WO2018186461A1 - Dispositif de travail - Google Patents

Dispositif de travail Download PDF

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Publication number
WO2018186461A1
WO2018186461A1 PCT/JP2018/014498 JP2018014498W WO2018186461A1 WO 2018186461 A1 WO2018186461 A1 WO 2018186461A1 JP 2018014498 W JP2018014498 W JP 2018014498W WO 2018186461 A1 WO2018186461 A1 WO 2018186461A1
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WO
WIPO (PCT)
Prior art keywords
unit
work
traveling
working
moving body
Prior art date
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PCT/JP2018/014498
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English (en)
Japanese (ja)
Inventor
恵恒 谷口
信郎 柿崎
元崇 甲斐
栄治 大津
Original Assignee
株式会社Ｚｍｐ
日揮株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社Ｚｍｐ, 日揮株式会社 filed Critical 株式会社Ｚｍｐ
Publication of WO2018186461A1 publication Critical patent/WO2018186461A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a work device for performing various work easily and saving labor over a wide range of solar power generation devices, solar power generation devices, farmland, railways, industrial plants, and the like.
  • a solar power generation apparatus is configured to arrange a large number of solar panels side by side on a large site, take out the electric power generated by each solar panel, and output it to the outside.
  • the laying area of the solar panel per 1 MW of power generation is about 6000 m 2 .
  • each solar panel is arranged upward as a whole, and is easily affected by natural conditions such as weather, and dust and the like are likely to accumulate on the surface of the solar panel.
  • dust is likely to accumulate on the surface of the solar panel due to the influence of a sandstorm or the like.
  • the inspection work by the drone is large because the area to be monitored is large. Is very time consuming and costly. Further, since the drone itself is supplied with power from the mounted battery, the flightable time is limited.
  • Patent Document 1 includes a flying object, a housing device that houses the flying body, a cable that connects the flying body and the housing device, and a vehicle arithmetic device.
  • a vehicle that flies by remote control and / or autonomously the accommodation device includes a cable winding device, the cable is a power feeding and communication cable, and the vehicle is configured to travel by acquiring ambient environment information with the flying object. It is disclosed.
  • the surrounding environment information of the vehicle can be acquired by the flying object by supplying power to the flying object from the vehicle accommodation device via the cable, and the flight time by the storage capacity of the flying object It is possible to eliminate this limitation. Therefore, if the vehicle according to Patent Document 1 is applied and power is supplied to the drone via the cable, the accumulated state of dust and the like by the drone can be continuously obtained even in a large-area solar power generation device. It becomes possible to check.
  • each solar panel is divided into several blocks, and a passage for maintenance or the like is provided between the blocks.
  • a passage for maintenance or the like for example, weeds may grow, and when the weeds extend to the upper side of the solar panel, the surface of the solar panel becomes a shadow of the weeds, and the power generation efficiency decreases.
  • the power generation efficiency of one solar panel is reduced, the power generation efficiency of other solar panels in the same block is reduced accordingly, and the power generation efficiency of the entire solar power generation apparatus is reduced. . Therefore, it is also necessary to remove such weeds or suppress the growth of weeds, and it is highly expected to automate herbicidal work or herbicide spraying work.
  • the present invention eliminates the limitation of the movable time of a single work mobile body by supplying power to the work mobile body that travels autonomously from the travel mobile body via the wiring unit, and takes a long time.
  • An object of the present invention is to provide a working device that enables various kinds of work by a work moving body.
  • a flexible wiring portion comprising a traveling mobile body, a working mobile body, and a plurality of conductors that mechanically and controlably connect the traveling mobile body and the working mobile body.
  • the traveling mobile body includes a traveling unit for traveling in or around the work section, a traveling control unit that drives and controls the traveling unit, and a power supply unit.
  • a moving unit that moves in or around the work section, a movement control unit that controls the moving unit, a work unit that performs work on the work section, and a power supply that supplies power to the moving unit, the movement control unit, and the work unit.
  • the power supply unit is connected to the power supply unit of the traveling mobile body via the wiring unit, so that power is supplied from the power supply unit to ensure a long workable time, and the movement control unit is By controlling the moving part, the work moving body is moved along a predetermined route. While moving autonomously, achieved by the working apparatus to perform the work to the working compartment by the work unit.
  • the work unit moves in the work section or the peripheral area where the traveling mobile body should work, and while the work mobile body moves autonomously in the work section or the peripheral area where the work mobile body works, Work on.
  • the work moving body is supplied with power from the large-capacity power supply section of the traveling mobile body via the wiring section, the movement control section, and the work section. Therefore, since it is possible to use a large-sized power supply unit as compared with a power supply unit that can be mounted on the work moving body itself, the operable time is significantly increased. Therefore, for example, various operations performed by the working unit in a large facility are continuously performed over a long period of time without being interrupted by battery replacement or charging operation of the power supply unit on the way, and the work efficiency is greatly improved. In addition, the working time is greatly reduced.
  • the moving unit of the working device preferably has a traveling unit including wheels and a driving motor for traveling in or around the work section.
