Traveling device

Abstract

The present invention provides a traveling device that can operate in a configuration that mimics a human being, and furthermore, by making the gas sensor lightweight and compact and mounting the gas sensor above, it can suppress the rise in the center of gravity. [Solution] A traveling device comprising: a traveling body that moves the traveling device; a column positioned above the traveling body and extending in the vertical direction; a camera positioned above the column and imaging the area around the traveling device; and a non-explosion-proof gas sensor positioned above the column and below the camera for detecting the concentration of a specific gas.

Description

Technical Field

[0001] The present invention relates to a traveling device.

Background Art

[0002] There is a known technique for stopping a system for safety when a traveling robot detects a specific gas. As such a traveling robot, there is a known technique for preventing it from becoming an ignition source according to explosion-proof specifications.

[0003] As such a traveling robot related to explosion-proof specifications, there is disclosed a configuration in which the entire robot is explosion-proof, and a gas sensor is also explosion-proof and connected to the power control unit of the robot in order to detect and stop gas (for example, Patent Document 1).

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when assuming a robot having an object to replace a human for performing an inspection operation as such a traveling robot, it is useful for the robot to move at the same size and speed as a human in the site where a human walks to perform an inspection operation. However, there is a problem that there is no robot from such a viewpoint in the conventional technology.

[0005] Further, in the technique described in Patent Document 1, since the gas sensor has an explosion-proof specification, the size of the gas sensor itself becomes large and the weight also increases. Therefore, the installation location of the gas sensor is limited, and when the gas sensor is installed upward, the center of gravity rises and the traveling performance is impaired.

[0006] The present invention has been made in view of the above, and an object thereof is to provide a traveling device that can work with a configuration imitating a human, and further suppresses an increase in the center of gravity by making the gas sensor lightweight and miniaturized and attaching the gas sensor upward.

Means for Solving the Problems

[0007] To solve the above-mentioned problems and achieve the objective, the present invention provides a traveling device comprising: a traveling body for moving the traveling device; a column positioned above the traveling body and extending in the vertical direction; a camera positioned above the column and imaging the area around the traveling device; and a non-explosion-proof gas sensor positioned above the column and below the camera for detecting the concentration of a specific gas. [Effects of the Invention]

[0008] According to the present invention, it is possible to perform tasks with a configuration that mimics a human being, and by making the gas sensor lightweight and compact and mounting the gas sensor at the top, it is possible to suppress the rise in the center of gravity. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is an external perspective view showing an example of the overall configuration of the traveling device according to this embodiment. [Figure 2] Figure 2 is a side view showing a schematic configuration of the traveling device according to the embodiment. [Figure 3] Figure 3 is a front view showing a schematic configuration of the traveling device according to the embodiment. [Figure 4] Figure 4 is an external perspective view showing an example of the configuration around the third housing of the traveling device according to this embodiment. [Figure 5] Figure 5 is an external perspective view showing an example of the internal configuration of the third housing of the traveling device according to this embodiment. [Figure 6] Figure 6 is an external perspective view showing an example of the lower configuration of the third housing of the traveling device according to this embodiment. [Figure 7] Figure 7 shows an example of the hardware configuration of the traveling device according to the embodiment. [Modes for carrying out the invention]

[0010] Embodiments of the traveling device according to the present invention will be described in detail below with reference to the drawings. Furthermore, the present invention is not limited by the following embodiments, and the components in the following embodiments include those that are easily conceivable by those skilled in the art, substantially identical, and so-called equivalents. Moreover, various omissions, substitutions, modifications, and combinations of components can be made without departing from the spirit of the following embodiments.

[0011] (Overall configuration of the running gear) Figure 1 is an external perspective view showing an example of the overall configuration of the traveling device according to the embodiment. Figure 2 is a side view showing the schematic configuration of the traveling device according to the embodiment. Figure 3 is a front view showing the schematic configuration of the traveling device according to the embodiment. The overall configuration of the traveling device 1 according to this embodiment will be described with reference to Figures 1 to 3. In this embodiment, the Y direction means the width direction of the traveling device 1. The X direction means the direction of travel of the traveling device 1, and the Z direction indicates the height direction of the traveling device 1.

