Remotely controlled machinery

Abstract

To provide a remotely controlled machinery that can operate stably in a hostile electromagnetic environment.SOLUTION: A remotely controlled machinery includes an equipment control unit having a first light source that generates power supply light and a first optical transmitter that transmits a first optical communication signal, a mobile unit having a photoelectric conversion circuit that converts the power supply light into electricity and a first optical receiver that receives the first optical communication signal, and a first optical fiber that connects the equipment control unit and the mobile unit, transmits the power supply light and the first optical communication signal, and is an air-core fiber.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to remotely controlled mechanisms. [Background technology]

[0002] Patent document 1 discloses a remote measurement system capable of measurement in a radiation environment, which includes a sensor unit that measures data related to a remotely controlled robot, and an analysis device that receives an optical signal indicating the measurement results from the sensor unit via an optical fiber. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-153868 Summary of the Invention [Problem to be solved by the invention]

[0004] When a device is operated remotely in a hostile electromagnetic environment such as a radiation environment, if power is supplied via an electric wire, the stable operation of the device may be affected due to interference between the electric wire and electromagnetic waves. Therefore, there is a demand for a device that can operate stably in a hostile electromagnetic environment such as a radiation environment.

[0005] The present disclosure provides a remote-controlled mechanical device that can operate stably in a hostile electromagnetic environment. [Means for solving the problem]

[0006] In one aspect of the present disclosure, there is provided a remote-controlled mechanical device comprising: a device control unit including a first light source that generates power supply light and a first optical transmitter that transmits a first optical communication signal; a mobile unit including an optoelectronic conversion circuit that converts the power supply light into electricity and a first optical receiver that receives the first optical communication signal; and a first optical fiber that connects the device control unit and the mobile unit, transmits the power supply light and the first optical communication signal, and is an air-core fiber. [Effects of the Invention]

[0007] The remote control mechanical device of the present disclosure can operate stably even in a hostile electromagnetic environment. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an outline of a remote control mechanical device according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing an outline of a device control section in the remote-controlled mechanical device according to the first embodiment. [Figure 3] FIG. 3 is a diagram showing an outline of a moving unit in the remote-controlled mechanical device according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an outline of a remote control mechanical device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. Note that the present disclosure is not limited to these examples, but is defined by the claims, and is intended to include all modifications within the meaning and scope of the claims.

[0010] In addition, with regard to the description of the specification and drawings of each embodiment, components having substantially the same or corresponding functional configurations may be designated by the same or corresponding reference numerals to avoid redundant explanation. In addition, the scale of each part in the drawings may differ from the actual scale to facilitate understanding.

[0011] First Embodiment A remote control mechanism according to the first embodiment will be described. The remote control mechanism according to the first embodiment comprises a mechanism control unit, a moving unit, and a first optical fiber. The mechanism control unit in the remote control mechanism according to the first embodiment comprises a first light source that generates power supply light, and a first optical transmitter that transmits a first optical communication signal. The moving unit in the remote control mechanism according to the first embodiment comprises an optoelectronic conversion circuit that converts the power supply light into electrical power, and a first optical receiver that receives the first optical communication signal. The first optical fiber in the remote control mechanism according to the first embodiment is a hole-core fiber that connects the mechanism control unit and the moving unit and transmits the power supply light and the first optical communication signal.

[0012] The details of the remote-controlled mechanical device according to the first embodiment will be described with reference to the drawings. Fig. 1 is a diagram showing an outline of a remote-controlled mechanical device 1, which is an example of the remote-controlled mechanical device according to the first embodiment.

[0013] The remote control mechanism 1 includes a device control unit 101, a moving unit 102, an optical fiber 103, and an optical fiber 104. The optical fiber 103 and the optical fiber 104 connect the device control unit 101 and the moving unit 102, respectively. The remote control mechanism 1 performs communication and power supply from the device control unit 101 to the moving unit 102 via the optical fiber 103. The remote control mechanism 1 also performs communication from the moving unit 102 to the device control unit 101 via the optical fiber 104. Furthermore, the remote control mechanism 1 supplies light used for communication from the moving unit 102 to the device control unit 101 via the optical fiber 103. The remote control mechanism 1 performs communication between the device control unit 101 and the moving unit 102 wirelessly, as described below, in a radio wave environment where wireless communication is possible.

