote control device 60, transmits operation information to the exploration robot 10, and the like.

The exploration robot 10 has a control device 18. The control device 18 has a communication unit 19 for wirelessly communicating with the remote control device 60, performs various calculations based on the operation information and the like transmitted from the remote control device 60, and controls the exploration robot 10 and the like. Do. Further, the control device 18 transmits the detection results of various sensors provided in the exploration robot 10 to the remote control device 60.

For example, the operation signal is input to the control device 67 by operating the traveling operation unit 63 and the arm operation unit 64 of the remote control device 60. The control device 67 executes a predetermined calculation and transmits an operation signal to the exploration robot 10 via the communication unit 68. The control device 18 of the exploration robot 10 receives an operation signal by the communication unit 19 and executes a predetermined calculation, and executes a traveling motor 41, a traveling motor 44, a front arm driving motor 47, and a rear arm driving motor 50. Etc. are controlled. As a result, the endless track 20 (see FIG. 1) and the arm portion 30 (see FIG. 1) are operated.

Further, the image captured by the image pickup device 14 and the information detected by the distance sensor 15, the angle sensor 16 and the arm position sensor 17 are input to the control device 18 and transmitted to the remote control device 60 via the communication unit 19. To. When the control device 67 of the remote control device 60 receives the signal from the communication unit 19 by the communication unit 68, the control device 67 executes a predetermined calculation and outputs various information such as a detection result to the image display unit 61 and the arm position display unit 62. indicate.

Next, with reference to FIGS. 9 to 12, the operation when the exploration robot 10 gets over the step portion will be described in detail. The arrows shown in FIGS. 9 to 12 indicate the rotation direction of the arm portion 30.

FIG. 9A is a side view showing a normal running state of the exploration robot 10. As shown in FIG. 9A, the exploration robot 10 travels in a normal traveling area where there are no obstacles or the like, with the arm portion 30 housed therein.

FIG. 9B is a side view showing a state in which the front arm portion 31 is hooked on the first step portion X. As shown in FIG. 9B, the exploration robot 10 approaching the first step portion X rotates the front arm portion 31 forward so that the tip passes above the front arm portion 31. It is brought into contact with the first step portion X. As a result, the vicinity of the side 37b of the convex portion 37 of the front arm portion 31 is hooked on the corner portion of the first step portion X.

FIG. 9C is a side view showing a state in which the front is lifted. As shown in FIG. 9C, the front portion of the main body 11 is lifted by further rotating the front arm portion 31. In this way, when the exploration robot 10 gets over the first step portion X, the convex portion 37 is caught by the corner portion or the like of the first step portion X, and the front arm portion 31 and the first step portion X Slip is suppressed. As a result, the front arm portion 31 can preferably support the main body 11, and the exploration robot 10 can easily get over the first step portion X.

Next, the rear arm portion 32 is rotated rearward so that its tip passes above, and the rear arm portion 32 is deployed so that the tip of the rear arm portion 32 approaches the ground. As a result, the exploration robot 10 can be supported by the rear arm portion 32 so as not to fall backward.

Then, by driving the endless track 20 and traveling, the exploration robot 10 moves forward with its front portion lifted. At this time, since the side 37a of the convex portion 37 of the front arm portion 31 is formed obliquely, it is difficult for the convex portion 37 to be caught by the corner portion of the first step portion X. Therefore, the front arm portion 31 does not hinder the advance of the exploration robot 10.

FIG. 10A is a side view showing a state in which the front portion of the endless track 20 of the exploration robot 10 reaches the first step portion X. As the exploration robot 10 moves forward from the state shown in FIG. 9 (C), the front part of the endless track 20 becomes near the corner of the first step X as shown in FIG. 10 (A). get on. Then, the exploration robot 10 is supported by the front portion and the rear arm portion 32 of the endless track 20, and the support by the front arm portion 31 becomes unnecessary.
Therefore, the tip of the front arm portion 31 is lifted upward in preparation for overcoming the second step portion Y, which is the next step.

FIG. 10B is a side view showing a state in which the rear portion is lifted by the rear arm portion 32. As shown in FIG. 10B, the rear portion of the main body 11 is lifted by rotating the rear arm portion 32 in the direction in which the tip of the rear arm portion 32 pushes the ground. At this time, the convex portion 38 formed at the tip of the rear arm portion 32 comes into contact with the ground, and slippage between the rear arm portion 32 and the ground is suppressed. As a result, the rear arm portion 32 can suitably support the exploration robot 10, and the exploration robot 10 can easily get over the first step portion X. Then, the exploration robot 10 travels so as to climb the corner portion of the first step portion X by driving the endless track 20.

