JPS62105783A - Auxiliary observation device for moving inspection car - Google Patents
Auxiliary observation device for moving inspection carInfo
- Publication number
- JPS62105783A JPS62105783A JP60247363A JP24736385A JPS62105783A JP S62105783 A JPS62105783 A JP S62105783A JP 60247363 A JP60247363 A JP 60247363A JP 24736385 A JP24736385 A JP 24736385A JP S62105783 A JPS62105783 A JP S62105783A
- Authority
- JP
- Japan
- Prior art keywords
- image guide
- guide
- observation
- inspection car
- inspection 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
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は移動点検車における補助観察方式に関−［る
ものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to an auxiliary observation method in a mobile inspection vehicle.
従来、この種の装置としては特開昭６０−７１１７６号
公報に記載されるものがある。Conventionally, this type of device is described in Japanese Patent Laid-Open No. 60-71176.
この装置は第４図Ｃ：示す様に、（１）は親ロボット（
移動点検車） 、ｆ２＋は親ロボット（１１搭載のテレ
ビカメラ、＋ａ＋は子ロボット（補助観察装置ｆｆ）、
＋４１は子ロボット（３）搭載のテレビカメラ、（５）
は子ロボット（３）を上部へ案内するケーブル、（６１
はケーブル（５１及び子ロボツ） ＋３１を上部へ案内
するケーブル、（６）はケーブル（５１及び子ロボット
（Ｘ引を浮上させるガス気球体、（７）は障害物の一例
であるグレーティングである。As shown in Figure 4C, (1) is the parent robot (
mobile inspection vehicle), f2+ is the parent robot (TV camera equipped with 11, +a+ is the child robot (auxiliary observation device ff),
+41 is a TV camera equipped with child robot (3), (5)
is the cable (61) that guides the child robot (3) to the top.
is a cable that guides the cable (51 and the child robot) +31 to the top, (6) is a gas balloon that levitates the cable (51 and the child robot (X-pull)), and (7) is a grating that is an example of an obstacle.
次に動作について説明する、
親ロボットｆｉ＋はテレビカメラ＋２１、子ロボット１
３＋、ケーブル（５）及びガス気球体（６１を搭載し遠
隔操作で走行されている。Next, the operation will be explained. The parent robot fi+ has a TV camera +21 and a child robot 1.
3+, is equipped with a cable (5) and a gas balloon (61) and is operated by remote control.
この時、点検対象物の観察は親ロポツ） ｆｉ＋搭載の
テレビカメラ（２）により行われる。At this time, the object to be inspected is observed using a TV camera (2) equipped with an Oyaropottu FI+.
前記テレビカメラ（２）で観察出来ない箇所についての
補助観察方法として子ロボット（３）を遠隔で上下動操
作可能なケーブル（５）をガス気球体（６）で浮上させ
ている。浮上したガス気球体（６１により親ロボット＋
１１の真上へケーブル１５）が張られ、そのケーブル（
５）を駆動すれば、テレビカメラ＋４１を収納した子ロ
ボット＋３１は上下方向に移動させられるので親ロボッ
ト（１１搭載のテレビカメラ（２１で観察出来ない箇所
については子ロボット（３）搭載のテレビカメラ（４１
で観察を行うようになっている。As an auxiliary observation method for areas that cannot be observed with the television camera (2), a cable (5) that allows the child robot (3) to be moved up and down remotely is floated using a gas balloon (6). Floated gas balloon (parent robot + by 61
Cable 15) is stretched directly above 11, and the cable (
5), the child robot +31 that houses the TV camera +41 can be moved vertically. (41
Observations are now being made.
〔発ＥＪＪが解決しようとする問題点〕従来の親子式点
検用ロボット（補助観察装置）は以上のように構成され
ているので、ガス気球体の寸法が大きくなってしまい、
配管及びグレーティング等の設備状況により、ガス気球
体の浮上可能な高さに制約がある。また、ガス気球体破
裂及びガス保管などの安全性（二ついて考慮が必要であ
る等の問題点があった。[Problem that Hatsu EJJ is trying to solve] Since the conventional parent-child inspection robot (auxiliary observation device) is configured as described above, the size of the gas balloon becomes large.
There are restrictions on the height at which a gas balloon can float due to equipment conditions such as piping and gratings. In addition, there were problems such as the explosion of gas balloons and the safety of gas storage (both of which needed to be taken into consideration).
この発明は上記のような問題点を解消するためになされ
たもので、床面な走行する移動点検車搭載のテレビカメ
ラでは、配管、グレ−ティング。This invention was made to solve the above-mentioned problems, and the television camera mounted on the mobile inspection vehicle that runs on the floor requires piping and grating.
設備機器等が障害物となって観察出来ない箇所を直視型
イメージガイドを使用し、観察出来るようにした装置を
提供することを目的としている。The object of the present invention is to provide a device that uses a direct-viewing image guide to enable observation of areas that cannot be observed due to obstacles such as equipment.
