Survey robot

Abstract

To provide a robot for inspection capable of easily moving in a space where an obstacle exists.SOLUTION: In a robot for inspection, a first cable, a second cable which is bundled with the first cable in a state of being in parallel with or in a state of being substantially in parallel with the first cable and which forms two recessed parts together with the fist cable in a plane surface crossing the first cable, and a cable whose part is stored in one of the recessed parts across the whole length and which includes two hollow tubes bundled with the first cable and the second cable are connected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a survey robot. [Background technology]

[0002] Robots have been developed for use in inspecting relatively complicated spaces, such as power plants, factories, and sewers, which are dotted with obstacles and partially filled with liquids such as water. One example of such a robot is the floating-type remote visual inspection device disclosed in Patent Document 1. The floating-type remote visual inspection device includes a buoyancy tank, a buoyancy cable structure, a forward movement mechanism, and a visual camera. The floating-type remote visual inspection device rises to the water surface due to the buoyancy of the buoyancy tank and the buoyancy cable structure, moves forward using the forward movement mechanism, and performs visual inspection using the visual camera. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 08-285984

[0004] However, when the above-mentioned floating-type remote visual inspection device moves forward or is retrieved, the buoyant cable structure comes into contact with an obstacle and receives drag, which causes deformation and increases the area of ​​contact with the obstacle, resulting in a large frictional force from the obstacle. As a result, the above-mentioned floating-type remote visual inspection device cannot move smoothly within the above-mentioned space, requires a lot of effort to retrieve, or may not be able to be retrieved at all. Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an investigation robot that can easily move in a space where obstacles exist. [Means for solving the problem]

[0006] One aspect of the present invention is a cable integrating device including a first cable, a second cable that is bundled with the first cable in a state parallel or approximately parallel to the first cable and that forms two recesses together with the first cable in a plane intersecting the first cable, and a second cable that is partially housed in one of the recesses over its entire length, The first cable and the second cable are spaced apart in the extending direction. The research robot is connected to a cable including the first cable, the second cable, and two hollow tubes bundled together.

[0007] In the above-described inspection robot, at least one of the first cable and the second cable is made of a material that is less likely to deform than the two pipes when subjected to an external force.

[0008] In the above-described inspection robot, at least one of the first cable and the second cable has a structure that is less likely to deform than the two pipes when subjected to an external force.

[0009] The above-mentioned inspection robot further includes a swing member that is swingably connected to the frame of the inspection robot and to which a portion of the cable is connected, The cable is loose between the portion connected to the frame and the portion connected to the swinging member.

[0010] In the above-described investigation robot, the dimensions of the swinging member become smaller with increasing distance from the front of the investigation robot.

[0011] The above-mentioned investigation robot further includes a first float attached to the investigation robot forward of the center of gravity of the investigation robot and above the investigation robot.

[0012] The above-mentioned investigation robot further includes a second float whose dimensions decrease toward the rear of the investigation robot. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide an investigation robot that can easily move in a space where obstacles exist. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram illustrating an example of an inspection robot according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing an example of a cross section of a cable taken along a plane intersecting the cable according to an embodiment of the present invention. [Figure 3] 10A and 10B are diagrams illustrating an example of the movement of the first cable, the second cable, and the two pipes when the cable according to the embodiment of the present invention comes into contact with an obstacle and is subjected to a resistance force. DETAILED DESCRIPTION OF THE INVENTION

[0015] [Embodiment] An investigation robot according to an embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a diagram illustrating an example of an investigation robot according to an embodiment of the present invention. The investigation robot 1 shown in FIG. 1 is used to investigate at least one of air and water in a relatively complicated space that is dotted with obstacles and partially filled with a liquid such as water. Examples of such spaces include sections of power plants, factories, etc. that have become filled with a liquid such as water due to a malfunction, and the inside of sewers. Examples of obstacles include pillars, walls, pipes, rubble, and fixtures placed within the space. The investigation robot 1 can move forward, backward, turn left and right, and translate left and right by rotating a screw using power stored in a battery. The investigation robot 1 moves on the water surface within the space and captures images of at least one of air and water.

[0016] In the following description, a three-dimensional Cartesian coordinate system having X, Y, and Z axes shown in FIG. 1 will be used as appropriate. The X axis is an axis parallel to the direction from the rear to the front of the survey robot 1. The Z axis is an axis parallel to the direction from the bottom to the top of the survey robot 1. The Y axis is an axis perpendicular to the X and Z axes. As shown in FIG. 1, the X, Y, and Z axes form a right-handed system. In the following description, an example will be given in which the survey robot 1 is used to survey a section of a nuclear power plant that has been filled with fresh water or seawater.