  • the work moving body can work while traveling in or around the work section.
  • the working unit of the working device preferably has a cleaning unit that performs a cleaning operation on the work section. Thereby, the cleaning operation can be performed on the work section by the cleaning unit.
  • the working unit of the working device preferably has a cleaning unit that performs a cleaning operation on the work section, and the cleaning operation can be performed on the work section by the cleaning unit.
  • the work moving body applies liquid such as water, cleaning liquid, agricultural chemicals, and paint to the work section by the spraying unit. Can be sprayed.
  • the traveling mobile body includes a storage unit, and the liquid stored in the storage unit is supplied to the working unit via a piping unit provided alongside the wiring unit.
  • liquids such as cleaning water, water supply, agricultural chemicals, and paint used in the working unit are supplied from the storage unit provided in the traveling moving body via the piping unit, so that the weight of the working moving body is reduced and moved.
  • a large amount of liquid is supplied from the storage unit of the traveling mobile body and the work can be performed for a long time without being affected by the load weight limit on the work mobile body. .
  • the traveling mobile body includes a winding device for winding the wiring portion, and a tension sensor for detecting the tension of the wiring portion, and the winding device is connected to the tension sensor.
  • the winding amount of the wiring part is adjusted based on the detection signal.
  • the winding device is based on the detection signal from the tension sensor. Winding the wiring part to reduce the slack of the wiring part. Therefore, the wiring portion is not entangled and the movement of the work moving body is not hindered.
  • the winding device extends the wiring portion based on the detection signal from the tension sensor to reduce the tension of the wiring portion. Therefore, cutting of the wiring part due to high tension is prevented.
  • the traveling moving body includes a height-adjustable supporting portion that supports an end portion of the wiring portion on the traveling moving body side, and the slack portion of the wiring portion is a working section.
  • the height is adjusted so as not to touch. Therefore, the height of the support portion is adjusted by bending or expansion / contraction according to the state of the slack portion of the wiring portion depending on the relative position of the traveling moving body and the work moving body, and the slack portion of the wiring portion contacts the surface of the work section. Can be prevented.
  • the work device preferably includes a transport means for the traveling mobile body to hold the work mobile body and move it to an adjacent work section.
  • a transport means for the traveling mobile body to hold the work mobile body and move it to an adjacent work section.
  • the working device is preferably a flying moving body in which the working moving body includes a driving unit that rotationally drives a rotor or the like as a moving unit, and a flight control unit that controls the driving unit as a movement control unit.
  • the work mobile body is a flying mobile body
  • the work section can work on the work section from above.
  • the work moving body can spray the liquid on the work section from above by the spraying unit.
  • the working device preferably includes a working unit configured separately, and a traveling unit, a traveling control unit, and a working power supply unit integrated with the working unit, and these working units.
  • the travel unit, the travel control unit, and the work power supply unit are detachably held as a work unit with respect to the work mobile body. After the work mobile body flies to the work section to be worked on, the work unit is quickly transported to the work section and moved to work by being disconnected from the work mobile body in or around the work section. After being separated from the body, the traveling unit is driven and controlled by the integrated traveling control unit to move in or around the work section, and the working unit can perform work on the work section. After the work on the section by the working unit is completed, the work unit is again held by the work moving body and can be transported to the next work section or a standby place as the work moving body moves.
  • the traveling mobile body includes a driving device, and when the operator operates the driving device, traveling route data is input from the driving device to the travel control unit.
  • the traveling moving body travels appropriately in the work section or the peripheral area where the work should be performed by the operator operating the driving device according to the work situation of the working moving body, and the work by the working moving body is smoothly performed. Can be done. At that time, since the operator can also visually check the work section to be operated, the work by the work moving body can be confirmed, and further, the work section can be inspected and monitored.
  • the traveling mobile body includes an automatic driving device or a semi-automatic driving device, and the automatic driving device or the semi-automatic driving device creates travel route data according to the work section, and the travel control unit Travel route data is output.
  • the traveling mobile body travels in or around the work section to be worked on based on the travel route data set in advance in accordance with the progress of the work of the working mobile body.
  • the working section moves in the section or the peripheral area and the work section performs work on the work section.
  • the work device is preferably configured separately from the traveling mobile body, and includes a remote monitoring and operation unit that transmits travel route data input by an operator's operation.
  • a transmission / reception unit is provided that receives the travel route data transmitted from the monitoring and operation unit and sends it to the travel control unit.
  • the travel route data is transmitted from the remote monitoring and operation unit to the travel control unit of the traveling mobile body.
  • the travel control unit of the travel mobile unit drives and controls the travel unit based on the travel route data, so that the travel mobile unit travels in or around the work section to be worked by the operation of the operator, and the work movement The body moves in or around the work section, and the working unit performs work on the work section.
  • the traveling mobile body includes a tracking device that tracks the working mobile body, and the traveling control unit of the traveling mobile body applies to the working mobile body based on the tracking signal from the tracking device.