この発明（二部る移動点検車用補助観察装置は、点検車
にイメージガイド送り出１−２・巻き取り機構を備え直
視型イメージガイドを点検箇所まで常設された案内管を
経路と１７、点検対象物を観察出来る位置へ移動させる
ようにしたものである。This invention (an auxiliary observation device for a mobile inspection vehicle consisting of two parts) is equipped with an image guide delivery 1-2 and winding mechanism on the inspection vehicle, and a direct-view image guide is routed through a permanently installed guide pipe to the inspection location. The object is moved to a position where it can be observed.
この発明（二おける直視型イメージガイドは、イメージ
ガイド巻取り及び送り出し機構により移動点検車から案
内管内を通り、点検対象物観察位１ａまで送り込まれ観
察を行うので、案内管のスペースがあれば障害物による
観察範囲の制限を受けなくなる。The direct view type image guide of this invention (2) uses an image guide winding and feeding mechanism to pass from a mobile inspection vehicle through the guide tube and be sent to the inspection target observation position 1a for observation. Observation range is no longer limited by objects.
以下、この発明の一実施例を第１図〜第３図について説
明する。An embodiment of the present invention will be described below with reference to FIGS. 1 to 3.
第１図において、（１）は移動点検車、（２）は移動点
検車（１）搭載のテレビカメラ、（８）は直視型イメー
ジガイド、（９）はイメージガイド巻取り機構（ドラム
）、ｄＩはイメージガイド送り出し機構、αυはイメー
ジガイド巻ＪＲり機構１９１の先端ｆ−取付けられたイ
メージガイド用テレビカメラ、（Ｌ２１はイメージガイ
ド（８１用案内管、（７）は障害物であるグレーティン
グ、ａ３ね障害物である配管、Ｑ４１は点検対象物、１
５）は被写体、叫は画像である。In Figure 1, (1) is a mobile inspection vehicle, (2) is a television camera mounted on the mobile inspection vehicle (1), (8) is a direct-view image guide, (9) is an image guide winding mechanism (drum), dI is the image guide sending mechanism, αυ is the tip f of the image guide winding mechanism 191 - the attached television camera for the image guide, (L21 is the guide tube for the image guide (81), (7) is the grating that is an obstacle, A3 is the pipe that is an obstacle, Q41 is the object to be inspected, 1
5) is the subject, and the scream is the image.
上記のように構成された移動点検車用補助観察装置にお
いては、移動点検車ｉｌ＋が床面を走行しながら移動点
検車（１１搭載のテレビカメラ（２）で点検箇所を観察
して行く。In the mobile inspection vehicle auxiliary observation device configured as described above, the mobile inspection vehicle il+ observes the inspection area with the television camera (2) mounted on the mobile inspection vehicle (11) while traveling on the floor.
点検箇所において、グレーティング・配管又は設備機器
等の障害物により移動点検車搭載のテレビカメラ（２）
で観察できない点検対象物（１４）には、あらかじめ観
察可能な位置まで案内管（１カを設置しておく。At the inspection point, due to obstacles such as gratings, piping, equipment, etc., the TV camera mounted on the mobile inspection vehicle (2)
For inspection objects (14) that cannot be observed, a guide tube (1 tube) is installed in advance to a position where they can be observed.
移動点検車（１）は案内管（１渇の下方の定位置で停止
し、移動点検車（１１搭載のイメージガイド巻取り機構
（ドラム）（９Ｊよりイメージガイド送り出し機構ＯＩ
により直視型イメージガイド（８）を送り出し案内管ｕ
２内へ挿入していく。案内管（１力先端部まで達すれば
送り出し動作を中止し、点検対象物Ｉの観察を行う。The mobile inspection vehicle (1) stops at a fixed position below the guide tube (1), and the mobile inspection vehicle (11) is equipped with an image guide winding mechanism (drum) (9J) and an image guide delivery mechanism (OI).
The direct view image guide (8) is sent out through the guide tube u.
Insert it into 2. When the guide tube (1 force reaches the tip), the feeding operation is stopped and the object to be inspected I is observed.
この時直視型イメージガイド（８）が撮らえた画像はイ
メージガイド巻取り機構（ドラム）（９）の先端に取付
けられたイメージガイド用テレビカメラαυを通してモ
ニタに表示される。At this time, the image taken by the direct view type image guide (8) is displayed on the monitor through the image guide television camera αυ attached to the tip of the image guide winding mechanism (drum) (9).
観察完了時はイメージガイド巻取り機構（ドラム）ｆ９
＋を二より直視型イメージガイド（８）を案内管（１２
＋内より巻取ってしまい、移動点検車ｉｌｌは次の点検
位置へ移動していく。When observation is complete, image guide winding mechanism (drum) f9
Connect the direct-view image guide (8) with the guide tube (12)
It winds up from inside +, and the mobile inspection vehicle ill moves to the next inspection position.