[0012] The mobile robot 1 shown in Figure 1 is a self-propelled robot used for inspection, security, or patrol, etc., for detecting specific gases. As shown in Figure 1, the mobile robot 1 is capable of traveling in one direction (X direction). As shown in Figures 1 to 3, the mobile robot 1 comprises a first housing 10, track sections 11a and 11b, a power button 12, a start button 13, bumpers 16 and 17, a second housing 20, an emergency stop button 21, a third housing 30, a camera 33, a LiDAR (Light Detection and Ranging) 34, columns 41a and 41b, support members 42, satellite antennas 43a and 43b, a wide-angle camera 44 for remote control, and a microphone 45.

[0013] As shown in Figure 2, the first housing 10 is the main body that houses the crawler control unit 14 and the battery 15, etc. The first housing 10 is a waterproof housing, and the motors and other components in the track sections 11a and 11b, as well as the electrical connections with the second housing 20, are made via connectors or grommets.

[0014] The crawler control unit 14 is a unit for driving and controlling the tracks 11a and 11b. The crawler control unit 14 receives power from the battery 15 and controls the operation of the tracks 11a and 11b according to control commands from the computer 24. In the example shown in Figure 2, the crawler control unit 14 receives power directly from the battery 15, but it is not limited to this, and may also receive power via the power control board 23, which will be described later.

[0015] Battery 15 is a rechargeable battery that supplies power to various devices of the running gear 1.

[0016] The track sections 11a and 11b are units (running bodies) that move the running gear 1, acting as drive members for the running gear 1. The track sections 11a and 11b are crawler-type running bodies using metal or rubber belts. The track sections 11a and 11b are installed on either side of the first housing 10, allowing the running gear 1 to move. Track section 11a is the left track section when facing the direction of travel of the running gear 1, and track section 11b is the right track section when facing the same direction of travel.

[0017] Track-type drive components such as the track sections 11a and 11b have a larger contact area with the ground compared to tires, such as those found in automobiles, allowing for stable driving even in environments with poor footing. Furthermore, while vehicles using tires require turning space when performing rotational movements, the running gear 1 equipped with the track sections 11a and 11b can perform so-called "super-pivot turns," enabling smooth rotational movements even in limited spaces. Here, a super-pivot turn refers to turning in place around the center of the vehicle by rotating the left and right track sections in opposite directions at a constant speed. This type of turning method is also called a spin turn.

[0018] Note that the number of crawler units is not limited to two, namely the crawler units 11a and 11b, and may be three or more. For example, the traveling device 1 may be installed in a state where it can travel, such as arranging three crawler units in parallel in three rows. Also, the traveling device 1 may arrange, for example, four crawler units in the front, rear, left, and right like the tires of an automobile.

[0019] Also, the crawler units 11a and 11b have a triangular shape. Thereby, for example, when there are restrictions on the front and rear sizes, the ground contact area can be increased within the limited front and rear sizes. Thereby, as described above, the stability during traveling can be improved. On the other hand, a so-called tank-type crawler where the upper side (drive wheel side) is longer than the lower side (idler wheel side) will have a smaller overall ground contact area and become unstable when there are restrictions on the front and rear sizes. Thus, the crawler units 11a and 11b are effective when enhancing the traveling performance of the relatively small traveling device 1.

[0020] Note that the traveling device 1 is provided with the crawler units 11a and 11b as crawler-type drive members, but is not limited thereto, and may be provided with other drive members (for example, tires, etc.).

[0021] The power button 12 is a button that a person around the traveling device 1 presses when turning on or off the power of the traveling device 1. The start button 13 is a button that a person around the traveling device 1 presses when starting the two crawler units 11a and 11b.