  • the relative position is detected, and the traveling unit is driven and controlled so that the work moving body is within a predetermined distance. Therefore, the travel control unit of the travel mobile body moves within the work section or the peripheral area so that the work mobile body is within a predetermined distance based on the relative position with respect to the work mobile body by the tracking signal from the tracking device.
  • the working unit performs work on the work section.
  • the work moving body or the traveling mobile body includes a monitoring detection unit, and the traveling mobile body performs work in the work section based on the detection signal of the detection unit.
  • a processing unit that determines a required work section or area, generates limited work path data for moving only the work section or area that requires work, and sends the data to the work moving body via the wiring unit is provided.
  • the movement control unit of the work moving body performs a predetermined work by the work unit only on the work section or the area where the work is necessary based on the limited work route data.
  • the work section in which the processing unit of the traveling mobile body requires work based on the detection signal input from the detection unit of the working mobile body via the wiring unit or from the detection unit of the traveling mobile body. And the limited work route data is sent to the work moving body via the wiring section, so that the work moving body can work only on the work section where the work is required.
  • FIG. 1 shows the overall configuration of an embodiment of a working device according to the present invention.
  • the work device 10 includes a travel mobile body 20, a work mobile body 30 configured separately from the travel mobile body 20, and a wiring unit 50 that connects the travel mobile body 20 and the work mobile body 30. , Is composed of.
  • the traveling mobile body 20 includes a box-shaped main body 21, a traveling unit 22 provided at a lower portion of the main body 21, a traveling control unit 23 that drives and controls the traveling unit 22, and processing.
  • the unit 24, the transmission / reception unit 25, the storage unit 26, the power supply unit 27, the detection unit 28, and the wiring unit winding control device 29 are configured.
  • the main body 21 has a flat upper surface as shown in FIG. 3A, and includes a wiring unit winding control device 29 and, if necessary, a transport unit 40 as will be described later.
  • the traveling unit 22 includes four wheels 22a and drive motors 22b attached to the wheels 22a.
  • Each drive motor 22b is driven and controlled by the travel control unit 23, whereby each wheel 22a is rotationally driven, and the traveling mobile body 20 travels in a predetermined direction by moving forward, backward, or turning left and right.
  • the traveling unit 22 is not limited to the wheels 22a, and may be configured by other driving means such as an endless track.
  • the driving of the wheels 22a is not limited to the driving motor 22b, and a driving device such as a gasoline engine or a diesel engine may be used. These driving devices are also controlled by the travel control unit 23. Moreover, it is good not only as the four-wheeled vehicle 22a but as the three-wheeled vehicle 22a.
  • the travel control unit 23 controls each drive motor 22b of the travel unit 22 based on the travel route data 23a, thereby independently driving the corresponding wheels 22a to move forward, backward, turn left and right, etc. Let's run.
  • the travel route data 23 a is directly input or set in advance and stored in the storage unit 26, or acquired by being received from the outside via the transmission / reception unit 25 and input to the travel control unit 23.
  • the processing unit 24 receives work monitoring data 37a (described later) from the work moving body 30 via the data line 52 of the wiring unit 50, and also receives a detection signal from the detection unit 28 as described later.
  • the monitoring data 24 a is generated and registered in the storage unit 26 or transmitted to the outside via the transmission / reception unit 25.
  • the transmission / reception unit 25 transmits the monitoring data 24a generated by the processing unit 24 by wireless communication with a remote monitoring and operation unit 60 described later provided outside, and the remote monitoring and operation unit as necessary.
  • the travel route data 23a or work route data 33a set in advance from 60 is received and registered in the storage unit 26, or the travel route data 23a is stored in the travel control unit 23, and the work route data 33a is stored in the wiring unit 50.
  • the data is transmitted to the movement control unit 33 of the work moving body 30 via the data line 52.
  • the storage unit 26 sequentially receives the travel route data 23 a and the work route data 33 a received from the external remote monitoring and operation unit 60, the work monitoring data 37 a transmitted from the work moving body 30, and the detection signal from the detection unit 28.
  • the work monitoring data 37a and the detection signals from the detection unit 28 are read out and processed by the processing unit 24.
  • the power supply unit 27 includes a power battery 27a and a transformer converter 27b.
  • a power supply battery 27a a storage battery or a rechargeable secondary battery such as a lithium battery is used, and a plurality of, for example, 100 power supply batteries mounted on the normal work mobile body 30 are connected in parallel to each other.
  • the power supply unit 27 is a large-capacity power supply unit with a handling power for supplying power to the work moving body 30 from 100 W to kW.
  • a power supply battery for example, a lithium secondary battery of 14.8 V and 10000 mAH standard is used.
  • the power supply to each part in the traveling mobile body 20 may be directly supplied from the power supply battery 27a without passing through the following transformer converter 27b.
  • a primary power source such as a generator or a fuel cell can also be used as the power battery 27a.
  • the transformer converter 27b has a known configuration for boosting the voltage of the power supply battery 27a, and boosts the voltage 14.8V of the normally used power supply battery 27a to about 400V, for example. And the power supply line 51 of the wiring unit 50. By this boosting, it is possible to supply a large amount of power to the work moving body 30 even with a small current.