なお、」１記実施例では移動点検車の」二部観察につい
て示したが、イメージガイド送り出■２機構Ｈを点検対
象位置（１合せて、移動点検車の左右又は下方に設けて
もよい。In addition, in the first embodiment, two-part observation of the mobile inspection vehicle was shown, but the image guide sending mechanism H can be installed at the inspection target position (1). .
以上のよう）−１この発明によれば直視型イメージガイ
ドを案内管内を通して１：」的位置へ導き観察するよう
に構成したので、点検対象位置までにある障害物に制約
されず観察性能が向上でき、また、ガス等の危険物（二
対する考慮も不要となる１、As mentioned above)-1 According to the present invention, the direct-viewing image guide is guided through the guide tube to the target position for observation, so observation performance is improved without being restricted by obstacles in the way to the inspection target position. In addition, there is no need to consider dangerous substances such as gas (2).
第１図はこの発り］の一実施例による移ｑνＪ点検市。
用補助観察装置の概略図、第２図はその案内管部詳細図
で、イメージガイド視野範囲を一点鎖線で示す。第３図
はイメージガイド原理図、第４図は従来の親子式点検用
ロボットを示す。
ｉｌ＋・・・親ロボット（移動点検車） 、＋２＋・・
・テレビカメラ、に３１・・・子ロボット（補助観察装
置） 、＋４１・・・テレビカメラ、（７）・・・グレ
ーティング、（８）・・・直視型イメージガイド、（畠
）・・・イメージガイド撮像部、（８ｂ）・・・イメー
ジガイド受像部、（９）・・・イメージガイド巻取り機
構（ドラム）、ｕα・・・イメージガイド送り出し機構
、住υ・・・イメージガイド用テレビカメラ、 ＜１２
１・・・案内管、（１３）・・−配管、α荀・・・点検
対象物、住ω・・・被写体、（１６１・・・画像。
なお、図中同一符号は同一、又は相当部分を示す。Figure 1 shows the movement qνJ inspection city according to one embodiment of this invention. FIG. 2 is a detailed view of the guide tube section of the auxiliary observation device, and the image guide field of view is indicated by a chain line. Fig. 3 shows the principle of image guide, and Fig. 4 shows a conventional parent-child inspection robot. il+...Parent robot (mobile inspection vehicle), +2+...
・TV camera, 31...Child robot (auxiliary observation device), +41...TV camera, (7)...Grating, (8)...Direct-view image guide, (Hata)...Image Guide imaging section, (8b)...image guide image receiving section, (9)...image guide winding mechanism (drum), uα...image guide sending mechanism, housing υ...image guide television camera, <12
1...Guide pipe, (13)...-Piping, α--...Object to be inspected, Housing ω--Subject, (161...Image. In addition, the same reference numerals in the figures indicate the same or corresponding parts. shows.
Claims (1)
イメージガイドと、移動点検車上部より直視型イメージ
ガイドを送り出し、巻き取りする機構部と直視型イメー
ジガイドを点検対象位置まで導く案内管を有し、前記点
検車搭載のテレビカメラで観察出来ない点検対象物を直
視型イメージガイド及びイメージガイド用テレビカメラ
で観察する様にした事を特徴とする移動点検車用補助観
察装置。A mobile inspection vehicle that travels on the floor by remote control, a direct-view image guide, and a guide that sends out the direct-view image guide from the top of the mobile inspection vehicle and guides the winding mechanism and the direct-view image guide to the inspection target position. 1. An auxiliary observation device for a mobile inspection vehicle, characterized in that it has a tube, and an object to be inspected that cannot be observed with the television camera mounted on the inspection vehicle can be observed with a direct view type image guide and a television camera for the image guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60247363A JPS62105783A (en) | 1985-11-05 | 1985-11-05 | Auxiliary observation device for moving inspection car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60247363A JPS62105783A (en) | 1985-11-05 | 1985-11-05 | Auxiliary observation device for moving inspection car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62105783A true JPS62105783A (en) | 1987-05-16 |
Family
ID=17162307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60247363A Pending JPS62105783A (en) | 1985-11-05 | 1985-11-05 | Auxiliary observation device for moving inspection car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62105783A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030079250A (en) * | 2002-04-03 | 2003-10-10 | 주식회사 포스코 | An apparatus for exploring the pipe |
| KR100477044B1 (en) * | 2002-05-15 | 2005-03-17 | 김영석 | The stair climbing robot and traveling method |
-
1985
- 1985-11-05 JP JP60247363A patent/JPS62105783A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030079250A (en) * | 2002-04-03 | 2003-10-10 | 주식회사 포스코 | An apparatus for exploring the pipe |
| KR100477044B1 (en) * | 2002-05-15 | 2005-03-17 | 김영석 | The stair climbing robot and traveling method |
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