JPS58142499A - Mobile type inspection monitoring system - Google Patents
Mobile type inspection monitoring systemInfo
- Publication number
- JPS58142499A JPS58142499A JP2492682A JP2492682A JPS58142499A JP S58142499 A JPS58142499 A JP S58142499A JP 2492682 A JP2492682 A JP 2492682A JP 2492682 A JP2492682 A JP 2492682A JP S58142499 A JPS58142499 A JP S58142499A
- Authority
- JP
- Japan
- Prior art keywords
- inspection
- monitoring
- monitoring system
- robot
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、原子力発電プラントや化学プラントなど各種
プラント施設に設置された各種機器８配管、弁などの異
常個所を遠隔で検知するための移動式点検システムに関
する。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a mobile device for remotely detecting abnormalities in various equipment 8 piping, valves, etc. installed in various plant facilities such as nuclear power plants and chemical plants. Regarding inspection systems.
原子力発電プラント、化学プラントなど各種プラント施
設では、機器の故障や配管の漏洩などによって重大な事
故を引き起す可能性をもち１通常時において定期的な点
検監視が必要である。この点検監視は主として作業員の
プラント施設内の巡回によって行われている。。Various plant facilities such as nuclear power plants and chemical plants have the possibility of causing serious accidents due to equipment failure or piping leakage, so regular inspection and monitoring are required during normal times. This inspection and monitoring is mainly performed by workers patrolling the plant facilities. .
ところがプラント施設における各種機器や配管。 However, various equipment and piping in plant facilities.
信号線などは、縦横に交差しているので、作業員による
点検作業鉱１機器間の狭隘々通路や配管の裏側など無塩
な央部を要求される所が多い、しか４これらＯ点検個所
が、施設内の通常の通路から奥に入如込んでいて多岐に
点在する場合が多く。Since signal lines and the like intersect vertically and horizontally, there are many places where workers are required to inspect salt-free central areas such as narrow passages between equipment or the back side of piping. However, in many cases, they are located deep inside the facility from the normal passageway and are scattered in various places.
作業員に対する負担が大暑く、作業能率が悪い。This places a heavy burden on the workers and reduces work efficiency.
また原子力発電プラントではこのため点検作業時に放射
線被曝の危険を伴うものであった。できれば作業員は機
器から離れたとζろから点検作業が行えることが望まし
い、というのが現状であるψ〔発明の目的〕
本発明は、上記の現状に鮨み１点検作業時の作業員に対
する作業の軽減１作業能率の向上、危険性の低下などを
図るため１点検監視ロボットの使用を可能とした移動式
点検監視システムを提供する。In addition, nuclear power plants pose a risk of radiation exposure during inspection work. The current situation is that it is desirable for workers to be able to perform inspection work from a distance from the equipment, if possible. In order to improve work efficiency, reduce risks, etc., we provide a mobile inspection monitoring system that allows the use of an inspection monitoring robot.
上記の目的を達成するため５本発明システムは。 In order to achieve the above objects, the present invention system has five features.
点検作業を遠隔操作で行うことのできる点検Ｉｉ視ロボ
ットと、この点検監視−ボット１載せて、プラント施設
内を移動する点検車との組合わせにょつて構成する。It is constructed by combining an inspection robot II that can carry out inspection work remotely and an inspection vehicle that carries this inspection monitoring bot 1 and moves within the plant facility.
点検車は点検監視ロボットを積み降しできるスペースを
持ち、またこれを遠隔操作するための、制御用コンピュ
ータ、電源、操作盤、各検針１１６および表示盤などを
備え、自走でき、作業員の運転によって作業区域を巡回
できるようにする。The inspection vehicle has a space for loading and unloading the inspection monitoring robot, and is also equipped with a control computer, power supply, operation panel, each meter reading 116, display panel, etc. for remote control, and is self-propelled, making it easy for workers to operate. Be able to patrol the work area by driving.
点検監視ロボットは、作業用マニピュレータやテレビカ
メラ、温度針、湿度針、放射線量率計表どの各検針＃Ｉ
（至）材から構成され、上記点検車に載って運ばれ、所
要の場所に降ろされた彼は遠隔操作によって機器間の狭
路や配管裏側へ入り込んで点検作業ができるようにする
。The inspection monitoring robot handles each meter reading #I, such as a work manipulator, a TV camera, a temperature needle, a humidity needle, and a radiation dose rate meter table.