[0022] The bumper 16 is provided on the front side of the first housing 10 and is a member that protects the first housing 10 of the traveling device 1 and the crawler units 11a, 11b, etc. The bumper 17 is provided on the rear side of the first housing 10 and is a member that protects the first housing 10 of the traveling device 1 and the crawler units 11a, 11b, etc.

[0023] As shown in Figure 2, the second enclosure 20 is the main unit that houses the IO control board 22 (input / output control board), the power supply control board 23, and the computer 24, and is mounted on the top surface of the first enclosure 10. For example, the height of the top surface of the second enclosure 20 is about 50 cm from the surface on which the traveling device 1 is mounted.

[0024] The IO control board 22 is a control board to which the gas sensor 31 (described later) is connected, to which the operation of the gas sensor 31 is controlled, and to which the signals detected by the gas sensor 31 are received and output to the power control board 23. The IO control board 22 is also connected to the power control board 23 and supplies the output power controlled by the power control board 23 to the gas sensor 31. In this case, the wiring connecting the IO control board 22 and the gas sensor 31 in the second housing 20 is routed along the pillars 41a and 41b, or through the inside of the pillars 41a and 41b. For example, the IO control board 22 receives an analog signal (voltage) indicating the concentration of a specific gas detected by the gas sensor 31 and outputs it to the power control board 23.

[0025] The power control board 23 is a control board that controls the output power from the battery 15 and outputs power according to various devices. For example, the power control board 23 supplies power to various sensors connected to the I / O control board 22 via the I / O control board 22. The power control board 23 also supplies power to the computer 24.

[0026] Furthermore, the power control board 23 receives detection signals from sensors received by the I / O control board 22, performs various processing (e.g., digital conversion) on these detection signals, and outputs them to the computer 24. For example, the power control board 23 converts the analog signal (voltage) from the gas sensor 31 received from the I / O control board 22 into a digital signal and outputs it to the computer 24. Therefore, the power control board 23 can supply power to the computer 24 and output detection signals from sensors to the computer 24 using a single board.

[0027] Computer 24 is an information processing device that receives detection signals from sensors and controls the crawler control unit 14 to control the movement of the running gear 1. Computer 24 also receives the concentration of a specific gas detected by the gas sensor 31 as a digital signal via the IO control board 22 and the power supply control board 23, and processes the information about the concentration. Computer 24 constantly monitors the concentration of the specific gas and manages the location of the running gear 1 detected by the satellite antennas 43a and 43b in association with the concentration. Furthermore, if the specific gas is a flammable gas, and the concentration indicated by the digital signal exceeds a predetermined threshold based on the Lower Explosion Limit (LEL), which is the minimum concentration at which the gas concentration will cause an explosion, Computer 24 sends a stop signal to the crawler control unit 14 to stop the movement of the tracks 11a and 11b. For example, if the concentration indicated by the digital signal exceeds 25% of the lower explosion limit, the computer 24 sends a stop signal to the crawler control unit 14, stopping the movement of the tracks 11a and 11b. When the running gear 1 stops, the computer 24 associates at least the location and time of the stop with this information and stores it in an internal memory device (for example, the auxiliary memory device 103 described later). This makes it possible to determine when and where the running gear 1 stopped, which can then be used to develop countermeasures against future gas leaks, etc.

[0028] Furthermore, the computer 24 may store, in addition to the location and time of the shutdown, the concentration of the specific gas it received. The computer 24 may also transmit each associated piece of information to an external server or the like.

[0029] Furthermore, the computer 24 receives video data captured by the remotely controlled wide-angle camera 44 and transmits it to an external device (such as a server) via a network interface (not shown).

[0030] The emergency stop button 21 is located on the front of the second housing 20 and is a button that a person near the running device 1 presses to stop the running device 1 while it is in motion.

[0031] As shown in Figures 2 and 3, the third housing 30 houses the gas sensor 31 and the IR camera 32, and is installed above the traveling device 1, supported by columns 41a and 41b. As shown in Figures 1 to 3, the first housing 10, the second housing 20, and the third housing 30 are arranged from bottom to top in that order. This prevents abnormal currents from flowing directly from the electrical wiring system of the third housing 30 to the battery 15 of the first housing 10.