[0017] As shown in FIG. 1, the survey robot 1 includes a frame 11, a frame 12, a frame 13, a frame 14, a camera 21, a camera 22, a camera 23, an LED (Light Emitting Diode) light 31, an LED light 32, an LED light 33, an LED light 34, a line laser 40, a dosimeter 50, a concentrator 60, a cable 70, a swinging member 80, a first float 91, and a second float 92.

[0018] Frames 11 and 12 are plate-like members whose widest surfaces are parallel to the XY plane, and are formed with holes, screw holes, etc. necessary for attaching the elements that make up the investigation robot 1. Frame 12 is disposed on the -Z direction side of frame 11. Frames 13 and 14 are plate-like members whose widest surfaces are parallel to the ZX plane, and are formed with holes, screw holes, etc. necessary for attaching the elements that make up the investigation robot 1. Frame 13 is connected to the end of frame 11 on the +Y direction side and the end of frame 12 on the +Y direction side. Frame 14 is connected to the end of frame 11 on the -Y direction side and the end of frame 12 on the -Y direction side.

[0019] The camera 21 is fixed to the frame 11 and is mainly used for capturing aerial images. The camera 21 is capable of rotating the direction of the center of its field of view around at least one of an axis parallel to the Y axis and an axis parallel to the Z axis. For example, the camera 21 is capable of rotating the direction of the center of its field of view within a range of 0 degrees to 355 degrees around an axis parallel to the Y axis. Furthermore, for example, the camera 21 is capable of rotating the direction of the center of its field of view within a range of 0 degrees to 90 degrees around an axis parallel to the Z axis. The 0 degree direction here is the +X direction. Furthermore, the 90 degrees here is the +Z direction.

[0020] The camera 22 is fixed to the frame 11 and is used for capturing images of at least one of air and water. The camera 22 is capable of rotating the direction of the center of its field of view within the ZX plane around an axis parallel to the Y axis. For example, the camera 22 is capable of rotating the direction of the center of its field of view within a range of +90 degrees to -90 degrees around an axis parallel to the Y axis within the ZX plane. The +90 degree direction here refers to the +Z direction. The -90 degree direction here refers to the -Z direction.

[0021] The camera 23 is fixed to the frame 11 and is used mainly for the purpose of capturing underwater images. For example, the direction of the center of the field of view of the camera 23 is fixed in a predetermined direction.

[0022] LED light 31, LED light 32, LED light 33, and LED light 34 are light sources that illuminate at least one of the ranges that can be the field of view of camera 21, the range that can be the field of view of camera 22, and the range that can be the field of view of camera 23. Line laser 40 outputs laser light that is visible to the user in at least one of the images captured by camera 22 and the image captured by camera 23. The laser light is used so that the user can refer to these images and check in detail the shape, size, position, etc. of underwater obstacles. Dosimeter 50 measures the radiation dose within a predetermined range including the survey robot 1.

[0023] The concentrator 60 is, for example, a hub to which the wiring of the camera 21, the camera 23 and the line laser 40 and some of the elements constituting the cable 70 are connected.

[0024] 2 is a diagram showing an example of a cross section of a cable taken along a plane intersecting the cable according to an embodiment of the present invention. As shown in FIG. 2, cable 70 includes first cable 71, second cable 72, tube 73, and tube 74.

[0025] The first cable 71 is, for example, a LAN (Local Area Network) cable connected to a camera that operates using Power over Ethernet (PoE) among cameras 21, 22, and 23. The first cable 71 is, for example, a cable through which power supplied to the camera, a signal to control the camera, and data representing images captured by the camera flow. One end of the first cable 71 is connected to the concentrator 60, and the other end is connected to a computer, a power source, or the like.

[0026] The first cable 71 is less likely to deform than the pipes 73 and 74 when subjected to an external force. For example, the first cable 71 is made of a material that is less likely to deform than the pipes 73 and 74 when subjected to an external force. Alternatively, the first cable 71 has a structure that is less likely to deform than the pipes 73 and 74 when subjected to an external force. An example of such a structure is a structure in which more than a certain percentage of the interior of the first cable 71 is occupied by electric wires, signal wires, etc. When the first cable 71 has such a structure, it becomes less likely to deform than the hollow pipes 73 and 74.

[0027] The second cable 72 is, for example, a cable connected to elements constituting the survey robot 1 other than the cameras that operate using Power over Ethernet. The second cable 72 is, for example, a cable through which signals that control the elements constituting the survey robot 1 and data showing images captured by cameras other than the cameras that operate using Power over Ethernet flow. The second cable 72 is, for example, attached to the surface on the +Z direction side of the frame 11, and one end is connected to a microcomputer that controls the entire survey robot 1. The other end of the second cable 72 is connected to a computer, a power source, etc.

