WO2016143806A1 - Transportation device equipped with heliport - Google Patents

Transportation device equipped with heliport Download PDF

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Publication number
WO2016143806A1
WO2016143806A1 PCT/JP2016/057273 JP2016057273W WO2016143806A1 WO 2016143806 A1 WO2016143806 A1 WO 2016143806A1 JP 2016057273 W JP2016057273 W JP 2016057273W WO 2016143806 A1 WO2016143806 A1 WO 2016143806A1
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WO
WIPO (PCT)
Prior art keywords
drone
heliport
unmanned traveling
platform
carrier
Prior art date
Application number
PCT/JP2016/057273
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French (fr)
Japanese (ja)
Inventor
健志 西村
智章 吉田
一輝 荻原
Original Assignee
学校法人千葉工業大学
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Application filed by 学校法人千葉工業大学 filed Critical 学校法人千葉工業大学
Priority to JP2017505365A priority Critical patent/JP6713984B2/en
Publication of WO2016143806A1 publication Critical patent/WO2016143806A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/12—Anchoring
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
    • G21C17/013—Inspection vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the present invention relates to a mobile heliport for a drone.
  • the present invention relates to a technology suitable for investigation activities in places where it is difficult for humans to enter such as high-concentration radioactively contaminated places when an accident occurs at a nuclear facility.
  • a crawler type traveling vehicle is suitable as a device for investigating and searching for a disaster area that is unstable and unpredictable immediately after the disaster.
  • the present applicant has disclosed an unmanned traveling mobile body as Patent Document 1 (Patent No. 554,092), Patent Document 2 (Patent No. 5684100), Patent Document 3 (JP 2013-114330), and Patent Document 4 (JP No. 2013-114322) and the like, and proposes an invention that can investigate and inspect the site even in situations where the reactor is damaged, such as the Fukushima nuclear accident, or the entire facility is destroyed.
  • Autonomous multi-rotor helicopters are being studied, and various studies are being conducted, including hobby use, transportation, photography, and surveys.
  • a dangerous environment such as a nuclear facility accident
  • the operator cannot enter the facility and control it visually, and in a damaged situation, it is not possible to fly autonomously with drawings alone. It is difficult to use at the accident site. If a drone can fly and investigate an accident facility or a place where it cannot enter, it can investigate a wider area than a traveling body.
  • the present invention aims to realize the operation of a drone that can operate even in a nuclear facility where it is difficult for humans to enter, such as a high-concentration radioactive space.
  • the present invention is a transport body in which a drone is installed on the site even under adverse conditions, and a drone heliport is provided on an unmanned traveling mobile body that realizes an investigation or the like.
  • the gist of the present invention is as follows. 1. A transport body comprising an unmanned traveling mobile body and a drone heliport provided on an upper surface of the unmanned traveling mobile body. 2. 1. A wired communication device is provided. The carrier described. 3. The heliport is provided with a platform having a platform as a take-off / landing surface and a fixed surface and a rotating shaft provided in the periphery thereof, and the housing has a structure for fixing a leg portion of the drone. Or 2. The carrier described. 4). A plurality of casings are provided, and at least one of the casings has a power supply contact. ⁇ 3. The carrier according to any one of the above. 5.
  • the unmanned traveling mobile body is a crawler type drive body, and includes a main crawler belt arranged on the left and right and a sub crawler provided with rotating arms provided on the front and rear and the left and right. It is equipped with a battery for use.
  • the carrier according to any one of the above. 7).
  • the scanner is located below the platform during take-off and landing of the drone, and in other cases, the scanner is located at a position extending upward from the platform. 1.
  • An unmanned traveling vehicle with a heliport can be put into a place where it is difficult for the operator to enter and the drone can be used, so the range of action can be expanded.
  • the drone can be operated in a nuclear facility where it is difficult for humans to enter, such as high-concentration radioactive spaces. It is possible to capture and transport the drone firmly even on rough terrain.
  • the carrier can be steered by wired means. Since the power supply function is provided to the heliport, it is possible to reduce the battery load of the drone, increase the mounting capacity of the investigation equipment, etc., and to increase the drone activity time by charging.
  • the unmanned traveling vehicle is not limited to the crawler type, but this crawler type unmanned traveling vehicle can move over obstacles such as stairs, and the drone can fly independently based on the information collected by the unmanned traveling body. Can be synergistically high. By using an unmanned traveling vehicle that does not have a heliport as a support and operating the carrier with a heliport wirelessly from the support, it is possible to collect farther information.
  • FIG. An example of a drone.
  • Power supply contact 92 Power supply cable DESCRIPTION OF SYMBOLS 100 ... Conveyance body 200 ... Unmanned traveling mobile body 250 ... Communication cable 300 ... Controller 301 ... Monitor 302 ... Operation tool 350 ... Shielding body D ... Drone DL ... Leg Db ... Leg base Dbs ... Rim
  • the present invention is a transport body having a drone heliport on the upper surface of an unmanned traveling mobile body.
  • the heliport is provided with a rotating housing that can capture a drone and can run stably, and the rotating housing is provided with a power supply function so that the drone can be charged in a landed state.
  • It has a base function that provides information collected by a drone's self-sustained flight as information collected by a sensor function such as a scanner mounted on a carrier even in situations where it is difficult for people to enter and conditions are unknown.
  • the unmanned traveling vehicle is a means for transporting the drone in an environment where a person cannot approach.
  • the form can design a suitable means of transportation depending on the flight conditions of the drone.
  • an explanation will be given by taking an example of an unmanned traveling mobile body that can be active even in such a severe environment.
  • unmanned traveling vehicles are controlled using wired means. Although it is possible to obtain information on disaster areas such as sampling and shooting even with unmanned traveling vehicles, it is difficult to obtain information from a high position, so by using a drone, information on the height of other areas And the ability to grasp the damage situation will be greatly improved.
  • the heliport has the conditions used for drone takeoff and landing.
  • drones can fly autonomously using GPS.
  • a function is provided that makes it possible to enter and operate in an unpredictable environment such as a damaged factory or tunnel.
  • the heliport has a flat platform and a function to capture the drone that has landed so that the drone will not fall even if the carrier moves.
  • the unmanned traveling mobile body includes equipment capable of supplying electric power to the drone so that the drone's activity time can be secured.
  • FIG. 7 the outline of the conveyance body 1 provided with the drone heliport 3 provided in the upper surface of the unmanned traveling mobile body 2 and the said unmanned traveling mobile body 2 is shown.
  • FIG. 7A is a plan view
  • FIG. 7B is a side view.
  • the unmanned traveling mobile body 2 is a crawler type, and shows an example driven by a wheel-in motor.
  • the unmanned traveling mobile body includes main crawler belts 21R and 21L on the left and right, and sub-crawlers 22 that rotate like four arms on the front, rear, left and right.
  • a center base bar 26 is provided at the center of the machine body, and the heliport 3 and the scanner 4 that can be expanded and contracted are installed above the center base bar 26.
  • the unmanned traveling mobile body is equipped with other necessary sensors such as a camera and a light. Sensors other than the scanner 4 should not protrude upward from the heliport.
  • This crawler type unmanned traveling mobile body can adopt the structure already proposed by the present applicant in Patent Documents 1 to 4 described above. Further, the structure proposed as Japanese Patent Application No. 2014-0669986 can be employed.
  • the heliport 3 is provided in a flat plate shape having a plane on which a drone can take off and land.
