JPH02179498A - Travelling remote surveillance device - Google Patents

Abstract

PURPOSE:To enable for a surveillance device to maintain a straight standing posture at any moment and at every floor even if one single surveillance device patrolls a plurality of vertical stages by making one single surveillance device to be able to patrol and watch every place that should be watched. CONSTITUTION:A remote surveillance device consists of rails 1 installed in a space where equipments to be watched are installed, a surveillance device traveller 2 which is the surveillance device 3 loaded on a carriage cart 21 travelling along the rails 1, a driving device 4 which drives the device traveller 2 along the rails 1 and a control board 5 which processes data to operate the device 4 and to be transfered from the surveillance device 3. The rails 1 are installed spanning vertically to three floors, the first floor space, the second floor space and the third floor space and so that horizontal parts of the rails 1a, 1b and 1c may be prepared at each floor space, S1, S2 and S3, respectively. Along a longitudinal direction of a guide pipe 11 of the rail 1, a narrow notched groove is formed which has a length long enough to cover a travelling range of the device traveller 2. Each fore-wheel unit of the carriage cart is constituted so as to be able to turn around freely in a horizontal plane and each rear-wheel unit is constituted so as to be able to change positions in a vertical plane along left and right directions.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention makes it possible to monitor from the outside a space that cannot be directly accessed by a person, such as a nuclear reactor facility with a high radiation dose rate. This invention relates to a mobile remote monitoring device.

(Prior art) Inside a nuclear reactor facility, various devices are installed to monitor the operating status, but it is difficult for people to directly enter areas with high radioactivity concentrations inside the reactor facility to inspect the various devices. Therefore, in nuclear reactor facilities with such high radioactivity concentrations, various equipment is monitored using remote monitoring devices.

By the way, conventional remote monitoring equipment in nuclear reactor facilities involves fixedly installing individual monitoring devices (surveillance cameras, etc.) near each type of equipment to be monitored, and connecting each monitoring device with the outside of the facility. It is connected by a communication cable.

(Problem to be solved by the invention) However, in the conventional remote monitoring equipment installed in such nuclear reactor facilities, a monitoring machine is installed for each piece of equipment to be monitored. In addition to the problem that the number of monitoring devices is equal to the number of locations to be monitored, there is also the problem that communication cables must be connected to each monitoring device, and each communication cable is exposed inside the facility, making it complicated. there were.

In view of the problems of the conventional remote monitoring device described above, the present invention enables a single monitoring device to patrol and monitor each area to be monitored, and furthermore, the communication cable of the monitoring device is not exposed to the outside. In addition, even if a single monitoring aircraft is patrolled across the upper and lower floors, the mobile remote control is designed to ensure that the monitoring aircraft is always maintained in an upright position on each floor. The purpose is to propose a monitoring device.

(Means for Solving the Problem) The mobile remote monitoring device of the invention of claim 1 of the present application is installed in a space where there are a number of locations to be monitored so as to travel around each location to be monitored. a series of rails having hollow guide pipes; a monitoring vehicle comprising a bogie that can run along the rails and a monitoring device; a drive device that causes the monitoring vehicle to travel along the rail by transmitting the information, and further includes a notch in the guide pipe that is continuous in the length direction of the guide pipe and over the travel range of the monitoring vehicle. On the other hand, the trolley is provided with a connecting arm that is slidable in the length direction of the notched groove and reaches a hollow space in the guide pipe, and is provided with a connecting arm that can freely slide within the notched groove in the length direction of the notched groove and that connects the communication arm of the monitoring machine. A cable and a power transmission wire of the drive device are respectively inserted into the guide pipe and connected to the connection arm, and the communication cable and the power transmission wire are inserted into the guide pipe and are connected to the inner wall surface of the guide pipe. The invention is characterized in that a guide device for guiding the connecting arm so as not to come into contact with the connecting arm is installed in such a way that it does not become an obstacle to the movement of the connecting arm.

Further, the invention as claimed in claim 2 provides the mobile remote monitoring device as defined in claim 1, wherein the rails are laid across spaces of multiple floors above and below, with a horizontal laying portion within the space of each floor. In addition, the rail is characterized in that the rail provided on the rail is provided in such a manner that the surveillance vehicle can be maintained in a royal position at the horizontally laid portion of each floor of the rail.