[0028] The second cable 72 is less likely to deform than the pipes 73 and 74 when subjected to an external force. For example, the second cable 72 is made of a material that is less likely to deform than the pipes 73 and 74 when subjected to an external force. Alternatively, the second cable 72 has a structure that is less likely to deform than the pipes 73 and 74 when subjected to an external force. An example of such a structure is a structure in which more than a certain percentage of the interior of the second cable 72 is occupied by electric wires, signal wires, etc. When the second cable 72 has such a structure, it becomes less likely to deform than the hollow pipes 73 and 74.

[0029] 2, the second cable 72 is bundled with the first cable 71 in a state parallel or substantially parallel to the first cable 71. For example, the second cable 72 is wrapped with adhesive tape together with the first cable 71, the pipe 73, and the pipe 74 at predetermined intervals. Alternatively, the second cable 72 is bonded to the first cable 71, the pipe 73, and the pipe 74 at predetermined intervals with an adhesive.

[0030] 2 are formed together with the first cable 71. The recesses H3 and H4 are formed by the outer peripheral surfaces of the first cable 71 and the second cable 72, and are recessed toward the line segment connecting the center line of the first cable 71 and the center line of the second cable 72.

[0031] Pipe 73 and pipe 74 are made of, for example, polyvinyl chloride. Because pipe 73 and pipe 74 are both hollow pipes, it is possible to float cable 70 in a liquid that fills a portion of the space in which survey robot 1 is used. As shown in FIG. 2, for example, pipe 73 is partially housed along its entire length in recess H3. Similarly, as shown in FIG. 2, for example, pipe 74 is partially housed along its entire length in recess H4.

[0032] 2, the tubes 73 and 74 are bundled with the first cable 71 and the second cable 72. For example, the tubes 73 and 74 are wrapped around the first cable 71 and the second cable 72 with adhesive tape at predetermined intervals. Alternatively, the tubes 73 and 74 are bonded to the first cable 71 and the second cable 72 with an adhesive at predetermined intervals. It is preferable that at least one of the tubes 73 and 74 is bundled with the first cable 71 and the second cable 72 in a state parallel to or approximately parallel to the first cable 71 and the second cable 72.

[0033] One end of the cable 70 is connected to the survey robot 1, and the other end is connected to a computer, a power source, etc. Furthermore, the survey robot 1 is often used in complicated spaces dotted with obstacles. Therefore, when the survey robot 1 moves or when the survey robot 1 is retrieved, the cable 70 often comes into contact with obstacles in the air or water and is subjected to resistance. Furthermore, if the cable 70 gets caught on an obstacle and is pulled, it may come into contact with an obstacle in the air or water and be subjected to even greater resistance.

[0034] FIG. 3 illustrates an example of the movements of the first cable, the second cable, and the two tubes when a cable according to an embodiment of the present invention comes into contact with an obstacle and is subjected to a drag force. For example, as shown in FIG. 3 , when tube 73 comes into contact with an obstacle and is subjected to drag force F, it pushes tube 74 out of recess H4 and enters between first cable 71 and second cable 72. Although first cable 71 and second cable 72 are subjected to drag force F after tube 73 enters between first cable 71 and second cable 72, they are less likely to deform than tubes 73 and 74. Therefore, tube 73 is not significantly deformed by drag force F, thereby reducing the area of ​​contact with the obstacle and reducing the frictional force generated between tube 73 and the obstacle. To perform the above-described movement when tube 73 comes into contact with an obstacle and is subjected to drag force F, it is necessary for tube 73 to be thick enough to partially protrude from recess H3, but it is preferable for tube 73 to be as thin as possible. The same applies to the case where tube 74 is subjected to drag force from an obstacle.

[0035] The swinging member 80 is connected to the frames 11, 12, 13, and 14 in a swingable manner. For example, as shown in Fig. 1, the swinging member 80 is connected to the second float 92 via an axis parallel to the Z axis in a swingable manner within a plane parallel to the XY plane. Furthermore, it is preferable that the dimensions of the swinging member 80 become smaller with increasing distance from the front of the survey robot 1. Specifically, it is preferable that the swinging member 80 tapers with increasing distance from the axis parallel to the Z axis, which is the axis of swing.