  • the scanner 4 grasps the surrounding situation of the carrier 1 at a position extended higher than the heliport and supplies flight conditions for the drone.
  • the heliport 3 is provided at a position higher than equipment members such as a sensor of the unmanned traveling mobile body 2 so as not to obstruct take-off and landing.
  • the scanner 4 is also lowered to a position lower than the heliport when taking off and landing.
  • the drone using the heliport of the present invention is designed separately, the drone includes a leg portion suitable for the heliport and capable of taking off and landing.
  • FIGS. The conveyance body of one embodiment of the present invention is shown in FIGS. It is the schematic of the conveyance body 1 provided with the helicopter 3 for drones provided in the upper surface of the unmanned traveling mobile body 2 and the said unmanned traveling mobile body 2, FIG. 1 is the perspective view seen from diagonally forward upper direction, FIG. It is.
  • the unmanned traveling vehicle 2 is provided with main crawler belts 21R and 21L provided on the left and right sides, sub crawlers 22a, 22b, 22c and 22d existing at the four corners, a fall prevention bar 25 on the side surface 5, and a center base bar 26 in the center of the machine width.
  • the front and rear cameras 45a and 45b, the steering communication cable 61, the scanner 4, the heliport 3 and the like are provided on the center base bar.
  • the scanner 4 is shown in the raised position, but the support column 41 can be expanded and lowered to a position lower than the heliport 3.
  • the heliport 3 is provided above the equipment such as the cable holder 62 with a support column extending from the center base bar 26.
  • the heliport 3 is provided with a platform base 32 and a platform upper plate 31 provided thereon. The reason why the two stages are provided is to provide a space on the base 32 such as providing a drive mechanism for rotating the casing 33 and providing a guide mechanism for the casing 33.
  • these mechanisms can be provided by providing recesses in the base or platform, and the invention is not limited to the double structure of the base and the upper plate.
  • the support structure of the heliport can be designed so that a support portion is provided on the side surface of the unmanned traveling mobile body and a base formed on the upper surface of the main crawler is used.
  • This base in addition to the heliport, it is possible to equip equipment such as equipment for wired operation including a cable holder for wired operation.
  • the heliport has a casing 33 provided with a rotation shaft at the four corners of the upper plate 31 provided above the base 32, and the casings are installed so that their tips are up and down and constitute a state of a hand. ing.
  • the upper plate 31 is provided with grooves 34a and 34b for guiding the rotation of the two casings 33a and 33c.
  • the housing 33 is rotated by a driving unit provided on the base side, and can be rotated from the standby position in the peripheral portion to the assembly position where the drone is captured. Blurring can be suppressed by inserting a downward projection 37 provided on the housing 33 into the guide groove 34 and turning it.
  • the protrusion 37 can be provided with a stopper to enhance the capturing function.
  • the guide engaging grooves and protrusions are not limited to the two shown in the figure, and one to a plurality can be arbitrarily provided.
  • One to many rotating housings can be provided.
  • the housing can be provided with a power supply contact for drone and can also have a drone charging function. In this case, a battery for supply is mounted on the unmanned traveling mobile body 2.
  • a storage portion can be provided on the side surface 5 for easy attachment and detachment.
  • FIGS. 3A shows a plan configuration of the heliport
  • FIG. 3B shows a drive portion of the housing.
  • the housings 33a, 33b, 33c, and 33d having base ends are arranged at the four corners of the substantially rectangular upper plate 31, and a rotation shaft is provided on the base end side of the housing. The front end side is rotated toward the capture position at the center of the platform.
  • a guide groove is provided from the edge of the upper plate 31 toward the center, and the housing is provided with a protrusion that fits into this groove.
  • a stopper such as an L shape is formed.
  • the guide grooves are 34a, 34b, the housings 33a, 33c, and the protrusions 37a, 37b.
  • the four casings are configured to intersect at right angles so that the tip ends of the casings are at the supplementary position rotated to the center.
  • the structure is like a braid, and the captured drone can be firmly fixed. And since the protrusion is engaged with the groove in the retaining state, the fixing effect is further improved.
  • the base end portion of the housing is connected to the motor 36 by a link 39 on the base end side of the rotating shaft 38.
  • the housing 33 is rotated by a motor 36.
  • the link 39 is set so that the housing 33 becomes the capturing position in a right angle state, and the capturing state is stabilized.
  • a power supply contact 91 is provided at the tip of the housing 33c as the power supply means 9, and a power supply cable 92 is provided along the housing 33c.
  • the power supply contact can be provided in a plurality of housings, and can be determined in relation to the arrangement of the contacts for receiving power on the drone side.
  • FIG. 4A The rotational motion of the housing is schematically shown in FIG. FIG. 4A assumes a case where the four casings 33 are in a standby state along the periphery, and the drone D lands at a place off the center.
  • the four casings rotate toward the center, move the drone D toward the center, and are fixed at the capture position shown in FIG.
  • the chassis is returned to the standby position.
  • FIG. 5 shows an example of the captured state in an enlarged manner.
  • a top member 33t is attached to the tips of the casings 33a, 33b, 33c, 33d in steps. It is devised so that it may get on the upper surface of the opposing housing by this level
  • the edge Dbs of the leg base Db of the drone is formed so as to project outward from the drone leg DL, and the casing 33 is placed on the edge Dbs so as to be held.
  • the appearance of the drone D example is shown in FIG. With the present invention, it is required that the structure of the installation leg for landing and the engagement of the capturing part are matched.
  • the drone has a power receiving contact on the leg, and if it is provided on four sides, one power supply contact on the housing side is sufficient.
  • the receiving contacts can be joined if they are placed opposite each other.
  • the shape is not limited to a straight line and may be bent. Alternatively, a rubber body or a ring shape is configured so that it can be held and released.
  • An example of a heliport 7 having two housings is shown in FIG.
  • the heliport 7 has basically the same configuration as the heliport 3 shown in FIGS. 3 to 5 except for the housing.
  • the heliport 7 includes two housings 71 and 72.
  • the casings 71 and 72 are provided with bent portions 71b and 72b.
  • the casings 71 and 72 rotate around the respective base end portions 75a and 75b.
  • the ends of the bent portions 71b, 72b intersect the straight flange portions 72a, 71a of the other housings 72, 71. Their tips intersect on the other straight part to capture the drone.
  • the housing 71 is provided with a projection 77 that fits into the guide groove 74.
  • the unmanned traveling mobile body that can be used in the present invention is not particularly limited in type, but is limited by the environment in which it is input. Examples that have already been proposed in each patent document can be used as examples of activities that can be carried out in harsh environments such as nuclear facilities.
  • the unmanned traveling vehicles disclosed in these patent documents have a track record of activities in a damaged nuclear facility, and a heliport and a scanner that expands and contracts are arranged based on this. Added a fall prevention bar on the side to limit tilting with the drone installed. When there is an obstacle in the range of the width of the bar as the unmanned traveling vehicle travels, the bar also serves as a stopper to prevent the obstacle from coming into contact with the drone.
  • the unmanned traveling mobile body shown in FIG. 8 is an example shown in Patent Document 2 (Japanese Patent No. 5684100).
  • Patent Document 2 Japanese Patent No. 5684100.
  • a drone with a weight of several kilograms has been realized until it can supply power that can operate for about 2 to 3 hours.
  • this performance will vary, but it will be possible to secure enough time for activity.