(Function) According to the traveling type remote monitoring device of the invention set forth in claim 1 of the present application, the driving device enables the monitoring traveling vehicle to travel along the rails to each location to be monitored in the space. This enables remote monitoring of each location in the space that needs to be monitored using a single monitoring device. Further, the rail has a guide pipe, and a notched groove is formed in the guide pipe, and the connecting arm of the bogie is inserted into the hollow space in the guide pipe through the notched groove, and furthermore, the power transmission wire of the drive device and the monitoring device are inserted. Since the communication cable is inserted into the guide pipe and connected to the connecting arm, the power transmission wire and the communication cable are connected to the connecting arm while the communication cable is inserted through the guide pipe. follows the monitoring vehicle through the guide pipe, and the power transmission wire and communication cable do not protrude outside the guide pipe. Further, the power transmission wire and the communication cable inserted into the guide pipe are prevented from coming into contact with the inner wall surface of the guide pipe by a guide device installed inside the guide pipe.

Further, according to the traveling type remote monitoring device of the invention as claimed in claim 2 of the present application, even if the monitoring vehicle is to be run across multiple floors above and below, the horizontal installation of each floor on the rail is easy. During this period, the surveillance vehicle will be maintained in the upright position.

(Effects of the Invention) According to the traveling type remote monitoring device of the invention set forth in claim 1 of the present application, a surveillance vehicle equipped with a surveillance machine travels along the rails to each location to be monitored in the space. Since it travels, a single monitoring device can monitor each point in the space that needs to be monitored, reducing the number of monitoring devices and reducing communication between the power transmission wire of the drive device and the monitoring device. Since the cable is connected to the monitoring vehicle through the guide pipe of the rail, even if the monitoring vehicle is run along the rail, the power transmission wire and the communication cable are This prevents the power transmission wires or communication cables from protruding outside the guide pipe, preventing troubles such as them getting caught on or coming into contact with other equipment or structures in the space. Even if the power transmission wire and the communication cable are configured to follow the movement of the monitoring vehicle in the guide pipe, the power transmission wire and the communication cable can be moved along the guide pipe by a guide device installed in the guide pipe. This has the effect that the inner wall surfaces of the power transmission wire, communication cable, guide pipe, etc. are less likely to be damaged.

Further, according to the traveling type remote monitoring device of the invention of claim 2 of the present application, even if the monitoring vehicle is made to travel across spaces of multiple floors above and below, the horizontal installation of each floor on the rail is easy. Since the surveillance vehicle in the department runs while maintaining an upright posture, the surveillance machine can face each location to be monitored in a normal posture and deaf position, allowing for accurate surveillance work. effective.

(Embodiment) To explain in detail the present invention with reference to FIGS. 1 to 7, the remote monitoring device of this embodiment can be directly accessed by a person inside a nuclear reactor facility (where the radiation m rate is high). Suitable for installation in small spaces.

The remote monitoring device of this embodiment includes a rail 1 laid in a space where equipment to be monitored is installed, and a monitoring device (surveillance camera) 3 mounted on a trolley 21 that runs along the rail. The monitoring vehicle 2 is connected to the rail l.
A driving bag that runs along the v! t4 and the drive device 4
The basic component is a control panel 5 for operating the monitor and processing data sent from the monitor 3.

Further, in this embodiment, the rail 1 is as shown in FIG.
1st floor space S, 2nd floor space S, and 3rd floor space S
It spans three floors in the vertical direction with S1. S*, horizontal laying part 1a in Ss,
It is laid out so that there are lb and lc.

In addition, in FIG. 1, the horizontally laid parts 1 a, 1 b, and 1 c of each floor space on the rail 1 are shown in a relatively short length range;
a, l b, and l c are the spaces S, , S, on each floor.

It is laid out in a manner that goes around the vicinity of the various equipment to be monitored installed at S. In addition, in the rail installation example shown in Figure 1,
lI! ! Space SI and 2nd floor space S.

The space between 2nd floor space S, and 3rd floor space is sloped.
It is installed vertically between the floor space S2 and the floor space S2.