[0014] In the remote control machine 1, the signal light for communication transmitted from the device control unit 101 to the mobile unit 102 is called downstream signal light DSL (downstream signal light). The signal light for communication transmitted from the mobile unit 102 to the device control unit 101 is called upstream signal light USL (upstream signal light). The light for energy supply supplied from the device control unit 101 to the mobile unit 102 is called power supply light PSL (power supply light). The light supplied from the device control unit 101 to the mobile unit 102 to be modulated in the mobile unit 102 is called continuous wave light CWL (continuous wave light).

[0015] The device control unit 101 transmits downstream signal light DSL, power supply light PSL, and continuous light CWL to the mobile unit 102 via an optical fiber 103. In addition, the mobile unit 102 transmits upstream signal light USL to the device control unit 101 via an optical fiber 104.

[0016] The remote control mechanism 1 may include a plurality of optical fibers 103. The remote control mechanism 1 may also include a plurality of optical fibers 104. Furthermore, the remote control mechanism 1 may cover the optical fibers 103 and 104 together. In other words, the remote control mechanism 1 may bundle the optical fibers 103 and 104 to form a cable harness or a cable assembly. Furthermore, when the remote control mechanism 1 covers the optical fibers 103 and 104 together, it may include, for example, a steel cable inside the cover to maintain strength.

[0017] Each component of the remote control device 1 will now be described in detail.

[0018] [Device Control Unit 101] The device control unit 101 controls the moving unit 102. The device control unit 101 also supplies the moving unit 102 with energy required to drive the moving unit 102.

[0019] FIG. 2 is a diagram showing an outline of the device control section 101 in the remote-controlled mechanical device 1, which is an example of the remote-controlled mechanical device according to the first embodiment.

[0020] The device control unit 101 includes a central processing unit 105, an optical transmitter 106a, a light source 106b, a high-power light source 107, an optical fiber 108, an optical multiplexer 109, an optical receiver 110, a wireless communication circuit 111, and an antenna 112.

[0021] (Central processing unit 105) The central processing unit 105 has a function of driving and controlling the devices included in the device control unit 101. The central processing unit 105 is, for example, a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory).

[0022] (Optical transmitter 106a) The optical transmitter 106a generates downstream signal light DSL modulated by a communication signal to transmit the communication signal to the mobile unit 102. The optical transmitter 106a receives a transmission signal ST1, which is an electrical signal transmitted from the central processing unit 105. The optical transmitter 106a then modulates light based on the received transmission signal ST1 to generate downstream signal light DSL, which is an optical signal to be transmitted to the mobile unit 102. The optical transmitter 106a outputs the generated downstream signal light DSL to the optical multiplexer 109 via the optical fiber 108.

[0023] The wavelength of the downstream DSL signal light generated by the optical transmitter 106a may be appropriately determined within the range of, for example, 1530 nanometers to 1560 nanometers. The wavelength of the downstream DSL signal light is, for example, 1530 nanometers.

[0024] (Light source 106b) The light source 106b generates continuous light CWL that is modulated in the moving section 102. The light source 106b generates the continuous light CWL with a predetermined constant intensity based on a control signal CTL1 transmitted from the central processing unit 105. The light source 106b outputs the generated continuous light CWL to the optical multiplexer 109 via the optical fiber 108.

[0025] The wavelength of the continuous light CWL generated by the light source 106b may be set appropriately within the range of, for example, 1530 nanometers to 1560 nanometers. The wavelength of the continuous light CWL is, for example, 1550 nanometers. Note that the wavelength of the continuous light CWL is set to be different from the wavelength of the downstream signal light DSL.

[0026] (High power light source 107) The high-power light source 107 generates the power supply light PSL. The high-power light source 107 generates the power supply light PSL based on a control signal CTL2 transmitted from the central processing unit 105. The power supply light PSL is light with a higher intensity than the upstream signal light USL, downstream signal light DSL, and continuous wave light CWL used in communications. The high-power light source 107 includes, for example, a high-output laser for power supply. The high-power light source 107 outputs the generated power supply light PSL to the optical multiplexer 109 via an optical fiber 108.