  • the carrier 1 using the unmanned traveling mobile body is controlled by wire in a nuclear facility where wireless control is not possible. Therefore, the communication cable 61 is pulled out from the communication cable holder 62 and operated as shown in FIG.
  • the carrier In a nuclear facility where humans cannot enter, the carrier is unmanned traveling that is remotely controlled by wire. Since it runs in a closed space where people cannot enter, it will be maneuvered while looking at the monitor. Moreover, when shielding radioactivity, it is necessary to steer with a wire through a shielding wall. Accordingly, the mobile body is equipped with sensors for collecting information to be displayed on the monitor.
  • the unmanned traveling mobile body is provided with sensors for collecting information on the mobile body itself, such as a 3-axis gyro, an encoder, a 3-axis acceleration sensor, a speedometer, and an inertial measurement device, as built-in sensors. Means are also provided for obtaining information on the surroundings of a moving object such as a camera, a microphone, an antenna, a three-dimensional distance sensor, and a lighting device. Furthermore, a survey sensor can be mounted. In nuclear power generation facilities, there are radiation dosimeters, ⁇ cameras, thermography, humidity sensors, water level sensors, water sampling devices, gas sensors, and the like. It is also possible to attach a manipulator that moves objects. These sensors are installed below the platform so as not to obstruct take-off and landing.
  • the operation of the present invention can be operated by combining the unmanned traveling mobile body and the transport body in addition to being able to steer the transport body alone.
  • the unmanned traveling mobile body can be steered by wire
  • the transport body can be steered wirelessly via the unmanned traveling mobile body.
  • An example of combination operation is shown in FIG.
  • the wired / wireless combination operation is the same as that disclosed in Japanese Patent Application Laid-Open No. 2013-111030.
  • the carrier 100 equipped with the radio-controlled heliport is set as the preceding moving body
  • the unmanned traveling moving body 200 operated by wire operation is set as the rear moving body
  • the communication cable 250 of the unmanned traveling moving body 200 is laid through the shield 350.
  • the transport body 100 is a system capable of operating the transport body 100 via the wired control of the unmanned traveling mobile body 200.
  • the operator can operate with the controller 300 provided with the monitor 301 and the operation tool 302 at hand.
  • the space between the transport body 100 and the unmanned traveling mobile body 200 is controlled by radio 240.
  • the carrier of the present invention can be used as an operation system for investigation and exploration inside buildings and nuclear facilities collapsed by earthquakes, floods, landslides, volcanoes and the like.

Abstract

The present invention addresses the problem of achieving drone operations that can be carried out in highly radioactive environments such as inside nuclear facilities where human entry is not feasible. As a solution, the present invention provides a transportation device comprising an unmanned vehicle and a drone heliport disposed on the upper surface of the unmanned vehicle.

Description

ヘリポートを備えた搬送体Transport body with heliport
　本発明は、ドローン用の移動型ヘリポートに関する。特に、原子力施設において事故が発生した場合、高濃度の放射能汚染場所など人間の立ち入り困難箇所の調査活動などに適した技術に関する。 The present invention relates to a mobile heliport for a drone. In particular, the present invention relates to a technology suitable for investigation activities in places where it is difficult for humans to enter such as high-concentration radioactively contaminated places when an accident occurs at a nuclear facility.
　被災直後の不安定で予測不能な状態の被災地の調査や探索を行う装置として、クローラ式走行用移動体が適している。本出願人は、無人走行移動体として特許文献１（特許第５５４２０９２号公報）、特許文献２（特許５６８４１００号公報）、特許文献３（特開２０１３－１１４３３０号公報）、特許文献４（特開２０１３－１１４３２２号公報）等を提案し、福島原発事故のような原子炉損傷、施設全体に破壊が及ぶ状況でも、現場を調査点検できる発明を提案している。 A crawler type traveling vehicle is suitable as a device for investigating and searching for a disaster area that is unstable and unpredictable immediately after the disaster. The present applicant has disclosed an unmanned traveling mobile body as Patent Document 1 (Patent No. 554,092), Patent Document 2 (Patent No. 5684100), Patent Document 3 (JP 2013-114330), and Patent Document 4 (JP No. 2013-114322) and the like, and proposes an invention that can investigate and inspect the site even in situations where the reactor is damaged, such as the Fukushima nuclear accident, or the entire facility is destroyed.
　自律型マルチローターヘリ（一般に「ドローン」と称される）の活用が検討されており、趣味的使用から、運搬、撮影、調査など各種検討されている。原子力施設事故など危険な環境下では、操縦者が施設内に入って、目視でコントロールすることはできず、また、損壊している状況では、図面のみで自律飛行することはできないので、災害や事故現場では使用することが困難である。ドローンが事故施設や立ち入ることができない箇所を飛行して調査活動することができれば、走行体よりも広範囲に調査することができる。 Autonomous multi-rotor helicopters (generally referred to as “drones”) are being studied, and various studies are being conducted, including hobby use, transportation, photography, and surveys. In a dangerous environment such as a nuclear facility accident, the operator cannot enter the facility and control it visually, and in a damaged situation, it is not possible to fly autonomously with drawings alone. It is difficult to use at the accident site. If a drone can fly and investigate an accident facility or a place where it cannot enter, it can investigate a wider area than a traveling body.
特許第５５４２０９２号公報Japanese Patent No. 5542092 特許第５６８４１００号公報Japanese Patent No. 5684100 特開２０１３－１１４３３０号公報JP 2013-114330 A 特開２０１３－１１４３２２号公報JP 2013-114322 A
　本発明は、高濃度放射能空間などの人間が立ち入ることが困難な原子力施設内などでも活動できるドローンの運用を実現することを目的とする。 The present invention aims to realize the operation of a drone that can operate even in a nuclear facility where it is difficult for humans to enter, such as a high-concentration radioactive space.
　本発明は、悪条件下でもドローンを現場に投入し、調査等を実現する無人走行移動体にドローン用のヘリポートを設けた搬送体である。 The present invention is a transport body in which a drone is installed on the site even under adverse conditions, and a drone heliport is provided on an unmanned traveling mobile body that realizes an investigation or the like.
　本発明は、次の構成を要旨とするものである。
１．無人走行移動体と当該無人走行移動体の上面に設けられたドローン用ヘリポートを備えたことを特徴とする搬送体。
２．有線通信装置を備えたことを特徴とする１．記載の搬送体。
３．ヘリポートは、離着陸面及び固定面となるプラットホームと回転軸を周辺部に設けた杆体を備えており、杆体はドローンの脚部を固定する構造であることを特徴とする１．又は２．記載の搬送体。
４．杆体を複数備えており、少なくとも杆体の１つには給電接点を有していることを特徴とする１．～３．のいずれかに記載の搬送体。
５．杆体は、２本以上であって、該杆体は回動して先端が交差するように配置されており、少なくとも１本の杆体が案内突起を中間下方に有しており、該案内突起と係合する案内溝がプラットホームに設けられていることを特徴とする１．～４．のいずれかに記載の搬送体。
６．無人走行移動体は、クローラ型駆動体であって、左右に配置された主クローラベルトと前後左右に設けられた回動する腕を備えたサブクローラを備えており、昇降可能なスキャナとドローン給電用の電池を搭載していることを特徴とする１．～５．のいずれかに記載の搬送体。
７．スキャナは、ドローン離着陸時には、プラットホームより下方に位置し、他の場合はスキャナはプラットホームより上方に伸長した位置にあり、搬送体の周辺情報を収集し、ドローンの飛行情報として供給できることを特徴とする１．～６．に記載の搬送体。 The gist of the present invention is as follows.