It is made of lumber and is carried on the inspection vehicle mentioned above and lowered at the required location.It is then controlled by remote control that allows it to enter narrow passages between equipment and the back side of piping to carry out inspection work.
以下図に就いて本発明の一実施例を説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第１図は本発明システムの構成を示し、中央制−室ｌ１
点検車コおよび点検監視ロボット３より１°”制”１′
劇０１′踵１紅″°１ ；交信可能で点検軍コお
よび点検監視ロボッ）Ｊ（７） ＋作業状態を
モニタすることができる。点検車コは点検監視ロボッ）
Ｊを後部収納スペース参に搭載して作業員Ｏ操縦により
て点検区間を移動する。FIG. 1 shows the configuration of the system of the present invention, and shows the central control room l1.
1 degree control from inspection vehicle and inspection monitoring robot 3
Drama 01' Heel 1 Red''°1; Communication is possible with the inspection vehicle and inspection monitoring robot) J (7) + Can monitor the work status. The inspection vehicle is the inspection monitoring robot)
J is loaded in the rear storage space and moved through the inspection area under the control of worker O.
各点検作業域近くで点検監視ロボット３を降し、点検車
ｌ上の操作パネルＪを操作して無線による遠隔操作でロ
ボッ）Ｊを点検対象物６へ接近させて、４！ｒ種針側デ
ータを収集する。Lower the inspection monitoring robot 3 near each inspection work area, operate the operation panel J on the inspection vehicle L, and use remote control by wireless to make the robot J approach the inspection object 6, and 4! Collect needle side data.
第一図は点検監視ロボッ）Ｊを稜部収納スペース参に載
せた状態の点検車２の外観図である。点検車コの操作パ
ネルＪには、操縦ハンドルク、アンテナｌ、ロボット走
行用モニターテレビｖ１点検用等エターテレビＩＯ、ロ
ボット操作スイッ？１ｉｌｉＩ八スピーカｌコ、温度針
や湿度計などの各種計測器表示針／Ｊが取如何けられて
いる。Figure 1 is an external view of the inspection vehicle 2 with the inspection monitoring robot J placed on the ridge storage space. The operation panel J of the inspection vehicle includes a control handle, an antenna L, a monitor TV v1 for robot running, an Eta TV IO for inspection, and a robot operation switch. Eight speakers and display hands for various measuring instruments such as a temperature needle and a hygrometer are included.
第２図は、点検監視ロボットＪの外観図である。FIG. 2 is an external view of the inspection and monitoring robot J.
内部にバッテリｔｕを持ち、モータ駆動の車輪７球より
て独立して走行できる。そして走行用テレビカメラ／４
．！ニビエレータ／り、照明用ランプ／ｌ。It has a battery TU inside and can run independently on seven motor-driven wheels. And a running TV camera/4
．． ! Nivierator/l, lighting lamp/l.
マイク−ホンｌデ、送受償用アンテナ〃などが装置され
ている ｗ＝ビ、レータ／りの先端には点検監視用針側
器ボックス２／が取シ付けられ、内部には点検作業に必
要な点検用テレビカメラ、ｉｕｅセンサ、湿度センサ、
放射線量率計、集音マイクなどが内蔵されている。A microphone/phone terminal, an antenna for transmission/reception, etc. are installed at the tip of the controller, and a needle box 2/ for inspection and monitoring is installed inside. Necessary inspection TV camera, IUE sensor, humidity sensor,
It has a built-in radiation dose rate meter, sound collection microphone, etc.
第参図線以上のシステムを用いた点検作業の１例を示す
０点検対象物番は通路ｎよシブラント機器間の狭路を通
って奥の方に在る場合で、作業員による直接の点検は狭
路に阻まれて不可能である。Figure 1 shows an example of inspection work using the system shown above. 0 The object number to be inspected is located in the back of aisle n through the narrow passage between Sibrand equipment, and is directly inspected by a worker. is impossible due to the narrow road.
