JPS62190512A - Unattended running vehicle - Google Patents

Abstract

PURPOSE:To measure an angle to measure the distance to a picture by providing a pair of ITV cameras which are parallel with each other on both sides of a laser beam and are equally distant from the laser beam and are so supported that they are horizontally rotated synchronously with each other in opposite directions. CONSTITUTION:ITV cameras 20 and 21 pick up a laser spot 19 on screens 20a and 21a of themselves and are rotated synchronously with each other in the horizontal direction, namely, the direction of a laser beam 17. ITV cameras 20 and 21 are rotated synchronously with each other so that a laser spot 19' picked up on the screen 20a of one ITV camera 20 and a laser spot 19'' picked up on the screen 21a of the other ITV camera 21 coincide with centers 0 of respective screens 20a and 21a; and when they coincide with centers O, an angle theta between the laser light source 17 and the ITV camera 20 or 21 is measured to measure a length L to the wall surface in accordance with L=D/tantheta. This constitution is equipped in a running vehicle, and the length to the wall surface 18 is measured and the error is absorbed to run the running vehicle along a supposed route.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention is an unmanned vehicle, for example, a device for storing drums and the like containing waste materials accumulated at nuclear power plants, etc. The most suitable method for carrying in and out of these drums within the facility is unmanned operation.

(Conventional technology) In general, nuclear power plants! ! A variety of radioactive wastes are generated at the facility. Among the radioactive waste,
Items with a short half-life can be disposed of relatively easily as their radioactivity levels drop quickly, but items with a long half-life can be disposed of in drums or similar containers while solidified with asphalt or plastic snacks. stored in a container.

Containers such as drums contain radioactive materials, so it is undesirable for humans to directly touch them and work on them due to radiation exposure.
It is necessary to store it in a storage container for a long period of time to reduce the radioactivity level, and for this reason, it is necessary to store it in drums or the like by some means. j1i, and an unmanned vehicle is required for unmanned loading and unloading of drum pipes and the like.

In other words, as shown in Figures 5 and 6, forklift 1, etc. is made unmanned and runs unmanned.
The fork portion 2 is used to load and transport the drum can 3 containing the radioactive material Y'i, and it is stopped from hanging by using the barrier of the storage room wall 4 as a guide.

a5. In order to increase storage efficiency and effectively use and cover the storage area, it is desirable to pile snow on the drums 3 as densely as possible. For this reason, avoid stopping the forklift 1 at a fixed position and stacking the drums 3, etc. It is necessary to carry out the support of

In particular, since the diameter of the drum can 3 etc. is approximately 1 m in diameter,
For dense stacking, it is desirable to position three drums with a viscosity of 10 ctn culm.For this purpose, forklift 1-1 is unattended in a large room such as a storage room.
It was necessary to use p''Q operation to stop this accurately.

For this reason, conventionally, as shown in FIGS. 7 and 8, the floor surface 5
A travel guide 6 is laid along the travel route i of the travel l entrance of the forklift 1, etc., and the travel guide 6 is bent at right angles at the cope portion 6a as necessary and branched into multiple rows to form multiple routes. 1-6b.

6b..., and furthermore, the traveling guide 6 is constituted by an induction cable 7, while a pair of pickup coils 8, 8 are connected to the lower surface of the forklift 1-1 etc. while the forklift 1-1 is traveling, with the induction cable 7 sandwiched between them 7u. The pick-up coils 8 and 8 detect the magnetic field in the space generated at the inductive cable 7 (through which a high-frequency current flows), and from the strength of the detected magnetic fields, the deviation detector 9 determines the 1-J: Operate the steering motor 10 to move the steering wheel of the forklift 1, etc. over the steering wheel.
Configure it so that the line can run, as shown in Figure 9,
The traveling guide 6 is constructed of a light reflective tape 11 that reflects light, and a floodlight 12 is attached to the lower surface of the forklifts 1 to 1 while they are running, and the light emitted from the floodlight 12 is reflected by the reflective tape 11. This offending light is detected by a light detector 113.13 installed in the small body, and the level of this light is amplified by an amplifier 14.14, and then the deviation detector 9 is detected as described above.
Find the deviation between the two light levels and use the steering motor 1.
0 was commonly used.

In all of the above, some type of travel guide 6 such as an induction coupe or a light reflective tape 11 is required between the travel routes 1 and 11.

For this purpose, as shown in FIG. There is also a configuration in which the light is received by the receiving light 2A 15.15..., and each of these light receivers 15.15... determines its own position by triangulation from the angle at which the laser lighthouse 13 is viewed. be. In this case, along the running route on the floor surface 5'C
It is necessary to appropriately arrange the laser lighthouse 13.

Furthermore, a gyroscope is mounted on the small body to determine the angular velocity of a moving object such as a traveling vehicle, and the turning angle is determined by integrating the angular velocity, and the travel distance is determined from the number of rotations of the wheels. There are also some that control the running of all vehicles. However, in this case, it is necessary to correct the absolute position on the way to the assumed route, and for this reason, it is necessary to place landmarks from the assumed route 1 to above. , light reflective marks are often provided. Tsunawara, 11th
As shown in the figure, a traveling vehicle such as a forklift 1 is guided by a gyroscope (not shown) along an assumed route 16, but when it makes a 90° turn at a corner 16a, the angular velocity increases. Since the turning angle is determined by integration, a slight error occurs, and the angular velocity outside the four measurements is accumulated. If we multiply this error by 34 to 90' and make it 80, the mileage is 1III.
This is because at the point L, a deviation of Δχ=l−tan(Δθ) occurs from the target point, and it is necessary to correct Δχ at a point where this deviation is short.