1. A transport body comprising an unmanned traveling mobile body and a drone heliport provided on an upper surface of the unmanned traveling mobile body.
2. 1. A wired communication device is provided. The carrier described.
3. The heliport is provided with a platform having a platform as a take-off / landing surface and a fixed surface and a rotating shaft provided in the periphery thereof, and the housing has a structure for fixing a leg portion of the drone. Or 2. The carrier described.
4). A plurality of casings are provided, and at least one of the casings has a power supply contact. ~ 3. The carrier according to any one of the above.
5. There are two or more housings, and the housings are arranged so that the tips rotate and the tips intersect with each other, and at least one housing has a guide projection in the middle and lower side, and is engaged with the guide projection. 1. Guide grooves are provided in the platform. ~ 4. The carrier according to any one of the above.
6). The unmanned traveling mobile body is a crawler type drive body, and includes a main crawler belt arranged on the left and right and a sub crawler provided with rotating arms provided on the front and rear and the left and right. It is equipped with a battery for use. ~ 5. The carrier according to any one of the above.
7). The scanner is located below the platform during take-off and landing of the drone, and in other cases, the scanner is located at a position extending upward from the platform. 1. ~ 6. The carrier described in 1.
　ヘリポート付き無人走行移動体を操縦者が立ち入り困難な場所に投入して、ドローンを活用することができるので行動範囲を広げることができる。高濃度放射能空間などの人間が立ち入ることが困難な原子力施設内などでも活動できるドローンの運用を実現することができる。
　ドローンをしっかりと捕捉して運搬することが、不整地でもできる。ＧＰＳなどの誘導手段を活用できない環境下では、搬送体を有線手段で操縦することができる。ヘリポートに給電機能を持たせたので、ドローンの電池荷重を小さくして、調査機器などの搭載能力を大きくすることができ、かつ、充電をすることによりドローンの活動時間を長くすることができる。
　人が立ち入ることが困難な環境下で与条件が不明な状況下でも、スキャナなどによって周辺環境情報を収集し、ドローンの自立飛行用の情報として提供する。
　無人走行移動体はクローラ型に限らないが、本クローラ型の無人走行移動体は、階段等の障害物を乗り越えて移動することができ、無人走行体の収集情報に基づいて、ドローンが自立飛行することができ、相乗効果が高い。ヘリポートを持たない無人走行移動体をサポートとして、サポートから無線でヘリポート付き搬送体を操作することにより、より遠くの情報を収集することができる。 An unmanned traveling vehicle with a heliport can be put into a place where it is difficult for the operator to enter and the drone can be used, so the range of action can be expanded. The drone can be operated in a nuclear facility where it is difficult for humans to enter, such as high-concentration radioactive spaces.
It is possible to capture and transport the drone firmly even on rough terrain. In an environment where guidance means such as GPS cannot be used, the carrier can be steered by wired means. Since the power supply function is provided to the heliport, it is possible to reduce the battery load of the drone, increase the mounting capacity of the investigation equipment, etc., and to increase the drone activity time by charging.
Even under circumstances where it is difficult for people to enter and the conditions are unknown, the surrounding environment information is collected by a scanner, etc., and provided as information for the drone's independent flight.
The unmanned traveling vehicle is not limited to the crawler type, but this crawler type unmanned traveling vehicle can move over obstacles such as stairs, and the drone can fly independently based on the information collected by the unmanned traveling body. Can be synergistically high. By using an unmanned traveling vehicle that does not have a heliport as a support and operating the carrier with a heliport wirelessly from the support, it is possible to collect farther information.
実施例の搬送体の斜視図。The perspective view of the conveyance body of an Example. 実施例の搬送体の側面図。The side view of the conveyance body of an Example. プラットホームの例を示す平面図。The top view which shows the example of a platform. プラットホーム上の杆の移動を示す図。The figure which shows the movement of the cage | basket on a platform. 杆の組合せ状態図。FIG. ドローンの例。An example of a drone. 搬送体の概略を示す図。The figure which shows the outline of a conveyance body. 無人走行移動体の例。An example of an unmanned traveling vehicle. 無人走行移動体と搬送体の組合せの例。An example of a combination of an unmanned traveling mobile body and a transport body. ２本の杆の例を示す図。The figure which shows the example of two cocoons.
１　　・・・搬送体
２　　・・・無人走行移動体
２１　・・・主クローラ
２１Ｒ・・・右クローラベルト
２１Ｌ・・・左クローラベルト
２２　・・・サブクローラ
２５　・・・転倒防止バー
２６　・・・センターベースバー
 
３、７　　　　　・・・ヘリポート
３１　　　　　　・・・上板
３２　　　　　　・・・基盤
３３、７１、７２・・・杆体
３３ｔ　　　　　・・・トップ
３４、７４　　　・・・案内溝
３５、７５　　　・・・基端部
３６　　　　　　・・・モータ
３７、７７　　　・・・突起
３８　　　　　　・・・軸
３９　　　　　　・・・リンク
 
４　　　　　　・・・スキャナ
４１　　　　　・・・支柱
４５　　　　　・・・カメラ
５　　　　　　・・・側面
６１　　　　　・・・ケーブル
６２　　　　　・・・ケーブルホルダー
７１ａ、７２ａ・・・直杆部
７１ｂ、７２ｂ・・・屈曲部
９　　　　　　・・・給電手段
９１　　　　　・・・給電接点
９２　　　　　・・・給電ケーブル
 
１００・・・搬送体
２００・・・無人走行移動体
２５０・・・通信ケーブル
３００・・・コントローラ
３０１・・・モニター
３０２・・・操作具
３５０・・・遮蔽体
 
Ｄ　　・・・ドローン
ＤＬ　・・・脚部
Ｄｂ　・・・脚ベース
Ｄｂｓ・・・縁 DESCRIPTION OF SYMBOLS 1 ... Conveyance body 2 ... Unmanned traveling mobile body 21 ... Main crawler 21R ... Right crawler belt 21L ... Left crawler belt 22 ... Sub crawler 25 ... Fall prevention bar 26・ Center base bar
3, 7 ... Heliport 31 ... Upper plate 32 ... Base 33, 71, 72 ... Housing 33t ... Top 34, 74 ... Guide grooves 35, 75 ... Base end 36 ... Motors 37 and 77 ... Protrusions 38 ... Shafts 39 ... Links
4... Scanner 41... Support 45 .. Camera 5... Side 61... Cable 62... Cable Holder 71a, 72a ... Straight portion 71b, 72b ... Bend 9. .... Power supply means 91 ... Power supply contact 92 ... Power supply cable
DESCRIPTION OF SYMBOLS 100 ... Conveyance body 200 ... Unmanned traveling mobile body 250 ... Communication cable 300 ... Controller 301 ... Monitor 302 ... Operation tool 350 ... Shielding body
D ... Drone DL ... Leg Db ... Leg base Dbs ... Rim
　本発明は、無人走行移動体の上面にドローン用ヘリポートを備えた搬送体である。ヘリポートには、ドローンを捕捉して、安定した走行ができる回動杆体を備え、この回動杆体に給電機能を持たせて、着陸した状態でドローンが充電できる構成としている。人が立ち入ることが困難な環境下で与条件が不明な状況下でも、搬送体に搭載したスキャナ等のセンサ機能によって収集した情報をドローンの自立飛行の情報として提供する基地機能を備えている。 The present invention is a transport body having a drone heliport on the upper surface of an unmanned traveling mobile body. The heliport is provided with a rotating housing that can capture a drone and can run stably, and the rotating housing is provided with a power supply function so that the drone can be charged in a landed state. It has a base function that provides information collected by a drone's self-sustained flight as information collected by a sensor function such as a scanner mounted on a carrier even in situations where it is difficult for people to enter and conditions are unknown.