[0032] The gas sensor 31 is a non-explosion-proof sensor equipped with an element for detecting the concentration of a specific gas. The gas sensor 31 receives power from the IO control board 22 and outputs a linear analog signal (voltage) to the IO control board 22 in relation to the detected concentration. The gas sensor 31 is mounted inside the third housing 30, for example, by screws, that is, positioned above the columns 41a and 41b and below the camera 33, and can be removed near the gas sensor 31 body using a waterproof connector. This makes it easy to replace the gas sensor 31 depending on the type of gas to be detected. In addition, the concentration information detected by the gas sensor 31 is transmitted to the computer 24, so this concentration information can be reused. Furthermore, by making the gas sensor 31 non-explosion-proof, the gas sensor 31 can be made lighter and smaller, improving the expandability of the mounting location of the gas sensor 31, making it less likely to interfere with other sensors, and allowing the gas sensor 31 to be mounted above the traveling device 1, even in which case the rise in the center of gravity of the traveling device 1 can be suppressed. Furthermore, the gas sensor 31 is not directly connected to the battery 15, but is connected to an IO control board 22 housed in a second housing 20 located above the first housing 10 which houses the heavy battery 15, and receives power from the IO control board 22. This makes it easy to position the gas sensor above the traveling device 1.

[0033] The IR camera 32 is a thermographic camera that captures an image showing the temperature distribution using infrared light through an opening on the front of the third housing 30. Therefore, since the part of the IR camera 32 other than the part exposed through the opening is housed in the third housing 30, the necessary level of explosion protection is ensured. The IR camera 32 receives power from, for example, the computer 24 and outputs the captured image to the computer 24.

[0034] Camera 33 is a camera used to take pictures for inspecting the surrounding conditions of the traveling device 1. For example, the camera 33 is installed at a height of about 1 m from the surface on which the traveling device 1 is mounted. Camera 33 receives power from, for example, computer 24 and outputs the captured images to computer 24.

[0035] Both the IR camera 32 and camera 33 are positioned above the traveling device 1, specifically above the columns 41a and 41b, to be advantageous for imaging the surrounding environment. As a result, the gas sensor 31 housed in the third housing 30 is positioned in close proximity to the IR camera 32 and camera 33. Note that the IR camera 32 and camera 33 are examples of the "cameras" of the present invention.

[0036] The LiDAR 34 is a device for detecting obstacles and other objects by detecting point cloud data around the traveling device 1. The LiDAR 34 receives power from, for example, the computer 24 and outputs the detected point cloud data to the computer 24.

[0037] Columns 41a and 41b are two columnar members that extend upward from the upper surface of the second housing 20. That is, columns 41a and 41b are positioned above the track sections 11a and 11b and extend in the vertical direction. Columns 41a and 41b support the third housing 30 in their upper portions. In addition, columns 41a and 41 support the satellite antennas 43a and 43b, respectively, at their upper ends.

[0038] The support member 42 is a member that is horizontally installed between columns 41a and 41b in the lower portion of the columns. As shown in Figures 1 and 3, the support member 42 supports the remote-controlled wide-angle camera 44 and microphone 45.

[0039] The satellite antennas 43a and 43b are antennas that receive positioning signals from positioning satellites based on GNSS (Global Navigation Satellite System). GNSS is, for example, GPS (Global Positioning System). The satellite antennas 43a and 43b receive power from, for example, computer 24 and output the received positioning signals to computer 24.

[0040] The remote-controlled wide-angle camera 44 is a camera that captures images of the area in front of it for remote control purposes. The remote-controlled wide-angle camera 44 receives power from, for example, the computer 24 and outputs the captured images to the computer 24.

[0041] Microphone 45 is a sound collection device that collects sounds from the surroundings of the traveling device 1. Microphone 45 receives power from, for example, computer 24 and outputs the collected sound data to computer 24.