FIG. 11A is a side view showing a state in which the front arm portion 31 of the exploration robot 10 is in contact with the second step portion Y. As shown in FIG. 11A, the front arm portion 31 is deployed forward so that the convex portion 37 comes into contact with the vicinity of the corner portion of the second step portion Y. As a result, the exploration robot 10 is suitably supported by the front arm portion 31. Then, the exploration robot 10 is driven by the endless track 20 and climbs up the corner of the first step X.

FIG. 11B is a side view showing a state in which the front portion of the endless track 20 reaches the second step portion Y. As shown in FIG. 11B, as the exploration robot 10 advances, the front portion of the endless track 20 reaches the corner portion of the second step portion Y. Then, the exploration robot 10 advances further and gets over the corner portion of the first step portion X.

FIG. 12A is a side view showing a state in which the rear portion of the exploration robot 10 is lifted. As shown in FIG. 12A, after overcoming the first step portion X, by rotating the rear arm portion 32 downward, the first step portion is pushed by the rear arm portion 32, and the main body is pushed. The rear part of 11 is lifted. The exploration robot 10 travels so as to get over the corner portion of the second step portion Y by driving the endless track 20 in a state where the rear portion is lifted by the rear arm portion 32 and is stably supported.

FIG. 12B is a side view showing a state after getting over the second step portion Y. As shown in FIG. 12B, the exploration robot 10 can get over the corner portion of the second step portion Y and ride on the second step portion Y. Then, after the exploration robot 10 gets over the first step portion X and the second step portion Y, the arm portion 30 is housed as shown in FIG. 5A and returns to the normal traveling state.

As described above, by stably supporting the exploration robot 10 by the arm portion 30, the exploration robot 10 can overcome a step or the like. Therefore, the excellent running performance of the exploration robot 10 capable of traveling inside a collapsed house or a place where rubble is scattered in the event of a disaster or the like is exhibited.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.

10 Exploration robot 11 Main body 14 Imaging device 15 Distance sensor 16 Angle sensor 17 Arm position sensor 18 Control device 20 Infinite orbit 21 Front wheel 22 Rear wheel 30 Arm part 31 Front arm part 32 Rear arm part 33 Front arm shaft 34 Rear arm shaft 37 , 38 Convex 41 Traveling motor 42 Output shaft 44 Traveling motor 45 Output shaft 47 Front arm drive motor 42 Output shaft 50 Rear arm drive motor 51 Output shaft 60 Remote control device 61 Image display unit 62 Arm position display unit

Claims (4)

The main body equipped with an imaging device and
A pair of endless tracks provided on the left and right sides of the main body,
An arm portion provided on the side portion of the main body and rotating with respect to the main body to support the main body when overcoming an obstacle is provided.
Arm shaft as the rotational axis of the arm portion, it said has endless track provided on the top front or end ring coaxial with, Ri and the independently rotatable der the top front and the last wheel,
The arm portion includes a pair of front arm portions provided on the left and right sides on the front side of the main body, and a pair of rear arm portions provided on the left and right sides on the rear side of the main body.
The arm portion is formed of a plate-like body connected perpendicularly to the arm axis.
A plurality of convex portions having sharp tips are formed on the side facing downward when the front arm portion is rotated forward.
An exploration robot characterized in that a plurality of convex portions having a rounded tip are formed on a side facing downward when the rear arm portion is rotated rearward. In the convex portion formed on the front arm portion, when the front arm portion rotates forward, the front side is inclined with respect to the extending direction of the front arm portion, and the rear side is the front side. The exploration robot according to claim 1, wherein the robot is formed so as to be closer to vertical than the side. The front arm driving motor for driving the front arm portion is arranged so that the output shaft faces forward.
The rear arm driving motor for driving the rear arm portion is arranged so that the output shaft faces rearward.
The exploration robot according to claim 1 or 2 , wherein each of the output shafts is connected to the arm shaft via a gear. A remote control device that is configured to enable wireless communication with a control device provided in the main body and controls the image pickup device, the endless track, and the arm portion away from the main body.
A detection means provided on the main body and detecting a rotational position of the arm portion is provided.
The remote control device is characterized by having an image display unit for displaying an image captured by the image pickup device and an arm position display unit for displaying position information of the arm unit detected by the detection means. The exploration robot according to any one of claims 1 to 3.

Images