　無人走行移動体は、人が近づくことが出来ない環境下にドローンを移送する手段である。その形式は、ドローンの飛行条件によって相応しい移動手段を設計することができる。
タイヤで駆動するタイプやクローラ駆動するタイプ、モータ駆動、エンジン駆動、牽引タイプなど特に限定されるものではない。
　厳しい環境として、原子力施設の事故を想定すると、施設内は閉鎖空間であり、施設内は混乱しており、ドローンはＧＰＳや施設設計図を使用することができず、そのままでは自立飛行ができない。このような環境下では、散乱している破損物や階段を昇降できる機能とドローンの飛行に必要な情報を提供する能力を備えている必要がある。
　ここではこのような厳しい環境下でも活動できる無人走行移動体を例にとって説明することとする。原子力施設内等では無人走行移動体は有線手段を用いて操縦する。
　なお、無人走行移動体でもサンプリングや撮影など被災地の情報を得ることはできるが、高い位置から情報を得ることは困難であるので、ドローンを活用することにより、広さの他高さによる情報を得ることができ、被災状況の把握能力が格段に向上する。 The unmanned traveling vehicle is a means for transporting the drone in an environment where a person cannot approach. The form can design a suitable means of transportation depending on the flight conditions of the drone.
There are no particular limitations on the tire driven type, crawler driven type, motor drive, engine drive, traction type, and the like.
Assuming an accident at a nuclear facility as a harsh environment, the facility is a closed space, the facility is confused, and the drone cannot use GPS or the facility blueprint, and cannot fly by itself. Under such circumstances, it is necessary to have the ability to ascend and descend scattered scattered objects and stairs and the ability to provide the information necessary for the flight of the drone.
Here, an explanation will be given by taking an example of an unmanned traveling mobile body that can be active even in such a severe environment. In a nuclear facility, etc., unmanned traveling vehicles are controlled using wired means.
Although it is possible to obtain information on disaster areas such as sampling and shooting even with unmanned traveling vehicles, it is difficult to obtain information from a high position, so by using a drone, information on the height of other areas And the ability to grasp the damage situation will be greatly improved.
　ヘリポートは、ドローンの離着陸に使用される条件を備えている。ドローンは野外では一般にＧＰＳを利用して、自律飛行することができる。本発明では、被災した工場やトンネルなど予測不能な環境下に投入して活動することができるようにする機能を備えている。
　ヘリポートは、平坦なプラットホームと搬送体が移動してもドローンが落下することがないように着陸したドローンを捕捉している機能を備えている。さらに、無人走行移動体は、電力をドローンに供給できる設備を備え、ドローンの活動時間を確保できるようにする。 The heliport has the conditions used for drone takeoff and landing. In general, drones can fly autonomously using GPS. In the present invention, a function is provided that makes it possible to enter and operate in an unpredictable environment such as a damaged factory or tunnel.
The heliport has a flat platform and a function to capture the drone that has landed so that the drone will not fall even if the carrier moves. Furthermore, the unmanned traveling mobile body includes equipment capable of supplying electric power to the drone so that the drone's activity time can be secured.
　図面を参照して、本搬送体の例を説明する。
　図７に、無人走行移動体２と当該無人走行移動体２の上面に設けられたドローン用ヘリポート３を備えた搬送体１の概略を示す。図７（ａ）は平面視であり、（ｂ）は側面視である。
　無人走行移動体２はクローラタイプであり、ホイールインモータで駆動される例を示している。無人走行移動体は、左右に主クローラベルト２１Ｒ、２１Ｌ、前後左右の４角に腕状に回動するサブクローラ２２を備えている。機体中央部にセンターベースバー２６が設けられており、センターベースバー２６の上方にヘリポート３と伸縮可能なスキャナ４が設置されている。また、無人走行移動体は、その他、カメラ、ライトなど必要なセンサ類を搭載している。スキャナ４以外のセンサ類は、ヘリポートより上方に突出しないようにする。このクローラタイプの無人走行移動体は、前記した特許文献１～４等に本出願人が既に提案した構造を採用することができる。さらにその後特願２０１４－０６６９８６号として提案した構造も採用することができる。
　ヘリポート３は、ドローンが離着陸できる平面を備えた平板状に設けられている。スキャナ４は、ヘリポートより高く伸長した位置において、搬送体１の周辺状況を把握して、ドローンに対する飛行条件を供給する。ヘリポート３は、無人走行移動体２のセンサなど装備部材より高い位置に設け、離着陸の障害にならないようにする。スキャナ４も離着陸時にはヘリポートよりも低い位置に下降している。
　なお、本発明のヘリポートを使用するドローンは、別途設計されるが、ヘリポートに適した離着陸可能な脚部を備えている。 With reference to drawings, the example of this conveyance body is demonstrated.
In FIG. 7, the outline of the conveyance body 1 provided with the drone heliport 3 provided in the upper surface of the unmanned traveling mobile body 2 and the said unmanned traveling mobile body 2 is shown. FIG. 7A is a plan view, and FIG. 7B is a side view.
The unmanned traveling mobile body 2 is a crawler type, and shows an example driven by a wheel-in motor. The unmanned traveling mobile body includes main crawler belts 21R and 21L on the left and right, and sub-crawlers 22 that rotate like four arms on the front, rear, left and right. A center base bar 26 is provided at the center of the machine body, and the heliport 3 and the scanner 4 that can be expanded and contracted are installed above the center base bar 26. In addition, the unmanned traveling mobile body is equipped with other necessary sensors such as a camera and a light. Sensors other than the scanner 4 should not protrude upward from the heliport. This crawler type unmanned traveling mobile body can adopt the structure already proposed by the present applicant in Patent Documents 1 to 4 described above. Further, the structure proposed as Japanese Patent Application No. 2014-0669986 can be employed.
The heliport 3 is provided in a flat plate shape having a plane on which a drone can take off and land. The scanner 4 grasps the surrounding situation of the carrier 1 at a position extended higher than the heliport and supplies flight conditions for the drone. The heliport 3 is provided at a position higher than equipment members such as a sensor of the unmanned traveling mobile body 2 so as not to obstruct take-off and landing. The scanner 4 is also lowered to a position lower than the heliport when taking off and landing.
Although the drone using the heliport of the present invention is designed separately, the drone includes a leg portion suitable for the heliport and capable of taking off and landing.