[0042] With the configuration of the running gear 1 described above, the camera 33, gas sensor 31, pillars 41a and 41b, and track sections 11a and 11b correspond to the eyes, nose, torso, and legs of a human, respectively, making it possible to perform tasks in a configuration that mimics a human.

[0043] (Configuration around the third housing of the traveling device) Figure 4 is an external perspective view showing an example of the peripheral configuration of the third housing of the traveling device according to the embodiment. Figure 5 is an external perspective view showing an example of the internal configuration of the third housing of the traveling device according to the embodiment. Figure 6 is an external perspective view showing an example of the lower configuration of the third housing of the traveling device according to the embodiment. The peripheral configuration of the third housing 30 of the traveling device 1 according to this embodiment will be described with reference to Figures 4 to 6.

[0044] As shown in Figures 4 and 5, the third housing 30 is constructed with a cover-like member covering the bottom plate 30a.

[0045] As described above, the gas sensor 31 has an element that detects the concentration of a specific gas. The main body of the gas sensor 31 is attached to the bottom plate 30a of the third housing 30, as shown in Figure 5. Furthermore, as shown in Figure 4, the element of the gas sensor 31 is installed facing downwards, passing through an opening in the bottom plate 30a of the third housing 30. This suppresses a decrease in detection performance due to the element of the gas sensor 31 being exposed to rainwater. In addition, since the element other than the one exposed through the opening is housed in the third housing 30, the necessary level of explosion protection is ensured.

[0046] Furthermore, although the gas sensor 31 is not an explosion-proof sensor, as shown in Figures 4 and 5, it is enclosed by the third housing 30, thus ensuring a certain degree of explosion protection.

[0047] As shown in Figure 4, the camera 33 is mounted on the top surface of the third housing 30, and the wiring for connecting to the computer 24 is housed inside the third housing 30.

[0048] As shown in Figure 5, the IR camera 32 is fixed to a mounting bracket 32a that is erected and attached to the bottom plate 30a.

[0049] The LiDAR34 is installed on the underside of the third housing 30 (the underside of the bottom plate 30a), and is installed in a way that ensures a clear field of view.

[0050] As shown in Figure 5, the third housing 30 incorporates a speaker 35. The speaker 35 is an acoustic device that outputs sounds indicating the operation of the traveling device 1 (e.g., reverse driving) or warning sounds indicating that an obstacle has been detected by the LiDAR 34. As shown in Figure 5, the speaker 35 is attached to the bottom plate 30a of the third housing 30.

[0051] As shown in Figure 6, the wide-angle camera 44 and microphone 45 for remote control are supported by a support member 42 and are positioned below the third housing 30 and above the second housing 20.

[0052] (Hardware configuration of the traction unit) Figure 7 shows an example of the hardware configuration of the traveling device according to this embodiment. The hardware configuration of the traveling device 1 according to this embodiment will be described with reference to Figure 7.

[0053] As shown in Figure 7, the driving device 1 includes a crawler control unit 14, an IO control board 22, a power supply control board 23, a computer 24, a battery 15, a gas sensor 31, an IR camera 32, a camera 33, a LiDAR 34, a speaker 35, satellite antennas 43a and 43b, a wide-angle camera for remote control 44, a microphone 45, driving motors 132a and 132b, and brake motors 133a and 133b. The IO control board 22, power supply control board 23, battery 15, gas sensor 31, IR camera 32, camera 33, LiDAR 34, speaker 35, satellite antennas 43a and 43b, wide-angle camera for remote control 44, and microphone 45 are as described above.

[0054] As shown in Figure 7, the computer 24 includes a CPU (Central Processing Unit) 101, memory 102, and auxiliary storage device 103.

[0055] The CPU 101 is a computing unit that controls the entire traveling device 1. Specifically, the CPU 101 controls the speed of the traveling device 1 according to the gas concentration detected by the gas sensor 31. The CPU 101 operates according to the program stored in the memory 102.

[0056] Memory 102 is a volatile memory device that functions as a work area for the CPU 101 to execute programs and the like. Auxiliary memory device 103 is a non-volatile memory device that stores the driving program executed by the CPU 101, as well as various data.