[0027] The wavelength of the feed light PSL generated by the high-power light source 107 is different from the wavelengths of the downstream signal light DSL and the feed light PSL. The wavelength of the feed light PSL generated by the high-power light source 107 is, for example, 1450 nanometers.

[0028] The wavelengths of the downstream signal light DSL, continuous light CWL, and power supply light PSL shown above are merely examples, and may be appropriately determined within the range of wavelengths generally used in optical fibers.

[0029] (Optical Fiber 108) The optical fiber 108 connects the optical transmitter 106a and the optical multiplexer 109. The optical fiber 108 also connects the light source 106b and the optical multiplexer 109. The optical fiber 108 also connects the high-power light source 107 and the optical multiplexer 109.

[0030] (Optical multiplexer 109) The optical multiplexer 109 multiplexes the downstream signal light DSL output from the optical transmitter 106a, the continuous light CWL output from the light source 106b, and the power supply light PSL output from the high-power light source 107. The optical multiplexer 109 multiplexes light beams with different wavelengths.

[0031] The optical multiplexer 109 outputs the multiplexed downstream signal light DSL, continuous light CWL, and power supply light PSL to the optical fiber 103.

[0032] (Optical receiver 110) The optical receiver 110 receives the upstream signal light USL input from the optical fiber 104. The optical receiver 110 converts the upstream signal light USL, which is an optical signal, into a received signal SR1, which is an electrical signal. The optical receiver 110 then outputs the received signal SR1 to the central processing unit 105.

[0033] (wireless communication circuit 111) The wireless communication circuit 111 performs wireless communication with the mobile unit 102 .

[0034] The wireless communication circuit 111 outputs a transmission signal WT1, which is an electrical signal from the central processing unit 105, as a wireless signal WLT1 from an antenna 112. The wireless communication circuit 111 also converts a wireless signal WLR1 input from the antenna 112 into a reception signal WR1, which is an electrical signal. The wireless communication circuit 111 outputs the converted reception signal WR1 to the central processing unit 105.

[0035] (Antenna 112) The antenna 112 is a so-called antenna. The antenna 112 transmits a radio signal WLT1 by radio waves to the mobile unit 102. The antenna 112 also receives a radio signal WLR1, which is a radio wave transmitted from the mobile unit 102.

[0036] The device control unit 101 may be configured to include a plurality of each of the optical transmitters 106a, light sources 106b, high-power light sources 107, and optical receivers 110. When a plurality of each of the optical transmitters 106a, light sources 106b, high-power light sources 107, and optical receivers 110 is provided, the wavelengths of light used by each of the optical transmitters 106a, light sources 106b, high-power light sources 107, and optical receivers 110 are made different.

[0037] The downstream signal light DSL is an example of a first optical communication signal, the optical receiver 110 is an example of a second optical receiver, the optical transmitter 106a is an example of a first optical transmitter, the wireless communication circuit 111 is an example of a first wireless communication circuit, the high-power light source 107 is an example of a first light source, and the light source 106b is an example of a second light source.

[0038] [Mobile part 102] The moving unit 102 is configured to be movable. The moving unit 102 measures the environment and performs work, for example. The moving unit 102 includes, for example, a land moving body such as a car, a surface moving body such as a ship or boat, an underwater moving body such as a submarine, an aerial moving body such as a drone, and the like.

[0039] FIG. 3 is a diagram showing an outline of the moving unit 102 in the remote-controlled mechanical device 1, which is an example of the remote-controlled mechanical device according to the first embodiment.

[0040] The moving unit 102 includes a moving device 113, a central processing unit 114, an optical demultiplexer 115, a photoelectric conversion circuit 116, an optical receiver 117, and an optical transmitter 118. The moving unit 102 also includes a LiDAR (Light Detection And Ranging) 119, a camera 120, an ultrasonic sensor 121, a thermo-hygrometer 122, a dosimeter 123, and a manipulator 124. The moving unit 102 also includes a wireless communication circuit 126 and an antenna 127.

[0041] (Mobile device 113) The moving device 113 is a device for moving the moving unit 102. The moving device 113 includes, for example, a power source such as a motor or an engine, and a propulsion device such as wheels, caterpillars, or a propeller.