Rail! Rails 15A, 15 made of relatively thin round pipes are installed at substantially opposite positions on the outer surface of the guide pipe 11 made of round pipes having an appropriate outer diameter (for example, about 140+u+).
It is constructed by fixing (welding) B. Each of these rails
5A and 15B are twisted at an angle of 180' with respect to the guide pipe 11 in the range rising from the second floor space S to the third floor space S in FIG. 1 (details will be described later). Further, the guide pipe 11 of the rail l has the guide pipe 1! towards the length direction and the monitoring vehicle 2
A notched groove 13 with a continuous narrow width (for example, about 35-1) is formed over the range in which the wheel travels. This notch @13
This is so that the connecting arm 29 for connecting the trolley towing cable and communication cable inserted into the guide pipe II can slide in the direction of travel of the trolley across the inside and outside of the guide pipe 11, as will be described later. belongs to.

As shown in FIGS. 3 to 6, the trolley 21 of the surveillance vehicle 2 has a pair of left and right front wheel units 23.23 and a pair of left and right rear wheel units 33.3 on the lower surface of the base plate 22.
3, a cable 43 of the drive device 4 and a communication cable 5 of the monitoring device 3, as described later.
1 and a connecting arm 29 for connecting the two.

Each of the left and right front wheel units 23.23 is
As shown in the figure, a ball bearing 2 is attached to the bottom surface of the base plate 22.
4, the wheel leg 25 is attached so as to be rotatable in a horizontal plane, and two upper and lower wheels 26A, 2 which sandwich the rail 15A (or 15B) from above and below the lower part of the wheel leg 25.
6B and two front and rear side wheels 26G and 26D applied to the outer side of the rail 15A (or 15[1). The upper and lower wheels 26A, 26B are connected to the rail 15 via ball bearings 27 with respect to the wheel legs 25.
A, it is attached so that it can rotate freely within a vertical plane parallel to 1511. Then, each of the left and right front wheel units 23
．． 23 are respectively attached so as to sandwich the pair of left and right rails 15A and 15[3 from the outside.

As shown in FIGS. 3 and 6, each of the left and right rear wheel units 33.33 has a total of four wheels (upper and lower wheels 36A, 36B,
Side wheels 36C, 3 (iD) are attached. and,
These rear wheel units 33° 33 are attached to both rails 15A and 1 at both ends of an arc-shaped slide plate 34 that is attached to the lower surface of the base plate 22 so as to be slidable in an arc shape in a vertical plane.
5B are attached so as to sandwich them from the outside. The slide [34 is held by two holding members 30, 30 attached to the underside of the base plate 22. Each of the holding members 30.30 includes rollers 31.3 that clamp the slide plate 34 from both front and rear sides! And slide [3
Two rollers 32, 32 are provided that slide within an arc-shaped guide groove 4a provided in the roller 4. The holding member 30.degree. 30 holds the slide plate 34 so that it can slide in an arc shape only in the left and right direction within the range of the arc groove 34a. Note that the upper and lower wheels 36A, 36B of the rear wheel unit 33, 33 are rotatable in a vertical plane by ball bearings 37, as in the case of the front wheel unit.

Therefore, this trolley 2! , each front wheel unit 23°23 is rotatable in a horizontal plane, and each rear wheel unit) 33.33
can be displaced in the vertical plane in the left-right direction via the slide plate 34, and the upper and lower wheels 2 of each of the front and rear wheel units
6A, 26B, 36A, 36B are rails 15A, 15B
By being able to rotate freely in a vertical plane parallel to the
Even if each rail 15A, 150 is attached to the guide pipe 11 in a twisted state, each wheel (268 to 2 (iD, 36
8 to 36D) changes, and the trolley 21 moves to each rail +5
You will be able to travel smoothly along A and 15B.