  • the detection unit 28 is a monitoring camera 28a and a position detection unit 28b.
  • the monitoring camera 28a is disposed in a relatively well-viewed place of the main body 21, for example, near the upper end of the support portion 29c, and the work section 11 to be worked on (see FIG. 1).
  • the captured image signal is sent to the processing unit 24 as a detection signal S.
  • the processing unit 24 determines the situation around the traveling mobile body 20 and generates an abnormality occurrence signal 24b if it is determined as abnormal, and generates an abnormality by a warning means (not shown) as necessary.
  • Notification or detection signal S and / or abnormality occurrence signal 24b is transmitted to remote monitoring and operation unit 60 via transmission / reception unit 25.
  • the position detection unit 28b detects longitude and latitude by a GPS sensor, for example. Thereby, the position detection part 28b detects the geodetic data 28c of the traveling mobile body 20 at that time, for example for every predetermined time, and sends it to the process part 24.
  • FIG. 1 A GPS sensor
  • the wiring unit winding control device 29 is configured as a so-called electric reel 29 a and is provided in a portion where the wiring unit 50 is drawn into the main body 21 of the traveling mobile body 20.
  • the wiring part winding control device 29 is provided with a tension sensor 29b for detecting the tension of the wiring part 50 on the electric reel 29a, and when the tension detected by the tension sensor 29b exceeds a predetermined upper limit value, the electric reel 29a is electrically driven.
  • the reel 29a is rotationally driven to operate to feed out the wiring portion 50.
  • the electric reel 29a is rotationally driven to operate to wind up the wiring portion 50.
  • the wiring part winding control device 29 is supported above the main body 21 by the support part 29 c and includes a slack sensor 29 d that detects a slack state of the wiring part 50.
  • the support portion 29c is configured to be extendable and / or bendable, for example, like a support arm of an aerial work vehicle, and is configured such that the height of the support portion 29c can be adjusted by the bending and / or extension / contraction.
  • the slack sensor 29d detects a sag angle ⁇ of the wiring portion 50 extending from the electric reel 29a.
  • the wiring part winding control device 29 When the sag angle ⁇ detected by the slack sensor 29d becomes smaller than a predetermined value, the wiring part winding control device 29 extends the support part 29c, and the sag angle ⁇ becomes larger than the predetermined value. In such a case, the height of the electric reel 29a is adjusted so that the slack portion of the wiring portion 50 does not touch the work section 11 by reducing the support portion 29c.
  • the wiring unit winding control device 29 is controlled by a control signal 24 g from the processing unit 24.
  • the work moving body 30 includes four wheels 31 provided in a lower portion of the main body 30 a and a moving unit 32 such as a drive motor that drives each wheel 31, and a movement control that drives and controls the moving unit 32. And a working unit 34 that performs work on the work section 11.
  • the movement part 32 and the movement control part 33 are the same structures as the traveling part 22 and the traveling control part 23 in the traveling mobile body 20.
  • the moving unit preferably has a traveling unit including wheels and a driving motor for traveling in or around the work section.
  • the work moving body 30 includes a moving unit 32, a movement control unit 33, and a working unit 34 in a main body 30a. As shown in FIG.
  • the work moving body 30 is placed on the work section 11, and the movement control unit 33 drives and controls the movement unit 32 based on the work path data 33 a set in advance.
  • the surface of the work section 11 moves autonomously with a predetermined work route pattern.
  • the work section 11 is, for example, a group of solar panels in a solar power generation device, and the surface thereof is continuous as a whole so that the work moving body 30 can move over the entire surface of one work section 11. It has become.
  • the working unit 34 has a known configuration, and, for example, wipes off dust or the like accumulated on the surface of the work section 11 with a rotating brush or the like, or sucks it with a suction nozzle to clean the surface of the work section 11.
  • the work moving body 30 in the embodiment of the present invention is not mounted with a power battery, and the wiring unit 50 is described later. Power is supplied from the power supply unit 27 of the traveling mobile body 20 to the moving unit 32, the movement control unit 33, and the working unit 34 via a power supply unit 38 to be described later. As a result, it is not necessary to mount a power battery having a considerable weight as compared with the dead weight of the work moving body 30, so that the work moving body 30 has a lighter total weight and improved maneuverability and a long time. Operating time is obtained.
  • the work moving body 30 includes an imaging unit 35 that images the work section 11 to be worked, a position detection unit 36, a processing unit 37, and a power feeding unit 38 in the main body 30a.
  • the imaging unit 35, the position detection unit 36, and the processing unit 37 are also supplied with power from the power supply line 51 of the wiring unit 50 via the power supply unit 38.
  • the imaging unit 35 images the work section 11 to be worked on while the work moving body 30 is working.
  • the imaging direction of the imaging unit 35 can be changed to an arbitrary direction by being changed to a predetermined direction by a direction changing unit provided in the imaging unit 35 itself. Then, the imaging unit 35 sends the captured imaging signal to the processing unit 37 as imaging data 35a.