[0042] (Central Processing Unit 114) The central processing unit 114 has the function of driving and controlling the devices included in the moving unit 102. The central processing unit 114 is, for example, a computer including a CPU, RAM, and ROM.

[0043] The central processing unit 114 transmits the results acquired by each of the LiDAR 119, the camera 120, the ultrasonic sensor 121, the thermo-hygrometer 122, and the dosimeter 123 to the device control unit 101. The central processing unit 114 converts the measurement results of each of the LiDAR 119, the camera 120, the ultrasonic sensor 121, the thermo-hygrometer 122, and the dosimeter 123 into a transmission signal ST2. Then, the central processing unit 114 controls the optical transmitter 118 to modulate the upstream signal light USL based on the transmission signal ST2 and transmit the upstream signal light USL from the optical transmitter 118 to the device control unit 101. Note that the mobile unit 102 may transmit the measurement results, etc. to the device control unit 101 by wireless signal using the wireless communication circuit 126.

[0044] (Optical demultiplexer 115) The optical demultiplexer 115 demultiplexes the downstream signal light DSL, continuous light CWL, and power supply light PSL input from the optical fiber 103. The optical demultiplexer 115 has a function of separating light of different wavelengths. The optical demultiplexer 115 outputs the demultiplexed downstream signal light DSL to the optical receiver 117 via the optical fiber 108. The optical demultiplexer 115 outputs the demultiplexed continuous light CWL to the optical transmitter 118 via the optical fiber 108. The optical demultiplexer 115 outputs the demultiplexed power supply light PSL to the opto-electrical conversion circuit 116 via the optical fiber 108.

[0045] (Photoelectric conversion circuit 116) The photoelectric conversion circuit 116 receives the power supply light PSL and converts it into electric power PS. The photoelectric conversion circuit 116 includes, for example, a photoelectric conversion element such as a photodiode or a solar cell. The photoelectric conversion circuit 116 may include, for example, multiple photoelectric conversion elements, and may divide and attenuate the powerful power supply light PSL before receiving the light. The photoelectric conversion circuit 116 supplies the converted electric power PS to equipment in the mobile unit 102, for example, the central processing unit 114.

[0046] (Optical receiver 117) The optical receiver 117 receives the downstream optical signal DSL input from the optical fiber 103. The optical receiver 117 converts the downstream optical signal DSL into a received signal SR2, which is an electrical signal. The optical receiver 117 then outputs the converted received signal SR2 to the central processing unit 114.

[0047] (Optical transmitter 118) The optical transmitter 118 generates an upstream signal light USL modulated by a communication signal to transmit the communication signal to the device control unit 101. The optical transmitter 118 receives a transmission signal ST2, which is an electrical signal transmitted from the central processing unit 114. The optical transmitter 118 then modulates the continuous wave light CWL based on the received transmission signal ST2 to generate an upstream signal light USL, which is an optical signal to be transmitted to the device control unit 101. The optical transmitter 118 outputs the generated upstream signal light USL to the optical fiber 104. The optical transmitter 118 is, for example, an EA (Electro-Absorption) modulator or a Mach-Zehnder modulator.

[0048] (LiDAR119) The LiDAR 119 measures distance by irradiating a target with laser light and detecting reflected light of the irradiated laser light. The LiDAR 119 also acquires a three-dimensional image of the outside of the mobile unit 102 by scanning the irradiated light.

[0049] (Camera 120) The camera 120 captures a two-dimensional image of the outside of the mobile unit 102 .

[0050] (Ultrasonic Sensor 121) The ultrasonic sensor 121 measures the distance from the ultrasonic sensor 121 to an object outside the moving unit 102. The ultrasonic sensor 121 may measure the distance to the object in a predetermined direction, or may scan directions to measure the distance to the object in multiple directions.

[0051] (Thermohygrometer 122) The thermo-hygrometer 122 acquires the temperature and humidity outside the moving unit 102. Note that instead of the thermo-hygrometer 122, the moving unit 102 may be provided with a thermometer and a hygrometer, or may be provided with at least one of a thermometer and a hygrometer.

[0052] (Radiation dosimeter 123) The dosimeter 123 acquires the radiation dose outside the moving unit 102 .

[0053] (Manipulator 124) The manipulator 124 grasps, manipulates, and samples objects in the environment.