本システムでは、点検監視ロボット３を遠隔操作によっ
て点検対象物４に接近させ点検作業を可能にする。すな
わち、先ず作業員は１点検車コを作業入口へ移動し１点
検監視ロボッ）Ｊを降し、走行用モニタテレビデで監視
しながら、ロボット操作スイッチ／’／を用いて遠隔操
作して点検監視ロボッ）Ｊを目的の対象物６に接近させ
る。さらにマニピュレータｌりを操作して点検監視用ｔ
ｔｉｉｌｌ器ボックス２／を適切な位置に持ってゆく、
各種針側データは無線で点検車−に送られ１点検用モニ
タテレビ／θや各種計測器表示針／Ｊなどによって対象
物６の状態を知ることができる。この測定データは必要
に応じて中央制御室Ｉへ転送される。データ収集後は、
再度遠隔操作によって点検監視ロボットＪを操縦し、点
検車−に収納し、次の点検作業区域へ移動する。In this system, the inspection monitoring robot 3 is brought close to the inspection object 4 by remote control to enable inspection work. That is, first, the worker moves the first inspection vehicle to the work entrance, lowers the first inspection monitoring robot (J), and while monitoring it on the driving monitor TV, performs the inspection by remotely controlling it using the robot operation switch /'/. The monitoring robot) J approaches the target object 6. Furthermore, operate the manipulator l for inspection and monitoring.
Bring the tiller box 2/ to the appropriate position,
Various needle side data are sent to the inspection vehicle by radio, and the condition of the object 6 can be known from the inspection monitor TV/θ and various measuring instrument display needles/J. This measurement data is transferred to the central control room I as necessary. After data collection,
The inspection monitoring robot J is operated by remote control again, stored in the inspection vehicle, and moved to the next inspection work area.
碌お変形例として、中央制御室ｌ、点検車２゜点検監視
ロボット３間の信号伝達は、無線でなく有線でもよく、
点検車コは敷設されたレール上を移動するようにしても
よい。As a modified example, the signal transmission between the central control room 1, the inspection vehicle 2, and the inspection monitoring robot 3 may be wired instead of wireless.
The inspection vehicle may be moved on laid rails.
以上本発明の移動式点検監視システムを用いることによ
シ１作業員は点検本土から遠隔ですべての点検作業を行
なうことができ、作業の軽減や作業能率の向上が計られ
、また原子力発電プラントでの作業に伴う危険性を軽減
することができる。As described above, by using the mobile inspection and monitoring system of the present invention, workers can perform all inspection work remotely from the inspection mainland, reducing work and improving work efficiency. can reduce the risks associated with working in
第１図は本発明システムの一実施例を示す構成図、第２
図は同システムに用いる点検車の斜視図。
第３図は同点検監視ロボットの斜視図、第亭図は同シス
テムの作業形態の一例を示す説明平面図である。
ｌ・・・中央制御室、コ・・・点検車、Ｊ・・・点検監
視ロボット、亭・・・収用スペース、ｊ・・・操作パネ
ル、６・・・点検対象物、り・・・親機操縦ハンドル、
ｔ・・アンテナ、？・・ロボット走行用モニタテレビ、
１０・・・点検用モニタテレビ、ｉｉ・・・ロボット操
作スイッチ群、／コ・・・スピーカ、／３・・・各種計
測器表示計、／峠・バッテリ、 ｌｓｚ・・車輪、１６
・・・走行用テレビカメラ、ｌり・・・マニピュレータ
、／ト・・照明用ランプ、／り・・・マイクロホン、〃
・・・アンテナ、コ／・・・点検監視用計測器ボックス
、ｎ・・・通路。
□出願人代理人 猪 股 清（、
筋 １図
躬 ２図FIG. 1 is a configuration diagram showing an embodiment of the system of the present invention, and FIG.