[0057] The motor drivers 122a and 122b are drive circuits for driving the traction motors 132a and 132b, which are provided on the two track sections 11a and 11b, respectively.

[0058] The brake drivers 123a and 123b are drive circuits for driving the brake motors 133a and 133b, which are provided on the two track sections 11a and 11b, respectively.

[0059] The motor drivers 122a and 122b and the brake drivers 123a and 123b receive commands from the CPU 101 and control the drive motors 132a and 132b and the brake motors 133a and 133b, respectively.

[0060] Note that the hardware configuration of the traveling device 1 shown in Figure 7 is just one example, and it may also include other components.

[0061] As described above, in the traveling device 1 according to this embodiment, the track sections 11a and 11b move the traveling device 1, the columns 41a and 41b are positioned above the track sections 11a and 11b and extend in the vertical direction, the camera 33 is positioned above the columns 41a and 41b and images the area around the traveling device 1, and the gas sensor 31 is positioned above the columns 41a and 41b and below the camera 33 and is a non-explosion-proof sensor that detects the concentration of a specific gas. This allows for operation in a configuration that mimics a human, further reduces the weight and size of the gas sensor 31, allows the gas sensor 31 to be mounted above the traveling device 1, and suppresses the rise in the center of gravity of the traveling device 1.

[0062] Furthermore, in the traveling device 1 according to this embodiment, the IO control board 22 supplies power from the power supply control board 23 to the gas sensor 31 and receives an analog signal indicating the concentration detected by the gas sensor 31. The power supply control board 23 receives the analog signal from the IO control board 22 and converts the analog signal into a digital signal. The computer 24 receives the digital signal converted by the power supply control board 23 and performs information processing on the digital signal. As a result, the concentration information detected by the gas sensor 31 is transmitted to the computer 24, and this concentration information can be reused.

[0063] In the above-described embodiment, if at least one of the functions of the travel device 1 is realized by the execution of a program, that program is provided pre-installed in a ROM or the like. Also, in the above-described embodiment, the program executed by the travel device 1 may be provided as an installable or executable file recorded on a computer-readable recording medium such as a CD-ROM (Compact Disc Read Only Memory), a flexible disk (FD), a CD-R (Compact Disk-Recordable), or a DVD (Digital Versatile Disc). Also, in the above-described embodiment, the program executed by the travel device 1 may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. Also, in the above-described embodiment, the program executed by the travel device 1 may be provided or distributed via a network such as the Internet. Also, in the above-described embodiment, the program executed by the travel device 1 has a module configuration that includes at least one of the above-described functional units, and in actual hardware, the CPU 101 reads the program from the above-described storage device and executes it, thereby loading and generating the above-described functional units on the main memory.

[0064] The embodiments of the present invention are as follows. <1> A running device, A traveling body that moves the aforementioned traveling device, A column positioned above the aforementioned vehicle and extending in the vertical direction, A camera positioned above the column and capturing images of the area around the traveling device, A non-explosion-proof gas sensor for detecting the concentration of a specific gas is positioned above the column and below the camera, It is a traveling device equipped with [a specific feature / feature]. <2> A battery that supplies power, A power control board, positioned above the aforementioned battery, controls the power output from the battery, Furthermore, The gas sensor is supplied with power from the battery via the power control board. <1> This is the running gear described in [reference]. <3> The system further includes an input / output control board that supplies power from the power control board to the gas sensor and receives an analog signal indicating the concentration detected by the gas sensor, The power control board receives the analog signal from the input / output control board and converts the analog signal into a digital signal. The preceding paragraph further comprises an information processing device that receives the digital signal converted by the power control board and performs information processing on the digital signal. <2> This is the running gear described in [reference]. <4> The information processing device, when the concentration indicated by the digital signal exceeds a threshold value based on the lower explosive limit of the specific gas, stops the movement of the vehicle. <3> This is the running gear described in [reference]. <5> The threshold is 25% of the lower explosive limit. <4> This is the running gear described in [reference]. <6> The information processing device stores the location and time of the stoppage in association with the case when the running motion of the vehicle stops due to the concentration exceeding the threshold. <4> or <5> This is the running gear described in [reference]. <7> A first housing that houses the aforementioned battery, A second housing housing the power supply control board, the input / output control board, and the information processing device, A third housing housing the aforementioned gas sensor, The aforementioned further comprising <3> ~ <6> It is a running device as described in any one of the items. <8> The gas sensor is configured such that the detection element penetrates the bottom surface of the third housing and extends downward. <7> This is the running gear described in [reference]. <9> The first housing, the second housing, and the third housing are arranged in the order from bottom to top. <7> or <8> This is the running gear described in [reference]. <10> The vehicle is further equipped with a camera that captures images of the area around the aforementioned traveling device. The gas sensor and the camera are located in close proximity to each other. <1> ~ <9> It is a running device as described in any one of the items. <11> The aforementioned vehicle is a tracked vehicle. <1> ~ <10> It is a running device as described in any one of the items. [Explanation of Symbols]

