JPS58210248A - Running assist apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a travel assist device that assists an automatic vehicle traveling inside a nuclear reactor containment vessel to safely travel up stairs.

[Technical background of the invention and its problems]

Generally, various equipment such as main steam pipes, safety relief valves, and recirculation pumps are housed within the reactor containment vessel. Since the inside of the reactor containment vessel has a high radiation level and is filled with nitrogen gas, it is not desirable for workers to enter the containment vessel and monitor the various four reactors at the front station.

Therefore, conventionally, a remote-controlled autonomous vehicle was equipped with an ITv camera, a radiation dosimeter, a thermometer, etc. to monitor the inside of the containment vessel. However, the travel route of the automatic vehicle includes stairs, and the automatic vehicle must regularly travel along these stairs.

Therefore, at the top of the stairs, the attitude of the autonomous vehicle changes rapidly at the boundary between the stairs and the flat road, and a severe impact is applied to the autonomous vehicle.

As a result, the impact caused the self-driving vehicle and the 11 instruments installed in it to malfunction.

Additionally, if the angle of the stairs is steep or if the center of gravity of the autonomous vehicle is high, there is a small risk that the autonomous vehicle will topple over and fall down the stairs.

[Purpose of the invention]

The object of the present invention is to allow an automatic vehicle that travels all the way up the stairs to have a sharp appearance at the boundary between the flat road and the stairs, which is located at the top of the stairs.
An object of the present invention is to provide a driving assist device capable of preventing changes in the speed of driving and allowing an automatic driving vehicle to run smoothly.

[Summary of the invention]

The travel assist device # according to the present invention is provided with an inclined plate pivotally supported in the width direction of the stairs at the upper end of the stairs, and the detection unit detects when the own or other traveling vehicle stands on the inclined plate. , front both 1
A drive mechanism for tilting the tilting plate using the drive tb is operated by a detection signal from the detection section.

[Embodiments of the invention]

A first embodiment of the present invention will be described with reference to FIGS. 1 and 2. In the figure, reference numeral 2 indicates a staircase located in the middle of a travel path inside the reactor containment vessel, and the automatic vehicle 4 is configured to run on the staircase 2 by remote control. The self-driving vehicle 4 is equipped with, for example, a cover type traveling mechanism, and is equipped with an ITV camera,
Equipped with radiation SStS meter, variable meter, etc. Said stairs 2
An inclined plate 6 is provided at the upper end of the inclined plate 6.
is rotatably supported by a shaft 8 provided along the width direction of the staircase 2 at the upper end of the staircase 2. Further, a detection unit 10 is incorporated in the cleaning slant plate 6, and this detection unit 10 is configured to detect a cart applied to the slant plate 6 and detect that the automatic traveling vehicle 4 is positioned above the slant plate 6. It is composed of

And the lower surface 1jl of the inclined plate 6! A full space 12 is formed in I, and a hydraulic cylinder 14 as a drive mechanism is accommodated in this empty space 12.

The lower end of the hydraulic cylinder 14 is rotatably supported on the floor surface of the empty section 1'6'i. The bent tip of the rod 16 of the hydraulic cylinder 140 is also pivotally supported on the lower surface of the inclined plate 6 in a rotational manner.

Further, the hydraulic cylinder I4 is configured to expand and contract in response to a detection signal from the detection unit 10 and a remote control by, for example, a worker in the central control room.

Such a configuration operates as follows.

First, when the self-driving vehicle 4 ascends the stairs 2, the hydraulic cylinder 14 is extended in advance to move the inclined plate 6 up the stairs.
I'll give you $+ for Yuken. In this state, the regular vehicle 4 is raised and stopped on the inclined plate 6. At this time, the detection unit IO detects the weight of the automatic vehicle 4 and sends out a detection signal.

This detection signal causes the hydraulic cylinder 14 to contract, thereby moving the inclined plate 6 to a horizontal position.

Then, the automatic traveling vehicle 4 is caused to travel again.