[0036] 1, a portion of the cable 70 may be connected to the swinging member 80. For example, a portion of a first cable 71 and a portion of a second cable 72 are connected to the swinging member 80. In this case, it is preferable that the cable 70 has slack between the portion connected to the survey robot 1 and the portion connected to the swinging member 80. For example, in this case, it is preferable that at least one of the first cable 71 and the second cable 72 has slack between the portion connected to the survey robot 1 and the portion connected to the swinging member 80.

[0037] The first float 91 is made of a material with a lower specific gravity than the liquid that fills a portion of the space in which the investigation robot 1 is used. For example, if a portion of the space in which the investigation robot 1 is used is filled with fresh water, the first float 91 is made of a material with a lower specific gravity than fresh water. The first float 91 can float the investigation robot 1 alone in the liquid that fills a portion of the space. Alternatively, the first float 91 can float the investigation robot 1 in the liquid that fills a portion of the space in cooperation with the second float 92.

[0038] Furthermore, the first float 91 is attached forward of the center of gravity of the survey robot 1 and above the survey robot 1. Specifically, the first float 91 is attached on the +X side of the X coordinate of the center of gravity of the survey robot 1 and on the +Z side of the Z coordinate of the center of gravity. As a result, after the survey robot 1 lands on the water with the +X side hanging toward the direction of gravity, the first float 91 passes through the center of gravity of the survey robot 1 and generates buoyancy that rotates the front of the survey robot 1 from underwater toward the water surface around an axis parallel to the Y axis.

[0039] The second float 92 is made of a material with a lower specific gravity than the liquid that fills a portion of the space in which the survey robot 1 is used. For example, if a portion of the space in which the survey robot 1 is used is filled with seawater, the second float 92 is made of a material with a lower specific gravity than seawater. Furthermore, it is preferable that the dimension of the second float 92 decreases toward the rear of the survey robot 1. Specifically, it is preferable that the dimension of the second float 92 in the direction parallel to the Y-axis decreases toward the -X direction. The second float 92 can float the survey robot 1 independently in the liquid that fills a portion of the space. Alternatively, the second float 92 can float the survey robot 1 in the liquid that fills a portion of the space in cooperation with the first float 91.

[0040] The above describes the inspection robot 10 according to the embodiment. The inspection robot 10 includes a cable 70. The cable 70 includes a first cable 71, a second cable 72, a pipe 73, and a pipe 74. The second cable 72 is bundled with the first cable 71 in a state parallel or approximately parallel to the first cable 71, and forms recesses H3 and H4 together with the first cable 71 in a plane intersecting the first cable 71. A portion of the pipe 73 is housed over its entire length in recess H3, and the pipe 73 is bundled with the first cable 71, the second cable 72, and the pipe 74. A portion of the pipe 74 is housed over its entire length in recess H4, and the pipe 74 is bundled with the first cable 71, the second cable 72, and the pipe 73.

[0041] When tube 73 comes into contact with an obstacle and is subjected to resistance, it pushes tube 74 out of recess H4 and gets between first cable 71 and second cable 72. Similarly, when tube 74 comes into contact with an obstacle and is subjected to resistance, it pushes tube 73 out of recess H3 and gets between first cable 71 and second cable 72. Therefore, tubes 73 and 74 are not significantly deformed by the resistance, and the area of ​​contact with the obstacle is reduced, thereby reducing the frictional force generated between them.

[0042] This allows the survey robot 10 to easily move even in a space where the cable 70 is inevitably going to come into contact with an obstacle, while reducing the effect of friction generated between the obstacle and the cable 70. This also allows the survey robot 10 to easily retrieve the cable 70 by pulling it, even in a space where the cable 70 is inevitably going to come into contact with an obstacle. These effects are particularly beneficial when the route along which the survey robot 10 moves is winding and the cable 70 is inevitably going to come into contact with multiple obstacles.

[0043] Furthermore, because pipes 73 and 74 are both hollow pipes, it is possible to make cable 70 float in the liquid that fills part of the space in which survey robot 1 is used. This reduces the occurrence of the survey robot 10 sinking cable 70 in water and stirring up sediments, precipitates, and the like present in the water, and prevents images captured by camera 23 and the like from becoming difficult to see.

[0044] Furthermore, at least one of the first cable 71 and the second cable 72 is made of a material that is less likely to deform than the two pipes when subjected to an external force. Alternatively, at least one of the first cable 71 and the second cable 72 has a structure that is less likely to deform than the two pipes when subjected to an external force. Therefore, at least one of the first cable 71 and the second cable 72 does not deform significantly even when it comes into contact with an obstacle and is subjected to resistance. This allows at least one of the first cable 71 and the second cable 72 to reduce the frictional force generated between it and the obstacle.