  • the position detection unit 36 detects longitude and latitude by a GPS sensor, for example. Thereby, the position detection unit 36 detects the current geodetic data 36 a of the work moving body 30, for example, every predetermined time, and sends it to the processing unit 37.
  • the processing unit 37 compresses the imaging data 35a from the imaging unit 35 by image compression processing as necessary, and the geodetic data 36a and the imaging data 35a from the position detection unit 36 are collectively used as work monitoring data 37a.
  • the data is sent to the processing unit 24 of the traveling mobile body 20 via the data line 52 of the unit 50.
  • the imaging data 35a will be described below as compressed imaging data.
  • the wiring section 50 is composed of a light and strong wire that is commercially available for robot control, for example, a wire composed of a plurality of twisted wires coated with resin, and has a length of several tens of meters. The wire has flexibility so as not to hinder the movement of the work moving body 30 in the slack state.
  • the wiring unit 50 is composed of a plurality of pairs of wires. One pair is used as the power supply line 51 and the other pair is used as the data line 52.
  • the wiring unit 50 may include a further pair of data lines, and in that case, the work route data can be transmitted to the work mobile body 30 from the traveling mobile body 20 side.
  • the remote monitoring and operation unit 60 is arranged in the facility of the solar power generation apparatus in which the work section 11 to be worked is installed or adjacent to such a facility. As shown in FIG. For example, a transmission / reception unit 61 that performs wireless communication with the transmission / reception unit 25 of the body 20 using, for example, the Wi-Fi method, a storage unit 62, a control unit 63, a display unit 64, and an input unit 65 is included. Yes. Thereby, the control unit 63 of the remote monitoring and operation unit 60 stores the monitoring data 24a received by the transmission / reception unit 61 from the traveling mobile body 20 in the storage unit 62, and the imaging data 35a included in the monitoring data 24a. It is displayed on the display screen of the display unit 64.
  • control unit 63 of the remote monitoring and operation unit 60 displays the occurrence of abnormality on the display screen of the display unit 64 based on the abnormality occurrence signal 24b included in the monitoring data 24a received by the transmission / reception unit 61.
  • a warning sound or the like is emitted from warning means (not shown) such as a speaker.
  • the remote monitoring and operation unit 60 inputs the travel route data 23 a for the travel mobile body 20 or the work route data 33 a for the work mobile body 30 through the input unit 65 and stores the data in the storage unit 62.
  • the control unit 63 of the remote monitoring and operation unit 60 can set the travel route data 23a or the work route data 33a in advance, and reads the travel route data 23a or the work route data 33a from the storage unit 62. Then, the data is transmitted from the transmission / reception unit 61 to the transmission / reception unit 25 of the traveling mobile body 20 by wireless communication.
  • the transmission / reception unit 25 of the traveling vehicle 20 receives the traveling route data 23a or the work route data 33a and stores it in the storage unit 26 of the traveling vehicle 20, or stores the working route data 33a in the wiring unit 50.
  • the data is sent to the movement control unit 33 of the work moving body 30 via the data line 52.
  • the travel control unit 23 of the travel mobile unit 20 reads the travel route data 23a from the storage unit 26 and controls the travel unit 22 to drive. Thereby, the traveling mobile body 20 travels along a travel route set in advance.
  • the work control unit 33 of the work moving body 30 controls the work moving body 30 so as to move along the work route set in advance based on the work route data 33a.
  • the working device 10 is configured as described above and operates as follows.
  • the work route data 33 a is received in advance from the remote monitoring and operation unit 60 through the transmission / reception unit 25 and the processing unit 24 of the traveling mobile unit 20 and through the data line 52 of the wiring unit 50.
  • work route data 33a is registered in advance in the movement control unit 33, and the movement control unit 33 controls the movement unit 32 based on the work route data 33a.
  • the work moving body 30 autonomously moves on the surface of the work section 11 in a work route pattern set in advance by each wheel 31 driven by the moving section 32, and the work section 34 cleans the work section 11.
  • the geodetic data 36 a detected by the position detection unit 36 of the work mobile unit 30 is sent to the processing unit 24 of the traveling mobile unit 20 via the data line 52 of the wiring unit 50.
  • the processing unit 24 compares the geodetic data 36a input from the work mobile unit 30 via the wiring unit 50 with the geodetic data 28c from the position detection unit 28b.
  • the tracking travel route data 24h is generated so that the longitude and latitude (position of the traveling mobile body 20) based on the geodetic data 28c are located within a predetermined distance from the longitude and latitude (position of the working mobile body 30) based on the geodetic data 36a.
  • it is sent to the traveling control unit 23.
  • the travel control unit 23 drives and controls the travel unit 22 based on the tracking travel route data 24h, and the travel mobile unit 20 travels so as to be located within a predetermined distance with respect to the work mobile unit 30.
  • the traveling moving body 20 follows the movement of the work moving body 30 by performing the tracking operation described above. And run. Then, the monitoring data 24 a is transmitted from the traveling mobile unit 20 to the remote monitoring and operation unit 60, so that the remote monitoring and operation unit 60 monitors the work in the work section 11.