［実施態様］
　本発明の一実施態様の搬送体について図１、図２に示している。
　無人走行移動体２と当該無人走行移動体２の上面に設けられたドローン用ヘリポート３を備えた搬送体１の概略図であり、図１は斜め前上方からみた斜視図、図２は側面図である。
　無人走行移動体２は、左右に設けた主クローラベルト２１Ｒ、２１Ｌ、四隅に存在するサブクローラ２２ａ、２２ｂ、２２ｃ、２２ｄ、側面５に転倒防止バー２５、機巾中央にセンターベースバー２６が設けられ、該センターベースバー上に前方及び後方カメラ４５ａ、４５ｂ、操縦用の通信ケーブル６１、スキャナ４、ヘリポート３等がその上に設けられている。
　図２において、スキャナ４は上昇した位置に示しているが、支柱４１は伸縮して、ヘリポート３より低い位置に下降することができる。ヘリポート３は、センターベースバー２６から支柱を立てて、ケーブルホルダー６２などの設備より上方に設けられている。
　ヘリポート３は、プラットホームの基盤３２とその上に設けたプラットホームの上板３１が設けられている。２段に設けたのは、基盤３２上に杆体３３の回動用の駆動機構を設けること、杆体３３の案内機構を設けるなどの空間を設けるためである。基盤あるいはプラットホームに凹部を設けてこれらの機構を設けるなど、適宜設定できることであり、基盤と上板の２重構造に限定されるものではない。
　本実施態様では、ヘリポートの支持構造として、無人走行移動体の側面に支持部を設け、主クローラの上面に形成した基台を利用するように設計することもできる。この基台を利用して、ヘリポート以外にも有線操縦用のケーブルホルダーを含む有線操縦用の設備などの機器類を装備することができる。
　ヘリポートは、基盤３２の上方に設けた上板３１の四隅に回転軸を設けた杆体３３を配置し、杆体は先端が互いに上下になって、組み手のような状態を構成する様に設置されている。図示の例では、上板３１に２本の杆体３３ａ、３３ｃの回動を案内する溝３４ａ、３４ｂが設けられている。杆体３３は基部側に設けられた駆動部によって回動されて、周辺部の待機位置からドローンの捕捉状態となる組み手位置まで回転することができる。杆体３３に設けられた下向きの突起部３７を案内溝３４に挿入して、回動させることにより、ブレを押さえることができる。突起部３７には抜止を設けて、捕捉機能を高めることができる。案内係合用の溝と突起は図示の２つに限らず、１つから複数任意に設けることができる。回動する杆体も１本から多数本設けることができる。
　杆体には、ドローン用の給電用接点を設けることができ、ドローン充電機能も持たせることができる。この場合、無人走行移動体２には、供給用電池を搭載する。着脱が容易になるように側面５に収納部を設けて収納することができる。 [Embodiment]
The conveyance body of one embodiment of the present invention is shown in FIGS.
It is the schematic of the conveyance body 1 provided with the helicopter 3 for drones provided in the upper surface of the unmanned traveling mobile body 2 and the said unmanned traveling mobile body 2, FIG. 1 is the perspective view seen from diagonally forward upper direction, FIG. It is.
The unmanned traveling vehicle 2 is provided with main crawler belts 21R and 21L provided on the left and right sides, sub crawlers 22a, 22b, 22c and 22d existing at the four corners, a fall prevention bar 25 on the side surface 5, and a center base bar 26 in the center of the machine width. The front and rear cameras 45a and 45b, the steering communication cable 61, the scanner 4, the heliport 3 and the like are provided on the center base bar.
In FIG. 2, the scanner 4 is shown in the raised position, but the support column 41 can be expanded and lowered to a position lower than the heliport 3. The heliport 3 is provided above the equipment such as the cable holder 62 with a support column extending from the center base bar 26.
The heliport 3 is provided with a platform base 32 and a platform upper plate 31 provided thereon. The reason why the two stages are provided is to provide a space on the base 32 such as providing a drive mechanism for rotating the casing 33 and providing a guide mechanism for the casing 33. For example, these mechanisms can be provided by providing recesses in the base or platform, and the invention is not limited to the double structure of the base and the upper plate.
In the present embodiment, the support structure of the heliport can be designed so that a support portion is provided on the side surface of the unmanned traveling mobile body and a base formed on the upper surface of the main crawler is used. By using this base, in addition to the heliport, it is possible to equip equipment such as equipment for wired operation including a cable holder for wired operation.
The heliport has a casing 33 provided with a rotation shaft at the four corners of the upper plate 31 provided above the base 32, and the casings are installed so that their tips are up and down and constitute a state of a hand. ing. In the illustrated example, the upper plate 31 is provided with grooves 34a and 34b for guiding the rotation of the two casings 33a and 33c. The housing 33 is rotated by a driving unit provided on the base side, and can be rotated from the standby position in the peripheral portion to the assembly position where the drone is captured. Blurring can be suppressed by inserting a downward projection 37 provided on the housing 33 into the guide groove 34 and turning it. The protrusion 37 can be provided with a stopper to enhance the capturing function. The guide engaging grooves and protrusions are not limited to the two shown in the figure, and one to a plurality can be arbitrarily provided. One to many rotating housings can be provided.
The housing can be provided with a power supply contact for drone and can also have a drone charging function. In this case, a battery for supply is mounted on the unmanned traveling mobile body 2. A storage portion can be provided on the side surface 5 for easy attachment and detachment.
［ヘリポートについて］
　ヘリポートの構成例について図３～５に示す。図３（ａ）にヘリポートの平面構成と図３（ｂ）に杆体の駆動部分を示している。
　略四角形の上板３１の四隅に基端部を持つ杆体３３ａ、３３ｂ、３３ｃ、３３ｄを配置し、杆体の基端部側に回転軸を設け、各杆体は、周辺部に沿った待機位置からプラットホームの中央部の捕捉位置に向けて先端側を回動する構成となっている。
　対向する２本の杆体が回動する軌跡に対応して、案内溝が上板３１の縁から中央部に向けて設けられており、杆体にこの溝に嵌入する突起が設けられており、突起にはＬ形などの抜止を形成する。この例では、案内溝が３４ａ、３４ｂ、杆体が３３ａ、３３ｃ、突起が３７ａ、３７ｂである。
　４本の杆体は中央に回動した補足位置では、杆体の先端が上になるように直角に交わる構成となっている。組み手のような構成となり、捕捉したドローンの固定をしっかりとすることができる。そして、突起が溝に抜止状態に係合しているので、さらに固定効果が向上している。
　また、杆体の基端部は回転軸３８よりも基端側がリンク３９によってモータ３６と連結している。杆体３３はモータ３６によって回動される。リンク３９は直角状態で杆体３３が捕捉位置となるように設定されており、捕捉状態が安定する。仮に、杆体３３に後退圧がかかってもリンク３９には回転モーメントが生じないので、安定性を保つことが容易である。
　本例では、給電手段９として杆体３３ｃの先端に給電接点９１が設けられ、杆体３３ｃに沿って給電ケーブル９２が設けられている。給電接点は複数の杆体に設けることができ、ドローン側の受電用に接点の配置との関係で決めることができる。 [About Heliport]
Examples of heliport configurations are shown in FIGS. FIG. 3A shows a plan configuration of the heliport, and FIG. 3B shows a drive portion of the housing.
The housings 33a, 33b, 33c, and 33d having base ends are arranged at the four corners of the substantially rectangular upper plate 31, and a rotation shaft is provided on the base end side of the housing. The front end side is rotated toward the capture position at the center of the platform.
Corresponding to the trajectory of the rotation of the two opposing housings, a guide groove is provided from the edge of the upper plate 31 toward the center, and the housing is provided with a protrusion that fits into this groove. A stopper such as an L shape is formed. In this example, the guide grooves are 34a, 34b, the housings 33a, 33c, and the protrusions 37a, 37b.
The four casings are configured to intersect at right angles so that the tip ends of the casings are at the supplementary position rotated to the center. The structure is like a braid, and the captured drone can be firmly fixed. And since the protrusion is engaged with the groove in the retaining state, the fixing effect is further improved.