When the automatic traveling vehicle N4 descends the stairs 2, the hydraulic cylinder 14 is closed in advance to position the inclined plate 6 in a horizontal position. In this state, the automatic vehicle 4 is driven toward the upper end of the stairs and stopped on the inclined plate 6. detection m1
o sends out a detection signal as described above. This detection signal causes the hydraulic cylinder 14 to extend and tilt the inclined plate 6 to the same angle as the stairs. And again self-driving car 4
When the self-driving vehicle 4 moves forward, it moves forward from the inclined plate 6 to the stairs 2 and descends the stairs 2.

In the first embodiment of this invention, which operates as follows, the stairs 2
The automatic vehicle 4 smoothly passes the boundary between the flat road and the stairs 2 at the upper end of the road. Therefore, it is possible to prevent impact from being applied to the automatic vehicle 4 and to reduce failures of the self-driving vehicle 4 and the measuring instruments.

Furthermore, since the attitude of the automatic vehicle 4 does not change suddenly at the boundary between the flat road and the stairs 2, the automatic vehicle 40 travels stably and the automatic travel N4 can be prevented from rolling.

Next, a second embodiment of the present invention will be fully described with reference to FIG.

In FIG. 3, the same parts as in the first embodiment will be described with the same reference numerals. This second embodiment 1: uses a bow-binion mechanism as a one-body spider structure, and in the figure, there are 20 bows,
It is. This rack 2θ is attached to the space 12 so as to be freely projectable and retractable. The rack 200 has a narrow shape cut on both sides, and the pinions 22 and 22 are configured to mesh with this tooth profile. And Binion 2:z, 22n
The rack 20 is configured to be moved one rotation by a lightning motor (not shown) to raise and lower the rack 20.

And is there a link at the tip of the rack 20? 4 is rotatably supported in the field. The four ends of link 24 (lllll i
'! A rotatable stamp is attached to the lower surface of the inclined plate 6, and the inclined plate 6 is moved 1'J4 by raising and lowering the rack 2 degrees.
It is designed to be effective.

With this configuration, in addition to the advantages obtained in the first embodiment, the following advantages can be obtained. That is, in the second embodiment, the hydraulic pressure generator is driven once by a single-movement motor, so that the hydraulic pressure generator as in the first embodiment can be made smaller and the entire apparatus can be made smaller.

Note that the present invention is not limited to the above two embodiments. For example, the detection unit 1o is not limited to one that detects the load applied to the inclined plate 6, but may be one that detects the load applied to the drive mechanism. Furthermore, it is not limited to those used only in nuclear reactor containment vessels, but can also be applied to chemical plants, steel plants, etc.

〔Effect of the invention〕

According to the present invention, when a remotely controlled autonomous vehicle travels on a staircase in the middle of a travel route, the automatic vehicle is prevented from abruptly changing its posture at the top of the stairs. Can run smoothly on the upper end. A driving assist device can be provided.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a first embodiment of the present invention, FIG. 2 is a longitudinal sectional view showing the first embodiment of the invention, and FIG. 3 is a longitudinal sectional view showing the second embodiment of the invention. be. 2... Stairs, 6... Inclined plate, 10... Detection unit, 1
4...Hydraulic cylinder (, drive 1'i5!s), 2
0... Rack (drive mechanism), 22... Binion (instrumental structure), 24... Link (drive mechanism).

Claims (3)

[Claims] (1) A staircase on which a remotely controlled autonomous vehicle travels, and an inclined plate pivotally supported in the width direction of the staircase at the upper end of the staircase;
A driving aid comprising: a detection unit that detects that the autonomous vehicle is positioned on the inclined plate; and a drive mechanism that operates based on a detection signal from the detection unit and causes the inclined plate to tilt. Device. (2) The travel assist device according to claim (1), wherein the drive mechanism is an oil field cylinder, and the inclined plate is inclined by extension of the hydraulic cylinder. (3) The driving mechanism according to claim (1), wherein the drive mechanism is a rack and pinion mechanism, and the drive mechanism rotates a pinion to move a rack, and the rack tilts the inclined plate. Auxiliary equipment.