  • the working moving body 30 when the work moving body 30 tries to largely move away from the traveling moving body 20 due to a failure of the following operation, a malfunction of the movement control of the working moving body 30, the working moving body 30 travels mechanically via the wiring unit 50. Since it is connected to the moving body 20, the moving range of the work moving body 30 is limited to the range of the length of the wiring portion 50 with the traveling moving body 20 as the center. Therefore, it is possible to prevent the work moving body 30 from inadvertently running away somewhere and damaging or destroying part of the equipment in the work section 11 to be worked on due to a collision or the like.
  • the traveling mobile body 20 further includes a transport unit 40 that holds and transports the work mobile body 30 on the main body 21.
  • the transport unit 40 has a publicly known configuration, and includes a crane-like support arm 41 that can rotate and swing, and that can be expanded and contracted or bent, and a holding unit 42 provided at the tip of the support arm 41. Yes.
  • the support arm 41 is controlled by a control signal 41 a from the processing unit 24, and the holding unit 42 is controlled by a control signal 42 a from the processing unit 24.
  • the transport section 40 holds the work moving body 30 on the work section 11 by holding the work section 42, etc., and expands / contracts, bends and rotates the support arm 41.
  • the work moving body 30 is moved above the other work section 11, the holding by the holding unit 42 is released, and the work moving body 30 is placed on the other work section 11.
  • the work moving body 30 is transported onto another work section 11 by the transport unit 40 provided in the traveling mobile body 20. be able to.
  • the conveyance unit 40 is controlled by the processing unit 24 based on the geodetic data 28c and 36a of the traveling moving body 20 and the working moving body 30, and thereby the one moving section 10 of the working moving body 30 is different from the other working section 11 described above. Can be carried to the work section 11.
  • the working unit 34 performs the same cleaning work as that of the robot cleaner, but is not limited to the solar panel, and cleaning work and windows for collecting dirt on the condensing lens used for solar thermal power generation and dust accumulated on the condensing lens. You may clean glass etc.
  • the present invention is not limited to these, and other operations can be performed.
  • the working unit 34 can perform various operations by ejecting a liquid such as cleaning water or a chemical solution from a nozzle. Thereby, it is also possible to perform cleaning work by spraying cleaning water, water supply work, or agricultural work such as spraying of agricultural chemicals and herbicides. It is also possible to perform painting work by spraying paint.
  • the work moving body 30 does not need to be positioned on the surface of the work section 11 in the work such as liquid spraying, and moves in a peripheral region such as a maintenance passage provided around the work section 11, for example. You may do it.
  • the liquid to be sprayed is stored in a tank or the like provided in the work moving body 30, but is not limited thereto, and may be stored in a tank or the like provided in the traveling moving body 20. In this case, the liquid is supplied from the tank of the traveling moving body 20 to the work moving body 30 via the piping section provided alongside the wiring section 50, and the weight of the working moving body 30 is further reduced.
  • FIG. 6 shows the configuration of the second embodiment of the working device according to the present invention.
  • the work device 70 is different from the work device 10 shown in FIG. 1 in that a work moving body 71 is provided instead of the work moving body 30.
  • the working device 70 includes a traveling mobile body 20, a working mobile body 71, and a wiring unit 50 that connects the traveling mobile body 20 and the working mobile body 71.
  • the work mobile body 71 includes a flying mobile body 80 and a work unit 90.
  • the flying vehicle 80 is a flying robot having a known configuration, and as shown in FIGS. 7 and 8, a flying means 81 such as a rotor and a propeller for flying, a drive motor for rotating the flying means 81, etc.
  • a drive unit 82 as a moving unit and a flight control unit 83 as a movement control unit for controlling the drive unit 82 are included.
  • four flying means 81 and four driving parts 82 are provided.
  • the flying vehicle 80 has a flat body 84 having a height and width of about 20 to 60 cm and a height of about 20 to 40 cm, for example, and the flying means 81, the drive unit 82, and the flight control unit 83 include It is mounted in the fuselage 84.
  • the flight control unit 83 has a function of performing so-called autonomous flight while flying stably by driving the corresponding flight means 81 by each driving unit 82 based on the flight path data 83a, It flies over or around the work section 11 specified by the flight path data 83a.
  • the flying mobile unit 80 in the present embodiment is not equipped with a power battery, and travels via the power line 51 of the wiring unit 50. Power is supplied from the power supply unit 27 of the moving body 20 to the drive unit 82 and the flight control unit 83 via a power supply unit 88 described later. If it is not necessary to install a power supply battery, the flying vehicle 80 has a lighter total weight and improved maneuverability and a longer flight time.
  • the flying vehicle 80 includes an imaging unit 85 that images the work section 11 to be worked, a position detection unit 86, a processing unit 87, and a power feeding unit 88. And a holding unit 89.
  • the imaging unit 85, the position detection unit 86, and the processing unit 87 are also supplied with power from the power supply line 51 of the wiring unit 50 via the power supply unit 88.