Further, the base end portion of the housing is connected to the motor 36 by a link 39 on the base end side of the rotating shaft 38. The housing 33 is rotated by a motor 36. The link 39 is set so that the housing 33 becomes the capturing position in a right angle state, and the capturing state is stabilized. Even if reverse pressure is applied to the housing 33, no rotational moment is generated in the link 39, so that it is easy to maintain stability.
In this example, a power supply contact 91 is provided at the tip of the housing 33c as the power supply means 9, and a power supply cable 92 is provided along the housing 33c. The power supply contact can be provided in a plurality of housings, and can be determined in relation to the arrangement of the contacts for receiving power on the drone side.
　杆体の回転運動を図４に模式している。
　図４（ａ）は４本の杆体３３が周辺に沿った待機状態となっており、ドローンＤが中央部からはずれた場所に着陸するケースを想定している。
　４本の杆体は中央部に向けて回動し、ドローンＤを中央部に向けて移動させ、図４（ｂ）に示される捕捉位置に固定することとなる。
　このように、ドローンＤが中央からはずれた位置に着陸しても、中央部に移動させ、捕捉して安定させることができる。
　なお、離陸に際しては、杆体を待機位置まで戻す。 The rotational motion of the housing is schematically shown in FIG.
FIG. 4A assumes a case where the four casings 33 are in a standby state along the periphery, and the drone D lands at a place off the center.
The four casings rotate toward the center, move the drone D toward the center, and are fixed at the capture position shown in FIG.
Thus, even if the drone D lands at a position off the center, it can be moved to the center, captured and stabilized.
When taking off, the chassis is returned to the standby position.
　図５に捕捉状態の例を拡大して示している。
　杆体３３ａ、３３ｂ、３３ｃ、３３ｄの先端にはトップ部材３３ｔを段違いに取り付けられている。この段差によって、対向する杆体の上面に乗るように工夫されている。
　ドローンの脚ベースＤｂの縁Ｄｂｓがドローン脚部ＤＬより外側に張り出すように形成されており、縁Ｄｂｓの上に杆体３３が載ることにより把持状態となっている。
　ドローンＤの例の外観を図６に示す。本発明とは着陸用の設置脚部の構成と捕捉部の取り合いが整合することが求められる。
　ドローンの脚部には受電用の接点が設けられており、４面に設けられていれば、杆体側の給電用接点は１箇所でも十分であり、受電用が直角に２面であれば給電用は対向に配置すれば、受給接点は結合することができる。 FIG. 5 shows an example of the captured state in an enlarged manner.
A top member 33t is attached to the tips of the casings 33a, 33b, 33c, 33d in steps. It is devised so that it may get on the upper surface of the opposing housing by this level | step difference.
The edge Dbs of the leg base Db of the drone is formed so as to project outward from the drone leg DL, and the casing 33 is placed on the edge Dbs so as to be held.
The appearance of the drone D example is shown in FIG. With the present invention, it is required that the structure of the installation leg for landing and the engagement of the capturing part are matched.
The drone has a power receiving contact on the leg, and if it is provided on four sides, one power supply contact on the housing side is sufficient. The receiving contacts can be joined if they are placed opposite each other.
　４本の杆体を例にして説明したが、本数は４本に限るものではなく、ドローンとの関係で捕捉が成立する構造であれば良い。形状は直線に限らず、曲がっていても良い。あるいはゴム体や輪状でも把持と開放ができるように構成する。
　２本の杆体を備えたヘリポート７の例を図１０に示す。
　ヘリポート７は、図３～図５に図示されたヘリポート３と杆体以外の基本的には同じ構成である。
　ヘリポート７には、２本の杆体７１、７２を備えている。杆体７１、７２は、屈曲部７１ｂ、７２ｂを備えている。杆体７１、７２はそれぞれの基端部７５ａ、７５ｂを中心にして回動する。回動終端で屈曲部７１ｂ、７２ｂの先端が他方の杆体７２、７１の直杆部７２ａ、７１ａと交差する。それらの先端は他方の直杆部に乗る状態で交差して、ドローンを捕捉する。杆体７１には、案内溝７４に嵌入する突起７７が設けられている。 Although four cases have been described as an example, the number is not limited to four, and any structure may be used as long as capture is established in relation to the drone. The shape is not limited to a straight line and may be bent. Alternatively, a rubber body or a ring shape is configured so that it can be held and released.
An example of a heliport 7 having two housings is shown in FIG.
The heliport 7 has basically the same configuration as the heliport 3 shown in FIGS. 3 to 5 except for the housing.
The heliport 7 includes two housings 71 and 72. The casings 71 and 72 are provided with bent portions 71b and 72b. The casings 71 and 72 rotate around the respective base end portions 75a and 75b. At the end of rotation, the ends of the bent portions 71b, 72b intersect the straight flange portions 72a, 71a of the other housings 72, 71. Their tips intersect on the other straight part to capture the drone. The housing 71 is provided with a projection 77 that fits into the guide groove 74.
［無人走行移動体について］
　本発明に利用できる無人走行移動体は、前述したとおり、特に型式が限定されるものではないが、投入される環境によって限定される。
　原子力施設など厳しい環境で活動できる例として、既に各特許文献に提案した例を使用することができる。これらの特許文献に開示した無人走行移動体は破損した原子力施設内で活動した実績を備えており、これをベースにヘリポートと伸縮するスキャナを配置した。ドローンを搭載した状態での傾動を制限するために側面に転倒防止バーを追加した。無人走行移動体の走行に伴いこのバーの巾の範囲に障害物があった場合、バーがストッパーになってドローンに障害物が接触することを防止する機能も果たす。
　図８に示す無人走行移動体は、特許文献２（特許５６８４１００号公報）に示す例である。主クローラとサブクローラを利用して、瓦礫や階段を昇降することができる具体的な構造に関する詳述は省く。側面に空間があって、この場所に、ドローン用の電池などを搭載することができる。試験では、機体重量数ｋｇのドローンが２～３時間程度活動できる電力を供給できるまで実現できている。ドローンの重量、性能、電池の能力などによって、この性能は変化するものであるが、十分に活動できる時間を確保することができるようになっている。 [About unmanned travel vehicles]
As described above, the unmanned traveling mobile body that can be used in the present invention is not particularly limited in type, but is limited by the environment in which it is input.
Examples that have already been proposed in each patent document can be used as examples of activities that can be carried out in harsh environments such as nuclear facilities. The unmanned traveling vehicles disclosed in these patent documents have a track record of activities in a damaged nuclear facility, and a heliport and a scanner that expands and contracts are arranged based on this. Added a fall prevention bar on the side to limit tilting with the drone installed. When there is an obstacle in the range of the width of the bar as the unmanned traveling vehicle travels, the bar also serves as a stopper to prevent the obstacle from coming into contact with the drone.
The unmanned traveling mobile body shown in FIG. 8 is an example shown in Patent Document 2 (Japanese Patent No. 5684100). A detailed description of a specific structure capable of moving up and down rubble and stairs using the main crawler and sub-crawler is omitted. There is a space on the side, and drone batteries can be installed in this place. In the test, a drone with a weight of several kilograms has been realized until it can supply power that can operate for about 2 to 3 hours. Depending on the drone's weight, performance, battery capacity, etc., this performance will vary, but it will be possible to secure enough time for activity.