[0054] (wireless communication circuit 126) The wireless communication circuit 126 performs wireless communication with the device control unit 101 .

[0055] The wireless communication circuit 126 outputs the transmission signal WT2, which is an electrical signal from the central processing unit 114, as a wireless signal WLT2 from the antenna 112. The wireless communication circuit 126 also converts the wireless signal WLR2 input from the antenna 127 into a reception signal WR2, which is an electrical signal. The wireless communication circuit 126 outputs the converted reception signal WR2 to the central processing unit 114.

[0056] (Antenna 127) The antenna 127 is a so-called antenna. The antenna 127 transmits a radio signal WLT2 to the device control unit 101 by radio waves. The antenna 127 also receives a radio signal WLR2, which is a radio wave transmitted from the device control unit 101. The radio signal WLT1 transmitted from the device control unit 101 corresponds to the radio signal WLR2 received by the mobile unit 102. The radio signal WLT2 transmitted from the mobile unit 102 corresponds to the radio signal WLR1 received by the device control unit 101.

[0057] The moving unit 102 may include a plurality of each of the photoelectric conversion circuit 116 , the optical receiver 117 , the optical transmitter 118 and the optical receiver 110 in correspondence with the device control unit 101 .

[0058] The upstream signal light USL is an example of a second optical communication signal, the optical receiver 117 is an example of a first optical receiver, the optical transmitter 118 is an example of a second optical transmitter, and the wireless communication circuit 126 is an example of a second wireless communication circuit.

[0059] [Optical Fiber 103] The optical fiber 103 connects the device control unit 101 and the mobile unit 102. The optical fiber 103 transmits the power supply light PSL from the device control unit 101 to the mobile unit 102. The optical fiber 103 is a hole-core fiber.

[0060] Because the optical fiber 103 is a holey-core fiber, it can transmit high-power feed light PSL. For example, when the optical fiber 103 is a holey-core fiber, it can transmit 1,000 times more power than a normal solid single-mode silica-core optical fiber.

[0061] The optical fiber 103 also transmits downstream signal light DSL from the device control unit 101 to the mobile unit 102. The optical fiber 103 also transmits continuous wave light CWL from the device control unit 101 to the mobile unit 102.

[0062] By multiplexing and transmitting the power supply light PSL, downstream signal light DSL, and continuous light CWL through the optical fiber 103, the number of optical fibers connecting the device control unit 101 and the mobile unit 102 can be reduced.

[0063] [Optical Fiber 104] The optical fiber 104 connects the device control unit 101 and the mobile unit 102. The optical fiber 104 transmits upstream signal light USL from the mobile unit 102 to the device control unit 101. The optical fiber 103 may be a hole-core fiber or a solid optical fiber.

[0064] When each of the optical fiber 103 and the optical fiber 104 is a holey-core fiber, it has 1000 times or more times the radiation resistance compared to a normal solid single-mode silica-core optical fiber. Therefore, when each of the optical fiber 103 and the optical fiber 104 is a holey-core fiber, it is possible to suppress the deterioration of the optical fiber even in a harsh radiation environment such as inside a nuclear reactor.

[0065] The optical fiber 103 is an example of a first optical fiber, and the optical fiber 104 is an example of a second optical fiber.

[0066] The remote-controlled mechanical device according to the first embodiment uses optical fiber instead of electric wires to remotely drive the device, making it resistant to electrical disturbances and emitting no spurious signals. Furthermore, by using broadband optical fiber, the remote-controlled mechanical device according to the first embodiment can acquire large amounts of data at the mobile unit and receive it at the device control unit.

[0067] Furthermore, the remote-controlled mechanical device according to the first embodiment can supply large power to the moving unit by using the air-core fiber. By supplying large power to the moving unit, the remote-controlled mechanical device according to the first embodiment can drive a large moving unit or mount a large number of sensors and manipulators on the moving unit to perform various tasks.

[0068] Furthermore, the remote-controlled mechanical device according to the first embodiment can operate in high radiation areas such as inside and outside a nuclear reactor for a long period of time by using a radiation-resistant air-core fiber.