[0065] 1. Traveling device 10. First cabinet 11a, 11b Track section 12 Power button 13. Start button 14 Crawler control unit 15 batteries 16, 17 Bumper 20 Second cabinet 21 Emergency Stop Button 22 IO control board 23 Power Control Board 24 Computers 30 Third cabinet 30a bottom plate 31 Gas Sensor 32 IR cameras 32a Mounting bracket 33 Cameras 34 LiDAR 35 speakers 41a, 41b pillars 42 Support member 43a, 43b Satellite Antennas 44. Wide-angle camera for remote control 45 Mike 101 CPU 102 memory 103 Auxiliary storage device 122a, 122b motor drivers 123a, 123b Brake Driver 132a, 132b Motor for driving 133a, 133b Brake motor [Prior art documents] [Patent Documents]

[0066] [Patent Document 1] Patent No. 6806527

Claims

1. A running device, A traveling body that moves the aforementioned traveling device, A column positioned above the aforementioned vehicle and extending in the vertical direction, A camera positioned above the column and capturing images of the area around the traveling device, A non-explosion-proof gas sensor for detecting the concentration of a specific gas is positioned above the column and below the camera, A traveling device equipped with a vehicle.

2. A battery that supplies power, A power control board, positioned above the aforementioned battery, controls the power output from the battery, Furthermore, The travel device according to claim 1, wherein the gas sensor is supplied with power from the battery via the power control board.

3. The system further includes an input / output control board that supplies power from the power control board to the gas sensor and receives an analog signal indicating the concentration detected by the gas sensor, The power control board receives the analog signal from the input / output control board and converts the analog signal into a digital signal. The travel device according to claim 2, further comprising an information processing device that receives the digital signal converted by the power control board and performs information processing on the digital signal.

4. The travel device according to claim 3, wherein the information processing device stops the travel operation of the travel body when the concentration indicated by the digital signal exceeds a threshold value based on the lower explosive limit of the specific gas.

5. The travel device according to claim 4, wherein the threshold is 25% of the lower explosion limit.

6. The traveling device according to claim 4 or 5, wherein the information processing device stores the location and time of the stopping when the traveling device stops due to the concentration exceeding the threshold.

7. A first housing that houses the aforementioned battery, A second housing housing the power supply control board, the input / output control board, and the information processing device, A third housing for housing the gas sensor, A traveling device according to any one of claims 3 to 5, further comprising:

8. The gas sensor is the travel device according to claim 7, wherein the detection element is arranged to penetrate the bottom surface of the third housing and extend downward.

9. The traveling device according to claim 7, wherein the first housing, the second housing, and the third housing are arranged in that order from bottom to top.

10. The vehicle is further equipped with a camera that captures images of the area around the aforementioned traveling device. The gas sensor and the camera are arranged in close proximity to each other in the traveling device according to any one of claims 1 to 5.

11. The running gear according to any one of claims 1 to 5, wherein the running gear is a tracked running gear.

Images