The connecting arm 29 is attached to the base member 4 which is mounted across the inside and outside of the guide pipe through the notch 77713 of the guide pipe 11.
Connect the communication cable 5 of the monitoring device 3 to the inner end of the guide pipe 5.
A cable connecting portion 48 and a cable connecting portion 49 are provided for connecting the power transmitting wire (rope) 43 of the drive device 4 to the power transmitting wire (rope) 43 of the drive device 4, respectively. The upper part of the base member 45 of the connecting arm 29 is attached to a mounting plate 28 fixed downwardly to the lower surface of the base plate 22 so as to be rotatable in an arc in the left-right direction. That is,
An arcuate guide groove 2s11 is formed in the mounting plate 28, and on the other hand, two clamping members 46 are provided on the upper part of the base member 45 of the connecting arm 29 to clamp the mounting plate 29 from both front and rear surfaces.
．． 46 and each of the clamping members 46, 46 are provided with two rollers 47, 47 that slide along the guide groove 28a of the mounting plate 28. The rollers 47, 47 are mounted so as to be able to slide within the guide 1M2Ba. Further, when the connecting arm 29 is attached, the cable connecting portion 48 and the cable connecting portion 49 are positioned near the center of the space 12 in the guide vibrator 11 with an appropriate distance from each other. By pulling the cable connecting portion 49 of the connecting arm 29 in the lengthwise direction of the rail, this truck 21 can be made to travel (forward and backward) along the rail l, and the connecting arm 29 is used as a guide. pipe 11
It is guided by the opening edge of the notch groove 13 and can swing in the left-right direction. Note that even if the connecting arm 29 is driven in the left-right direction, the cable connecting portion 48 and the cable connecting portion 49 are still guide pipes! The position does not shift from the vicinity of the center of the empty space 12 in the summer.

In this embodiment, an electric winch device is employed as the drive device f114 for driving the monitoring vehicle 2. This winch device 4, as shown in FIG. It is wound around the winch drum 41 with the inside inserted through it. Further, the wire rope 43 is fixed at its midpoint to a cable connecting portion 49 of the connecting arm 29 of the truck 21. The winch device 4 pulls the wire rope 43 in either the front or rear direction by operating the winch drum 41 in the clockwise rotation direction or in the left rotation direction.
can be moved forward or backward.

In FIG. 1, reference numeral 44 is a tension spring for tensioning the wire lobe 43.

In this embodiment, a traction type drive device using a winch device is adopted as the drive device 4 for driving the monitoring vehicle 2, but in other embodiments, the trolley 21 is equipped with an electric motor for driving the wheels. It can be equipped with a self-propelled system. In that case, instead of the wire rope, an electric wire cable becomes the power transmission wire in the claims.

The surveillance device 3 mounted on the upper part of the trolley 21 has a surveillance camera 3
A and a control box 3B for controlling the surveillance camera 3A.

Trolley 21. A communication cable 51 consisting of a plurality of cables such as a tip cable and an electric cable is connected between the monitoring machine 3 (control box 3B) of h and the control panel 5 installed outside the space to be monitored. The base end side of this communication cable 51 is wound around a winding drum 52, while the distal end side of this communication cable 51 is passed through the guide pipe 11 and attached to the trolley 21.
After being fixed to the cable connection part 48 of the connection arm 29, it is guided to the control box 3B. The winding drum 52 pays out and rewinds the communication cable 5 according to commands from the control panel 5 as the monitoring vehicle 2 moves forward or backward (in synchronization with the rotation of the winch drum 4I).
The communication cable 51 is controlled so that it does not become sagging or become too tense.

A guide device 7 for guiding the wire rope 43 of the winch device 4 and the communication cable 51 of the monitoring machine 3 is provided in the guide vibe 11 of the rail 1.

This guide device 7 includes a total of three vertical guide rollers 7.
1, 71. Two vertical guide rollers 7 adjacent to 71
A total of two horizontal guide rollers 72 and 72 provided at the lower part between 1.71 and 72 are configured as one set. This guide device 7 includes a total of five guide rollers 7.
Wire rope 7 by 1.71, 71.72.72
Two U-shaped guide parts are formed: a wire rope guide part 73 for guiding the communication cable 13 and a communication cable guide part 74 for guiding the communication cable 51. A plurality of guide devices 7 are installed within the guide vibrator 11 at predetermined intervals of 1 m, and each guide device! 7.
7. Wire rope 43 and communication cable 5
1 is prevented from coming into contact with the inner wall surface of the guide pipe 11.

In this way, even if the surveillance vehicle 2 travels along the rail 1, the wire rope 43 and the communication cable 51 will not rub against the inner wall surface of the guide pipe, and the wire rope 43, the communication cable 51, and the guide pipe will not rub against each other. 11 will no longer be hurt.