  • the imaging unit 85, the position detection unit 86, and the processing unit 87 have the same configuration as the imaging unit 35, the position detection unit 36, and the processing unit 37 in the work moving body 30 of the work apparatus 10 illustrated in FIG. Further, the imaging direction of the imaging unit 85 can be set to an arbitrary direction by changing the attitude of the flying mobile unit 80 itself by the flight control unit 83 in a state where the imaging unit 85 is fixed to the body 84 of the flying mobile unit 80. Can be changed.
  • the position detector 86 also detects height data by detecting the height from the ground using, for example, a pressure sensor, an ultrasonic sensor, etc., and detects the three-dimensional geodetic data 87a to detect the processing unit 87. To send.
  • the holding unit 89 is, for example, a known locking mechanism, and is provided below the airframe 84 of the flying vehicle 80.
  • the holding unit 89 can be attached to and detached from the work unit 90 by being placed on the work unit 90 from above. Hold.
  • the holding unit 89 is unlocked by a release command from the processing unit 87.
  • the work unit 90 includes a work unit 91, a travel unit 92, a travel control unit 93, and a power supply unit 94.
  • the working unit 91, the traveling unit 92, and the traveling control unit 93 have the same configuration as the working unit 34, the moving unit 32, and the movement control unit 33 in the work moving body 30 of the working device 10 illustrated in FIG. Power is supplied from each and operates.
  • the power supply unit 94 uses a small power battery in consideration that the work unit 90 itself is carried by the flying vehicle 80. When the power supply unit 94 is held by the holding unit 89 of the flying vehicle 80, the power supply unit 94 may be charged by being supplied with power from the power supply unit 88 of the flying vehicle 80 via the connection unit 94a.
  • the operation is performed as follows. That is, in the work moving body 71, the flight moving body 80 has the work unit 90 held by the holding unit 89, and the flight path data 83 a is transmitted from the remote monitoring and operation unit 60 in advance to the transmission / reception unit 25 of the traveling moving body 20. Received through the data line 52 of the wiring unit 50 and the flight path data 83a is registered in the flight control unit 83 in advance, and the flight control unit 33 is driven based on the flight path data 83a. The unit 82 is controlled.
  • the flying vehicle 80 autonomously flies in a flight path pattern set in advance by each flying means 81 driven by the drive unit 82 while holding the work unit 90, and the work section 11 to be worked on.
  • the work unit 90 is released by landing on the surface and unlocking the holding portion 89. Thereafter, the flying vehicle 80 takes off from the surface of the work section 11, disconnects the work unit 90, and enters a standby state in the sky or in a standby place.
  • the work unit 90 separated on the work section 11 is a work determined on the work section 11 by driving and controlling the travel section 92 based on the work route data 93a registered in advance by the travel control section 93.
  • the work unit 91 moves along the route pattern, and performs work such as cleaning on the work section 11.
  • the flying mobile body 80 flies to the work unit 90 on the work section 11 and lands on the surface of the work section 11.
  • the holding unit 89 holds the work unit 90 by being placed on the work unit 90.
  • the flying vehicle 80 takes off from the surface of the work section 11 while holding the work unit 90, and autonomously flies to the work section 11 to be next worked based on the flight path data 83a.
  • the work unit 90 is cut off by landing on the surface of the section 11 and releasing the holding portion 89. As a result, the work unit 90 moves to the work section 11 to be worked next and performs work.
  • the flying vehicle 80 holds the work unit 90.
  • the work unit 90 can reliably move to the next work section 11.
  • the work mobile body 71 is composed of the flying mobile body 80 and the work unit 90
  • the flight mobile body 80 and the work unit 90 may be integrated.
  • the traveling unit 92, the traveling control unit 93, and the power supply unit 94 of the work unit 90 can be omitted.
  • the work unit 91 performs work in the flight state of the work mobile body 71.
  • a spraying work of cleaning liquid, chemical liquid or water supply, liquid such as paint is suitable.
  • a monitoring camera provided on the flying vehicle 80 monitors a wild animal that has entered a work area such as a solar panel, approaches the area, and automatically evacuates the work area by irradiating sound waves or the like. You can also. As a result, it is possible to prevent damage caused by a wild animal such as a crow or a monkey dropping a stone or the like onto the solar panel and breaking the solar panel.
  • the traveling moving body 20 travels on the ground by the four wheels 22a, and travels by separately controlling the rotational speeds of the left and right wheels 22a when turning left and right.
  • the present invention is not limited to this, and it is obvious that a so-called steering function may be provided to steer the front or rear wheels to the left and right.
  • the traveling mobile body 20 is configured to travel on the ground by the wheels 22a.
  • the traveling mobile body 20 may include traveling means other than wheels, such as an endless track, and may be provided on the ground like a hovercraft. You may make it move from the surface.
  • the traveling mobile body 20 travels based on the travel route data 23a received from the remote monitoring and operation unit 60.
  • the traveling mobile body 20 includes an input unit.
  • the travel route data 23a may be input as described above.