[0069] Furthermore, the remote control mechanical device according to the first embodiment can reduce the number of light sources for communication in the mobile unit by supplying continuous light from the device control unit to the mobile unit. Furthermore, the remote control mechanical device according to the first embodiment can reduce power consumption in the mobile unit by reducing the number of light sources for communication in the mobile unit. Furthermore, the remote control mechanical device according to the first embodiment can prevent light source malfunctions such as light source failure or malfunction due to radiation, etc., by reducing the number of light sources for communication in the mobile unit.

[0070] For example, in the past, when operating a device remotely, wireless or wired (e.g., electric wires or optical fibers) communications were used, and electric wires were used for power supply. However, wireless communications were difficult in adverse electromagnetic environments. Furthermore, there were cases where issues arose, such as interference of wireless radio waves with the electric wires used for communications or power supply, and conversely, radiation of radio waves from the electric wires to the outside.

[0071] Furthermore, conventional optical fibers cannot transmit high-power light, making it difficult to supply high power. For example, when power is supplied using optical fibers, the power consumption of the device that can be driven must be limited to a few watts or less.

[0072] Furthermore, there was also the issue that the materials that make up the optical fiber deteriorate significantly in environments with strong radiation, making it unable to withstand long-term use.

[0073] According to the remote-controlled mechanical device of the first embodiment, by using a hole-core fiber, it is possible to transmit about 1000 times more power than a conventional single-mode silica-core fiber. Therefore, according to the remote-controlled mechanical device of the first embodiment, by using a hole-core fiber, it is possible to transmit high power, and therefore it is possible to drive a large moving part equipped with various sensor devices or manipulators.

[0074] According to the remote-controlled mechanical device of the first embodiment, the use of an air-core fiber increases radiation resistance by 1000 times or more, so that the remotely controllable device can be used to perform various tasks remotely in a harsh radiation environment, such as inside a nuclear reactor.

[0075] According to the remote-controlled mechanical device of the first embodiment, by using optical fiber for communication, it is possible to control the moving part through two-way communication even in a poor electromagnetic environment. Also, according to the remote-controlled mechanical device of the first embodiment, by using optical fiber for communication, it is possible to collect sensor information in the device control part.

[0076] In the above example, the remote control machine 1 includes one moving unit 102, but may include multiple moving units 102 within the scope of power capacity. Also, in the above example, the remote control machine 1 includes one device control unit 101, but may include multiple device control units 101.

[0077] Furthermore, in the above example, the remote control machine device 1 transmits downstream signal light DSL, continuous light CWL, and power supply light PSL via optical fiber 103, but at least one of the downstream signal light DSL and continuous light CWL may be transmitted via an optical fiber other than optical fiber 103.

[0078] Second Embodiment A remote control mechanical device according to the second embodiment will now be described. The remote control mechanical device according to the second embodiment further comprises a fiber bundle scope in addition to the remote control mechanical device according to the first embodiment.

[0079] The details of the remote-controlled mechanical device according to the second embodiment will be described with reference to the drawings. Fig. 4 is a diagram showing an outline of a remote-controlled mechanical device 2, which is an example of the remote-controlled mechanical device according to the second embodiment.

[0080] The remote control mechanical device 2 includes a device control unit 101 a, a moving unit 102 a, an optical fiber 103 and an optical fiber 104 , and a fiber bundle scope 125 .

[0081] The device control unit 101a further connects a fiber bundle scope 125 to the device control unit 101. The device control unit 101a uses the fiber bundle scope 125 to acquire image information of the surroundings of the moving unit 102a.

[0082] The moving unit 102a further includes a fiber bundle scope 125. The moving unit 102a uses the fiber bundle scope 125 to acquire image information of the surroundings of the moving unit 102a.

[0083] For example, image sensors used in cameras are vulnerable to radiation. Therefore, even if the image sensors used in cameras are shielded and protected, they quickly deteriorate. Furthermore, image sensors are prone to image noise caused by radiation.

[0084] Therefore, the remote control mechanical device 2 includes a fiber bundle scope 125. The fiber bundle scope 125 includes a lens at its tip. The fiber bundle scope 125 also includes a fiber bundle for transmitting the image light IML. The fiber bundle may be a bundle of ordinary optical fibers or a bundle of hollow-core fibers.