2nd floor space S on rail i, 3rd floor space S from the side
, the rising portion 1d (the range designated by the symbol Y in FIG. 1) that rises to the side is shown in enlarged view in FIGS. 2 and 7. Space S, side horizontal laying part tb and 3rd floor space S
A posture maintaining mechanism 6 for driving the monitoring traveling vehicle 2 in an upright posture is provided at the horizontal laying portion 1C on the , side, respectively. That is, in this embodiment, the horizontal laying part 1b and the rising part 1d on the side of the second floor space S in the rail l
and the horizontal laying part 1c on the side of the third floor space S3 are bent in a substantially U-shape. For example, when the surveillance vehicle 2 runs on the rail 1 without changing its attitude with respect to the rail 1, the second floor space S, An inconvenience arises in that the monitoring vehicle 2 starts to run downward in either the side horizontal laying section 1b, the third floor space S, or the side horizontal laying section IC, and the posture maintenance mechanism 6 improves this problem. It is for the purpose of

This posture maintenance mechanism 6 is a rail 15A, 15A of the rail l.
Guide the pipe! On the other hand, the rail 1 is twisted by an angle of 90° between the horizontal laying part 1b on the side of the second floor space S and the rising part ld, and the rising part! d and the horizontal laying part 1c on the side of the 3rd floor space S, by further twisting it by an angle of 90°, and the horizontal laying part 1b on the side of the 2nd floor space S
The rail l between the floor space S and the side horizontal laying part 1c.
Total of 5A and 15B! It is configured to be displaced by 80°. In this way, as shown in Figure 2, the rail H
The surveillance vehicle 2 is about to displace to the posture shown by the chain lines in the range of the horizontal laying part 1b on the side of the second floor space S, and the horizontal laying part 1c on the side of the third floor space S, and the horizontal laying part 1c on the side of the second floor space S2 is displaced. The surveillance vehicle 2 travels in the laying section 1b and the horizontal laying section 1c on the side of the third floor space S3 while maintaining an upright posture. In this way, monitor vehicle 2 is on the rails! If you run in an upright position on the horizontal laying part of each floor space, the monitoring machine 3
The monitor can be placed facing each location in an upright position, making it possible to perform accurate monitoring work.

Also, the horizontal laying part on the side of the second floor space S where the rails can be placed!
In the range from b to the rising portion 1d, the notch groove 13 of the guide pipe 11 is set at an angle with respect to the guide pipe 11 in order to allow the posture of the surveillance vehicle 2 to change. 8
It is twisted by 0°. That is, as shown in FIG. 2 and FIG. 7, the notch F413 is placed in relation to the guide pipe II in the range from position (a) to position (b) near the rising part ld in the horizontal installation part 1b on the side of the second floor space S. Twist at an angle of 90° and horizontally install the part on the second floor space side! A part of the corner between b and the rising portion 1d (position (
b) to position (c)) further at an angle of 90°.
It is formed in a dull state. Also, guide pipe 1
The guide device 7゜7... installed in the wire rope 43 and the communication cable 51 as shown in FIG.
The mounting posture is sequentially changed so that the guide device 7 does not come off. That is, in FIG. 7, the A-A arrow view to the J-J arrow view shown on the outer side of the rail l correspond to the A-A to JJ arrow directions of the rail l, respectively. A wire rope 43 and a communication cable 51 are connected to each of the guide devices 7, 7 and 7 at a part of the corner of the rail 1.
- The wire rope 43 and the communication cable 51 are installed so as not to come off, and to prevent the wire rope 43 and the communication cable 51 from coming into contact with the inner wall surface of the guide pipe 11. In addition, in FIG. 7, the GG arrow view or the JJ arrow view is indicated by A-A.
The arrow direction of the arrow view or F-F arrow view is an angle of 180
The view from the direction displaced by ゛ is displayed.

The mobile remote monitoring device of this embodiment is installed in a space that people cannot directly enter, such as inside a nuclear reactor facility, and a single monitoring device 3 monitors various devices in that space. It is designed to be able to patrol and monitor sequentially.

That is, in FIG. 1, the winch drum 4! of the drive device 4 is controlled by remote control from the control panel 5. When rotated to the left,
The wire rope 43 is actuated in the direction of arrow A, and the surveillance vehicle 2 is towed in the forward direction (in the direction of the arrow 6) along the rail l.Conversely, when the winch drum 41 is rotated clockwise, the wire rope 43 is activated. The monitoring vehicle 2 is actuated in the direction of arrow B, and the monitoring vehicle 2 is towed in the backward direction (direction of arrow B) along the rail 1.