  • the traveling mobile body 20 travels based on the travel route data 23a set in advance by the automatic driving device or the semi-automatic driving device.
  • the traveling mobile body 20 includes a driving device for semi-automatic driving.
  • the traveling mobile body 20 may be caused to travel by an operator operating or assisting the driving device.
  • the semi-automatic operation is a case where an operator intervenes drives or assists the traveling mobile body 20, and the operator operates or assists the driving device so that the traveling control unit 23 is in a semi-automatic operation state. And driving the traveling vehicle 20.
  • the work moving bodies 30 and 71, the work unit 34, the work unit 34 of the work mover 30 and the work unit 91 of the work unit 90 have a work route pattern in which the entire work section 11 to be worked is determined.
  • the detection signal S captured by the monitoring camera 28a of the traveling moving body 20 or the work moving body 30 is used.
  • the processing unit 24 of the traveling mobile body 20 determines the work section 11 that needs work from among the many work sections 11, or works in the work section 11. Is determined, the limited work route data 33b for moving only the work section 11 or the area that requires work is generated, and the work moving body 30 is connected via the wiring unit 50.
  • the working portion 34,91 with respect to only work station 11 or space required work may be performed work. In this way, it is not necessary to work on all the work sections 11 or the entire range of the work sections 11 here, and the time and cost required for the work are reduced.
  • the determination of the work section 11 or the area that requires such work and the generation of the limited work route data 33b are performed not only by the processing unit 24 of the traveling mobile body 20, but also by the control unit 63 of the remote monitoring and operation unit 60. You may make it perform.
  • the generated limited work route data 33 b is wirelessly transmitted from the remote monitoring and transmission / reception unit 61 of the operation unit 60 to the transmission / reception unit 25 of the traveling mobile body 20, and further, the work mobile body 30 via the wiring unit 50. Is sent out.
  • the working unit 34 of the work moving body 30 or the working unit 91 of the working unit 90 performs the cleaning work on the work section 11.
  • a cleaning operation a water supply operation, a spraying operation of a liquid such as an agrochemical or a herbicide, and a painting operation.
  • a spraying operation of a liquid such as an agrochemical or a herbicide
  • a painting operation a painting operation.
  • mowing work and sowing work it is also possible to perform mowing work and sowing work.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

Un dispositif de travail 10 comprend : un corps mobile de déplacement 20 ; un corps mobile de travail 30 ; et une unité de câblage flexible 50 composée d'une pluralité de conducteurs qui relient mécaniquement et de manière contrôlée le corps mobile de déplacement 20 et le corps mobile de travail. Le corps mobile de déplacement 20 comprend : une unité de déplacement 22 conçue pour se déplacer à l'intérieur d'une zone de travail 11 ou à travers une région environnante ; une unité de commande de déplacement 23 qui entraîne et commande l'unité de déplacement ; une unité de traitement 24 ; et une unité de bloc d'alimentation 27. Le corps mobile de travail 30 comprend : une unité de travail 34 qui effectue un travail sur la zone de travail 11 ; une unité de déplacement 32 ; une unité de commande de mouvement 33 ; et une unité d'alimentation électrique 38 qui alimente l'unité de travail 34. L'unité d'alimentation électrique 38 est alimentée en énergie provenant de l'unité de bloc d'alimentation 27 du corps mobile de déplacement 20 par l'intermédiaire de l'unité de câblage 50, et l'unité de commande de mouvement 33 commande l'unité de déplacement 32 de telle sorte que l'unité de travail 34 effectue un travail sur la zone de travail 11 tandis que le corps mobile de travail 30 se déplace de manière autonome le long d'un trajet prescrit.
PCT/JP2018/014498 2017-04-08 2018-04-04 Dispositif de travail WO2018186461A1 (fr)

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JP2017077198A JP2018180796A (ja) 2017-04-08 2017-04-08 作業装置
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JP2021144644A (ja) * 2020-03-13 2021-09-24 三菱電機株式会社 移動体システムおよび移動体制御装置
JP2022502776A (ja) * 2018-05-28 2022-01-11 蘇州瑞得恩光能科技有限公司Suzhou Radiant Photovoltaic Technology Co., Ltd 清掃システム及び清掃方法
JP2022502779A (ja) * 2018-11-09 2022-01-11 蘇州瑞得恩光能科技有限公司Suzhou Radiant Photovoltaic Technology Co., Ltd 清掃システムの制御方法
JP2022503818A (ja) * 2018-11-09 2022-01-12 蘇州瑞得恩光能科技有限公司 移送方法

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JP6999214B2 (ja) * 2019-01-04 2022-01-18 川上 貴之 マルチコプターを利用した、被洗浄面の洗浄方法。
JP2020134173A (ja) * 2019-02-13 2020-08-31 株式会社ミライト 測定システム及び測定方法
JP7207164B2 (ja) * 2019-05-24 2023-01-18 株式会社明電舎 巡視点検システム

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JP7499584B2 (ja) 2020-03-13 2024-06-14 三菱電機株式会社 移動体システムおよび移動体制御装置

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