[0085] The fiber bundle scope 125 forms an image of an object on the moving part 102a using a lens on the end face of the fiber bundle on the moving part 102a side. The fiber bundle transmits the image formed on the end face as image light IML to the device control unit 101a while maintaining the two-dimensional information. The device control unit 101a converts the image light IML transmitted by the fiber bundle into image information using an image sensor.

[0086] The focus and zoom magnification of the lens in the fiber bundle scope 125 may be configured to be automatically changed. When the focus and zoom magnification of the lens in the fiber bundle scope 125 are automatically changed, for example, a movable part that changes the focus and zoom magnification of the lens is driven using power supplied by photoelectrically converting the power supply light PSL.

[0087] The remote-controlled mechanical device according to the second embodiment is the remote-controlled mechanical device according to the first embodiment, and furthermore, can acquire image information in a radiation environment. By the remote-controlled mechanical device according to the second embodiment acquiring image information in a radiation environment, an operator using the remote-controlled mechanical device according to the second embodiment can operate the remote-controlled mechanical device while viewing the image even in a radiation environment.

[0088] Although the remote control mechanical device has been described above using an embodiment, the present invention is not limited to the above embodiment. Various modifications and improvements, such as combinations or substitutions with part or all of other embodiments, are possible within the scope of the present invention. [Explanation of symbols]

[0089] 1, 2 Remote control machinery 101, 101a Device control unit 102, 102a Moving part 103, 104 Optical fiber 105 Central Processing Unit 106a Optical Transmitter 106b Light source 107 High power light source 108 Optical Fiber 109 Optical multiplexer 110 Optical receiver 111, 126 Wireless communication circuits 112, 127 antennas 113 Mobile Devices 114 Central Processing Unit 115 Optical demultiplexer 116 Photoelectric conversion circuit 117 Optical Receiver 118 Optical Transmitter 120 Camera 121 Ultrasonic Sensor 122 Thermohygrometer 123 Radiation Dosimeter 124 Manipulator 125 Fiber Bundle Scope CWL (Continuous Light) DSL downstream signal light PSL power supply light USL Upstream Signal Light

Claims

1. a device control unit including a first light source that generates power supply light and a first optical transmitter that transmits a first optical communication signal; a mobile unit including a photoelectric conversion circuit that converts the power supply light into electric power and a first optical receiver that receives the first optical communication signal; a first optical fiber that connects the device control unit and the mobile unit, transmits the power supply light and the first optical communication signal, and is a hole-core fiber; Equipped with Remote controlled mechanical devices.

2. the moving unit includes a second optical transmitter that transmits a second optical communication signal; the device control unit includes a second optical receiver that receives the second optical communication signal; 10. The remote controlled mechanism of claim 1.

3. the device control unit includes a second light source that generates continuous light; the first optical fiber transmits the power supply light, the first optical communication signal, and the continuous light; the second optical transmitter transmits the first optical communication signal by modulating the continuous light.

3. The remote controlled mechanism of claim 2.

4. a second optical fiber connecting the device control unit and the moving unit and transmitting the second optical communication signal; 3. The remote controlled mechanism of claim 2.

5. the second optical fiber is a hole-core fiber; 5. The remote controlled mechanism of claim 4.

6. the second optical fiber is a solid optical fiber; 5. The remote controlled mechanism of claim 4.

7. the device control unit includes a first wireless communication circuit; the moving unit includes a second wireless communication circuit that performs wireless communication with the first wireless communication circuit; 7. A remote controlled mechanism according to any one of claims 1 to 6.

8. The moving unit includes a camera.

7. A remote controlled mechanism according to any one of claims 1 to 6.

9. The moving unit includes a LiDAR.

7. A remote controlled mechanism according to any one of claims 1 to 6.

10. The moving unit includes an ultrasonic sensor.

7. A remote controlled mechanism according to any one of claims 1 to 6.

11. The moving unit includes a thermometer or a hygrometer.

7. A remote controlled mechanism according to any one of claims 1 to 6.

12. the moving unit includes a radiation dosimeter; 7. A remote controlled mechanism according to any one of claims 1 to 6.

13. The moving unit includes a manipulator.

7. A remote controlled mechanism according to any one of claims 1 to 6.

14. The moving unit includes a fiber bundle scope.

7. A remote controlled mechanism according to any one of claims 1 to 6.

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