Therefore, by simply rotating the winch drum 41 in either the forward or reverse direction, the surveillance vehicle 2 can be moved to each floor space S, , S, etc.
, S, can be sequentially circulated through the spaces on each floor while monitoring the various devices installed inside. Further, when the winch drum 41 is operated, the winding drum 52 for the communication cable 51 also performs a winding or unwinding action in synchronization to prevent the communication cable 51 from becoming too tense or sagging. . Furthermore, wire rope 4
Since the wire rope 43 and the communication cable 51 are inserted into the guide vibrator 11, the wire rope 43 and the communication cable 51 protrude outside the guide vibrator 11 even when the surveillance vehicle 2 runs along the rail 1. Moreover, since the wire rope 43 and the communication cable 51 are guided by the guide device 7, the wire rope 43
Also, the communication cable 51 does not come into contact with the inner wall surface of the guide vibrator 11. In addition, the monitoring vehicle 2 is located in the horizontally laid portion 1a of each floor space S, , S, , S, on the rail i.

When traveling along Ib and Ic, the vehicle is always maintained in an upright posture, and the monitoring device 3 can always accurately monitor each device to be monitored. Incidentally, various data monitored by the monitoring device 3 are sent to the control panel 5 side via the communication cable 51 and displayed on a cathode ray tube or the like.

[Brief explanation of the drawing]

FIG. 1 is an overall schematic perspective view of a traveling remote monitoring device according to an embodiment of the present invention, FIG. 2 is a partially enlarged perspective view of FIG. 1,
Figure 3 is a side view of the surveillance vehicle used in the mobile remote monitoring device in Figure 1, Figure 4 is the right side view of Figure 3, and Figure 5 is the right side view of Figure 3.
The figure is a sectional view taken along the line ■-■ in FIG. 3, FIG. 6 is a sectional view taken along the line ■-■ in FIG. FIG. l...Rail 2...Surveillance vehicle 3...Surveillance machine 4 ・ ・ ・ 5 ・ ・ 6 ・ ・ 7 ・ ・ ・ l 1 ・ ・ 12 ・ ・ l 3 ・・ 15A, 15B 2 l ・ ・ 29 ・ ・ 43 ・ ・ 5!・ ・ ・Drive device, control panel, attitude maintenance mechanism, guide device, guide vibrator, void space, notch groove, rail, trolley, connecting arm, power transmission wire (wire rope) ・Communication cable Figure 3 Figure 4

Claims (1)

[Claims] 1. A series of rails (1) that are laid in a space where there are a plurality of locations to be monitored and that are laid around each location to be monitored and that have a guide pipe (11) that is hollow inside. , a monitoring vehicle (2) having a monitoring machine (3) attached to a trolley (21) that can run along the rail (1), and a power transmission wire (43) attached to the monitoring vehicle (2). a drive device (4) that causes the monitoring vehicle (2) to travel along the rail (1) by transmitting power through the guide pipe (11); A continuous notch groove (13) is formed in the longitudinal direction and over the traveling range of the monitoring vehicle (2). Notch groove (13
) and is slidable in the length direction of the guide pipe (1).
A connecting arm (29) that reaches the space (12) in the monitor (3) and a power transmission wire (51) of the monitoring device (3) and the drive device (4) are provided.
43) are connected to the connection arm (29) while being inserted into the guide pipe (11), and the communication cable (43) is inserted into the guide pipe (11).
51) and the power transmission wire (43) are connected to the guide pipe (
11) A traveling remote monitoring device characterized in that a guide device (7) for guiding the connecting arm (29) so as not to come into contact with an inner wall surface is installed so as not to obstruct movement of the connecting arm (29). 2. The rail (1) spans spaces on multiple floors above and below, and within the space on each floor there are horizontally laid sections (1a, 1).
b, 1c), and
The rails (15A, 15B) provided on the rail (1) are connected to the horizontally laid parts (1a, 1b, 1c) of each floor on the rail (1).
Claim 1, characterized in that the surveillance vehicle (2) is provided in such a manner that the surveillance vehicle (2) can be maintained in an upright position in the vehicle (2).
A mobile remote monitoring device.