[0045] The survey robot 1 also includes a cable 70 that is loose between the part connected to the survey robot 1 and the part connected to the swinging member 80. This prevents the survey robot 10 from being unable to easily move within a space due to the frictional force generated between an obstacle and the cable 70 directly pulling on the line concentrator 60.

[0046] The survey robot 1 also includes a swinging member 80 that is swingably connected to the survey robot 1 and whose dimensions become smaller as it moves away from the front of the survey robot 1. As a result, even if the swinging member 80 comes into contact with an obstacle when the survey robot 10 is retreating, the obstacle can be passed over, thereby reducing the occurrence of a situation in which it becomes difficult to retreat. Also, as a result, even if the swinging member 80 comes into contact with an obstacle when the cable 70 is pulled and the survey robot 10 is being retrieved, the obstacle can be passed over, thereby reducing the occurrence of a situation in which it becomes difficult to retrieve the survey robot 10.

[0047] The survey robot 1 also includes a first float 91 attached forward of and above the center of gravity of the survey robot 1. After the survey robot 1 lands on water suspended with the +X direction side facing the direction of gravity, the first float 91 generates buoyancy that passes through the center of gravity of the survey robot 1 and rotates the front of the survey robot 1 around an axis parallel to the Y axis in a direction from underwater toward the water surface. This allows the survey robot 10 to float on the water surface with the side where the line concentrator 60 and other devices are located reliably in the air and the side where the frame 12 and other devices are located underwater, after the survey robot 1 lands on water suspended with the +X direction side facing the direction of gravity.

[0048] The investigation robot 1 also includes a second float 92 whose dimensions become smaller toward the rear of the investigation robot 1. As a result, even if the second float 92 comes into contact with an obstacle when the investigation robot 10 is retreating, the obstacle can be swept away, thereby reducing the occurrence of a situation in which it becomes difficult to retreat. Also, as a result, even if the second float 92 comes into contact with an obstacle when the cable 70 is pulled and the investigation robot 10 is being retrieved, the obstacle can be swept away, thereby reducing the occurrence of a situation in which it becomes difficult to retrieve the investigation robot 10.

[0049] Furthermore, the survey robot 1 floats in the liquid that fills part of the space by means of at least one of the first float 91 and the second float 92. This eliminates the need for the survey robot 1 to point its screw in the direction of gravity in order to float in the liquid, reducing the occurrence of situations in which sediments, precipitates, etc. present in the water are stirred up, and making it possible to avoid images captured by the camera 23, etc. becoming difficult to see.

[0050] Although the embodiments of the present invention have been described above with reference to the drawings, the survey robot is not limited to the above-described embodiments, and various modifications, substitutions, combinations, and / or design changes can be made without departing from the spirit and scope of the present invention.

[0051] Furthermore, the effects of the above-described embodiments of the present invention are described as examples. Therefore, the embodiments of the present invention may also achieve other effects that a person skilled in the art can recognize from the description of the above-described embodiments in addition to the above-described effects. [Explanation of symbols]

[0052] 1...inspection robot, 11, 12, 13, 14...frame, 21, 22, 23...camera, 31, 32, 33, 34...LED light, 40...line laser, 50...dosimeter, 60...line concentrator, 70...cable, 71...first cable, 72...second cable, 73, 74...pipe, 80...oscillating member, 91...first float, 92...second float, F...drag, H3, H4...recess

Claims

1. An investigation robot to which a cable including: a first cable; a second cable that is bundled with the first cable in a state parallel or approximately parallel to the first cable and that forms two recesses together with the first cable in a plane intersecting the first cable; and two hollow tubes that are partially housed in one of the recesses over their entire length and are bundled with the first cable and the second cable at a distance in the direction in which the first cable and the second cable extend.

2. At least one of the first cable and the second cable is made of a material that is less likely to deform than the two pipes when subjected to an external force. The survey robot of claim 1 .

3. At least one of the first cable and the second cable has a structure that is less likely to deform than the two pipes when subjected to an external force.

3. The survey robot according to claim 1 or 2.

4. a swinging member connected to a frame of the survey robot in a swingable manner and to which a portion of the cable is connected; The cable is loose between a portion connected to the frame and a portion connected to the swing member. The survey robot according to any one of claims 1 to 3.

5. The swinging member has a size that decreases with increasing distance from the front of the survey robot. The survey robot of claim 4.

6. Further provided is a first float attached to the survey robot forward of the center of gravity of the survey robot and above the survey robot, The survey robot according to any one of claims 1 to 5.

7. Further provided is a second float whose size decreases toward the rear of the survey robot. The survey robot according to any one of claims 1 to 6.

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