　この無人走行移動体を利用した搬送体１は、無線コントロールができない原子力施設などでは、有線でコントロールする。そのため、図２に示すように通信ケーブルホルダー６２から通信ケーブル６１を引き出して操縦する。
　人が立ち入ることができない原子力施設では、搬送体は、有線により遠隔操縦する無人走行である。人が立ち入ることができない密閉空間を走行するので、モニターを見ながら操縦することとなる。また、放射能を遮断する場合は、遮蔽壁を介して有線で操縦することが必要となる。したがって、モニターに表示するための情報を収集するためのセンサ類を移動体に装備する。
　図示はしないが、無人走行移動体には内蔵センサとして、３軸ジャイロ、エンコーダ、３軸加速度センサ、速度計、慣性計測装置など移動体そのものの情報を収集するセンサ類を備えている。　
　カメラ、マイク、アンテナ、三次元測距センサ及び照明機器等の移動体の周辺状況の情報を入手する手段も備えている。さらに、調査用のセンサを搭載することができる。原子力発電施設では、放射線線量計、γカメラ、サーモグラフィ、湿度センサ、水位センサ、採水装置、ガスセンサ等である。物を動かすマニピュレータを装着することも可能である。
　これらのセンサ類は、離着陸の障害にならないようにプラットホームよりも下方に設置される。 The carrier 1 using the unmanned traveling mobile body is controlled by wire in a nuclear facility where wireless control is not possible. Therefore, the communication cable 61 is pulled out from the communication cable holder 62 and operated as shown in FIG.
In a nuclear facility where humans cannot enter, the carrier is unmanned traveling that is remotely controlled by wire. Since it runs in a closed space where people cannot enter, it will be maneuvered while looking at the monitor. Moreover, when shielding radioactivity, it is necessary to steer with a wire through a shielding wall. Accordingly, the mobile body is equipped with sensors for collecting information to be displayed on the monitor.
Although not shown, the unmanned traveling mobile body is provided with sensors for collecting information on the mobile body itself, such as a 3-axis gyro, an encoder, a 3-axis acceleration sensor, a speedometer, and an inertial measurement device, as built-in sensors.
Means are also provided for obtaining information on the surroundings of a moving object such as a camera, a microphone, an antenna, a three-dimensional distance sensor, and a lighting device. Furthermore, a survey sensor can be mounted. In nuclear power generation facilities, there are radiation dosimeters, γ cameras, thermography, humidity sensors, water level sensors, water sampling devices, gas sensors, and the like. It is also possible to attach a manipulator that moves objects.
These sensors are installed below the platform so as not to obstruct take-off and landing.
　本発明の運用は搬送体を単独で操縦することもできる外、無人走行移動体と搬送体を組み合わせて運用することもできる。この場合、無人走行移動体は有線操縦し、搬送体は無人走行移動体を経由して無線で操縦することも可能である。組合せ運用の例を図９に示している。有線と無線の組合せ運用については、本出願人が特開２０１３－１１２０３０号公報に開示したものと同様である。
　無線操縦のヘリポートを備えた搬送体１００を先行移動体とし、有線操縦の無人走行移動体２００を後方移動体とし、無人走行移動体２００の通信ケーブル２５０が遮蔽体３５０を貫通させて敷設された状態にて、搬送体１００の操縦を無人走行移動体２００の有線操縦を介して操作することができるシステムである。操縦者は手元のモニター３０１や操作具３０２を備えたコントローラ３００で操作することができる。搬送体１００と無人走行移動体２００との間は無線２４０でコントロールする。 The operation of the present invention can be operated by combining the unmanned traveling mobile body and the transport body in addition to being able to steer the transport body alone. In this case, the unmanned traveling mobile body can be steered by wire, and the transport body can be steered wirelessly via the unmanned traveling mobile body. An example of combination operation is shown in FIG. The wired / wireless combination operation is the same as that disclosed in Japanese Patent Application Laid-Open No. 2013-111030.
The carrier 100 equipped with the radio-controlled heliport is set as the preceding moving body, the unmanned traveling moving body 200 operated by wire operation is set as the rear moving body, and the communication cable 250 of the unmanned traveling moving body 200 is laid through the shield 350. In this state, it is a system capable of operating the transport body 100 via the wired control of the unmanned traveling mobile body 200. The operator can operate with the controller 300 provided with the monitor 301 and the operation tool 302 at hand. The space between the transport body 100 and the unmanned traveling mobile body 200 is controlled by radio 240.
　本発明の搬送体は、震災、洪水、地滑り、火山などで倒壊した建物内部や原子力施設内などの調査や探査用の運用システムとしてとして利用できる。 The carrier of the present invention can be used as an operation system for investigation and exploration inside buildings and nuclear facilities collapsed by earthquakes, floods, landslides, volcanoes and the like.

Claims (7)

  1. 　無人走行移動体と当該無人走行移動体の上面に設けられたドローン用ヘリポートを備えたことを特徴とする搬送体。 A carrier comprising an unmanned traveling vehicle and a drone heliport provided on the upper surface of the unmanned traveling vehicle.
  2. 　有線通信装置を備えたことを特徴とする請求項１記載の搬送体。 The carrier according to claim 1, further comprising a wired communication device.
  3. 　ヘリポートは、離着陸面及び固定面となるプラットホームと回転軸を周辺部に設けた杆体を備えており、杆体はドローンの脚部を固定する構造であることを特徴とする請求項１又は２記載の搬送体。 3. The heliport is provided with a platform having a platform as a take-off / landing surface and a fixed surface and a rotating shaft at a peripheral portion thereof, and the housing has a structure for fixing a leg portion of the drone. Carrier.
  4. 　杆体を複数備えており、少なくとも杆体の１つには給電接点を有していることを特徴とする請求項１～３のいずれかに記載の搬送体。 The transport body according to any one of claims 1 to 3, wherein a plurality of housings are provided, and at least one of the housings has a power supply contact.
  5. 　杆体は、２本以上であって、該杆体は回動して先端が交差するように配置されており、少なくとも１本の杆体が案内突起を中間下方に有しており、該案内突起と係合する案内溝がプラットホームに設けられていることを特徴とする請求項１～４のいずれかに記載の搬送体。 There are two or more housings, and the housings are arranged so that the tips rotate and the tips intersect with each other, and at least one housing has a guide projection in the middle and lower side, and is engaged with the guide projection. The conveying body according to any one of claims 1 to 4, wherein a guide groove is provided in the platform.
  6. 　無人走行移動体は、クローラ型駆動体であって、左右に配置された主クローラベルトと前後左右に設けられた回動する腕を備えたサブクローラを備えており、昇降可能なスキャナとドローン給電用の電池を搭載していることを特徴とする請求項１～５のいずれかに記載の搬送体。 The unmanned traveling mobile body is a crawler type drive body, and includes a main crawler belt arranged on the left and right and a sub crawler provided with rotating arms provided on the front and rear and the left and right. 6. The carrier according to claim 1, further comprising a battery for use.
  7. 　スキャナは、ドローン離着陸時には、プラットホームより下方に位置し、他の場合はスキャナはプラットホームより上方に伸長した位置にあり、搬送体の周辺情報を収集し、ドローンの飛行情報として供給できることを特徴とする請求項１～６に記載の搬送体。 The scanner is located below the platform during take-off and landing of the drone, and in other cases, the scanner is located at a position extending upward from the platform, and it can collect peripheral information of the carrier and supply it as drone flight information. The carrier according to any one of claims 1 to 6.
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