(Problems to be Solved by the Invention) As described above, the conventional technology requires some kind of guide or mark on the driving route 1. In particular, light reflective tape, guidance cables, etc. are installed on the floor, and inspections to prevent accidents and construction work must be carried out in the event that an accident occurs. In particular, light-reflecting tape must be constantly replaced to prevent it from becoming contaminated, and laser lighthouses also require maintenance and inspection of the light-emitting part and upper air parts.

On the other hand, because the target material is bamboo and other unnecessary waste at nuclear power plant facilities, the same drums, etc. are brought in and taken out many times. Since the inside of the storage room becomes a chaotic atmosphere, it is desirable to avoid having people work inside it as much as possible.

Therefore, the following requirements arise in order to use unmanned vehicles at nuclear power plant facilities.

■ No maintenance work will be performed inside the storage facility.

■ Equipment should be as simple and inexpensive as possible.

However, the above-mentioned conventional techniques cannot meet such requirements.

In view of the above, the present invention is a traveling vehicle that unmannedly transports drums and the like containing waste into and out of a storage facility for storing radioactive waste generated at a nuclear power plant 7JIi facility, and in particular, The purpose is to eliminate the need for maintenance of control-related equipment and improve the economic efficiency of the equipment.

[Structure of the invention]

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention provides one laser beam and two laser beams arranged parallel to each other and at equal intervals between the laser beams.
′! It is equipped with a pair of 11' V cameras supported so that people rotate horizontally in opposite directions in synchronization with each other. The matched 11,1 I T
It is configured to measure the distance to the image by measuring the angle of the V camera and the laser light source.

(Function) Then, the laser spot from the laser light source made on the wall is captured by a pair of ITV cameras, and this ITV
By synchronizing the cameras and rotating them in opposite directions,
Measure the J angle θ between the laser light source and the ITV camera when it coincides with the center of the image, and from the distance mlD between the laser light source and the ITV camera, calculate the distance ML to image 1, that is, the wall surface, L= −tallθ.

(Example) Figures 1 to 4 show an example of the present invention.
In the figure, reference numeral 17 denotes a laser light source that emits laser light parallel to the floor surface to create a laser spot 19 on the wall surface 18. I TV camera 2 at equal intervals
0.21 is provided.

This ITV camera 20.21 captures the images 20a, 21
A is for capturing the laser spora 1-19, respectively, and is configured to rotate in synchronization with the horizontal direction, that is, the direction of the laser light source 17.

Thus, the laser spora h19' captured by the image 20a of one ITV camera 20 and the image lJt! of the other ITV camera 21! Sea 1f spot 1-1 caught on 21a
The ITV cameras 20 and 21 are synchronized and rotated in the opposite direction so that 9'' coincides with the center O of the respective images 6920a and 21a. 20 or 21 is measured, and the distance to the wall surface 18 is measured as L=tan θ.

The above two images *20a and 21a are processed by the image correlation processing unit 22.
The phase II degree of the two screens is calculated by 51, and if this is small, a signal is sent to the rotation mechanism 23 for rotating the two pairs of ITV cameras 20 and 21 to rotate them synchronously. , the two images 20a and 21a are at their maximum (in this case, the value is 1) by controlling the angle θ at which the phase 111a is at its maximum and sending the angle θ at which the phase 111a becomes the maximum to the distance calculation unit 24. The arrangement is such that nl calculation of the distance 11L is automatically performed (FIG. 3).

Therefore, on a traveling vehicle such as a forklift truck 1, which is not shown in Fig. 6,
Equipped with the above configuration, as shown in FIG. , and travels to the four clearer 1, and as shown in FIG. 5, drums 3 and the like containing homegrown materials are carried into and out of storage tins.

[Efficacy of invention! Since the present invention has the above-mentioned 41.1 structure, for example, the rotation error △θ after rotation, which occurs when the vehicle is guided by a gyroscope, is corrected after or before rotation between the wall and the vehicle. The distance is measured by 1, and the position PZI is absorbed by 11.
Moreover, in this case, since the laser light source provided for traveling 11 emits laser light, there is no need to provide any equipment on the traveling floor or wall surface.

Therefore, since there is no need for any equipment in the storage tank, there is no need for maintenance and inspection, and there is an effect that human work in a radiation atmosphere can be reduced.

[Brief explanation of drawings]

Figures 1 to 4 show an embodiment of the present invention, Figure 1 is a schematic plan view showing the principle of the present invention, and Figures 2 (A) and (B) are images of an I TV camera. Figure 3 is a block diagram, Figure 4 is a diagram showing the running state, Figure 5 is a perspective view showing the inside of storage JΦ, Figure 6 (A) is a forklift 1 - The same figure (['') is the same front view, Figures 7 and 8 show the conventional example, Figure 7 shows the floor surface 1 Plan view, Figure 8 is the principle of position regulation Figures 9 and 9 show other conventional examples, and Figures 8, 10, and 11 show still other conventional examples, and Figure 10 shows a perspective view, and Figure 11 shows a running state. 1J is a plan view. 1... Forklift 1- (1j vehicle), 17... Sea 1f light source, 18... Wall surface, 19.19', 19"
... Lely' spot, 20.2l-ITV camera,
20a. 21a... Same image, 22... Image correlation calculation unit, 23
...Rotation mechanism, 24...Distance M mouth. Applicant's agent Futo -B [$1 Group 2 Bacteria Item 3 Figure 5 (B) 6th Bacterium

Claims (1)

[Claims] It is equipped with one laser light source and a pair of ITV cameras that are installed in parallel and at equal intervals with the laser light source in between, and are supported to horizontally rotate in opposite directions in synchronization, and the image is captured by the pair of ITV cameras. An unmanned vehicle characterized in that the distance to the image is measured by measuring the angle formed between the ITV camera and the laser light source when the laser spots from the laser light sources respectively coincide with the center of the image.