The figure is a perspective view of the inspection vehicle used in the system. FIG. 3 is a perspective view of the inspection and monitoring robot, and FIG. 3 is an explanatory plan view showing an example of the working form of the system. L... Central control room, K... Inspection vehicle, J... Inspection monitoring robot, Tei... Expropriated space, J... Operation panel, 6... Inspection object, Ri... Parent aircraft control handle,
t...antenna?・・Monitor TV for robot running,
10...Inspection monitor TV, ii...Robot operation switch group, /Co...Speaker, /3...Various measuring instrument indicators, /Toge/battery, lsz...Wheels, 16
・・・Television camera for driving, ･･･manipulator, ･･･lighting lamp, ･･･microphone,〃
...Antenna, K/...Measuring instrument box for inspection and monitoring, n...Aisle. □Applicant's agent Kiyoshi Inomata (Figure 1, Figure 2)
Claims (1)
１１１．配管などを遠隔操作によって点検することがで
きる点検監視μボットと、この点検監視セポットを載せ
て施設内を移動する点検車とからなることを＊＊とする
移動式点検監視システム。 ２１点検車は１点検監視ロボットの遠隔操作に必要な制
御用コンビエータ、電源、操作盤および咎種計ＩＩＩ器
表示盤などを備えることを特徴とする特許請求の範囲第
１項記載の移動式点検監視システム。 Ｊ３点検監視ロボットは１作業用マニピ凰レータ。 テレビカメラ Ｓ変針 ｍ変針、放射線量率計などの各
種計−ｊｉｓ材から構成され、点検車側から遠隔操作さ
れてプラント機器間の狭路や配管裏側へ入り込むことが
できるように設定したことを特徴とする特許請求の範囲
第１項記載の移動式点検監視システム。[Claims] 1. 41 for nuclear power plants, chemical plant facilities, etc.
111. This is a mobile inspection and monitoring system that consists of an inspection and monitoring μbot that can remotely inspect piping, etc., and an inspection vehicle that carries this inspection and monitoring setpot and moves around the facility. 21 The mobile inspection vehicle according to claim 1, wherein the inspection vehicle is equipped with a control combiator, a power source, an operation panel, a spore meter III display panel, etc. necessary for remote operation of the 1 inspection monitoring robot. Monitoring system. The J3 inspection and monitoring robot is a single-work manipulator. It is made up of various instruments such as a TV camera, S-shifting direction, M-shifting direction, and radiation dose rate meter, and is set up so that it can be remotely controlled from the inspection vehicle and enter narrow passages between plant equipment and the back side of piping. A mobile inspection and monitoring system as claimed in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2492682A JPS58142499A (en) | 1982-02-18 | 1982-02-18 | Mobile type inspection monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2492682A JPS58142499A (en) | 1982-02-18 | 1982-02-18 | Mobile type inspection monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58142499A true JPS58142499A (en) | 1983-08-24 |
Family
ID=12151721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2492682A Pending JPS58142499A (en) | 1982-02-18 | 1982-02-18 | Mobile type inspection monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58142499A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60210720A (en) * | 1984-04-05 | 1985-10-23 | Ohbayashigumi Ltd | Monitoring device for clean room |
| JPS60211315A (en) * | 1984-04-06 | 1985-10-23 | Ohbayashigumi Ltd | Inspecting device for clean room |
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| JPS636419A (en) * | 1986-06-27 | 1988-01-12 | Toda Constr Co Ltd | Automatic measuring method using robot |
| JPH0615195U (en) * | 1992-07-28 | 1994-02-25 | 石川島播磨重工業株式会社 | Specimen measurement system in the factory |
| JP2004237435A (en) * | 2002-12-20 | 2004-08-26 | Sharp Corp | Group robot system, sensing robot contained in group robot system, base station contained in group robot system and pheromone robot contained in group robot system |
-
1982
- 1982-02-18 JP JP2492682A patent/JPS58142499A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60210720A (en) * | 1984-04-05 | 1985-10-23 | Ohbayashigumi Ltd | Monitoring device for clean room |
| JPH0510605B2 (en) * | 1984-04-05 | 1993-02-10 | Obayashi Constr Co Ltd | |
| JPS60211315A (en) * | 1984-04-06 | 1985-10-23 | Ohbayashigumi Ltd | Inspecting device for clean room |
| JPH0510606B2 (en) * | 1984-04-06 | 1993-02-10 | Obayashi Constr Co Ltd | |
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| JPH0415066B2 (en) * | 1984-09-20 | 1992-03-16 | Tokyo Shibaura Electric Co | |
| JPS636419A (en) * | 1986-06-27 | 1988-01-12 | Toda Constr Co Ltd | Automatic measuring method using robot |
| JPH0615195U (en) * | 1992-07-28 | 1994-02-25 | 石川島播磨重工業株式会社 | Specimen measurement system in the factory |
| JP2004237435A (en) * | 2002-12-20 | 2004-08-26 | Sharp Corp | Group robot system, sensing robot contained in group robot system, base station contained in group robot system and pheromone robot contained in group robot system |
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