JPH0574032B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention is a vehicle capable of monitoring from the outside a space that cannot be directly accessed by people, such as inside a nuclear reactor facility with a high radiation dose rate. This relates to a type of remote monitoring device.

(Prior art) Inside a nuclear reactor facility, various devices are installed to monitor the operating status, but it is necessary for people to directly enter areas with high radioactivity concentrations in the reactor facility to inspect the various devices. Therefore, in nuclear reactor facilities with such high radioactivity concentrations, various equipment is monitored using remote monitoring devices.

By the way, conventional remote monitoring equipment in nuclear reactor facilities involves fixedly installing individual monitoring devices (surveillance cameras, etc.) near each type of equipment to be monitored, and connecting each monitoring device with the outside of the facility. It is connected by a communication cable.

(Problem to be solved by the invention) However, in the conventional remote monitoring equipment installed in such nuclear reactor facilities, a monitoring machine is installed for each piece of equipment to be monitored. In addition to the problem that the number of monitoring devices is equal to the number of locations to be monitored, there is also the problem that communication cables must be connected to each monitoring device, and each communication cable is exposed inside the facility, making it complicated. It was hot.

In view of the problems of the conventional remote monitoring device described above, the present invention enables a single monitoring device to patrol and monitor each area to be monitored, and furthermore, the communication cable of the monitoring device is not exposed to the outside. A mobile remote monitoring device that allows the monitoring device to always maintain an upright posture on each floor, even when one monitoring device is patrolled across multiple floors above and below. The purpose is to propose the following.

(Means for Solving the Problem) The mobile remote monitoring device of the invention of claim 1 of the present application is installed in a space where there are multiple locations to be monitored so as to travel around each location to be monitored. A series of rails having a hollow guide pipe inside, a monitoring vehicle having a monitoring machine attached to a bogie that can run along the rails, and power transmitted to the monitoring vehicle via a power transmission wire. a drive device that causes the monitoring vehicle to travel along a rail, and further includes a notch in the guide pipe that is continuous in the length direction of the guide pipe and over the travel range of the monitoring vehicle. While forming a groove,
The trolley is provided with a connecting arm that is slidable in the length direction of the notched groove and that reaches a space in the guide pipe, and is connected to a communication cable of the monitoring machine and power transmission of the drive device. connecting the communication cables and the power transmission wires to the connection arm while being inserted into the guide pipes, and guiding the communication cables and the power transmission wires inside the guide pipes so that they do not come into contact with the inner wall surface of the guide pipes. The present invention is characterized in that the guide device is installed in such a way that it does not interfere with the movement of the connecting arm.

Further, the invention as claimed in claim 2 provides the traveling type remote monitoring device as described in claim 1 above, in which the rails are laid across spaces of multiple floors above and below, and that there is a horizontal laying part within the space of each floor. In addition, the rail provided on the rail is provided in such a manner that the surveillance vehicle can be maintained in an upright position at the horizontally laid portion of each floor of the rail.

(Function) According to the traveling type remote monitoring device of the invention set forth in claim 1 of the present application, the driving device enables the monitoring traveling vehicle to travel along the rails to various locations to be monitored in the space. , each point in the space to be monitored can be remotely monitored with a single monitoring device. Further, the rail has a guide pipe, and a notched groove is formed in the guide pipe, and the connecting arm of the bogie is inserted into the hollow space in the guide pipe through the notched groove, and furthermore, the power transmission wire of the drive device and the monitoring device are inserted. Since the communication cable is inserted into the guide pipe and connected to the connecting arm, the power transmission wire and the communication cable can be connected to the connecting arm even if the surveillance vehicle is to run along the rail. follows the monitoring vehicle through the guide pipe, and the power transmission wire and communication cable do not protrude outside the guide pipe. Further, the power transmission wire and the communication cable inserted into the guide pipe are prevented from coming into contact with the inner wall surface of the guide pipe by a guide device installed inside the guide pipe.

Further, according to the traveling type remote monitoring device of the invention of claim 2 of the present application, even if the monitoring vehicle is made to travel across multiple floors above and below, the horizontal position of each floor on the rail The monitoring vehicle will now travel in a state where it is maintained in an upright position in the installation area.

(Effects of the Invention) According to the traveling type remote monitoring device of the invention set forth in claim 1 of the present application, a surveillance vehicle equipped with a surveillance machine travels along the rails to each location to be monitored in the space. Since it travels, a single monitoring device can monitor each point in the space that needs to be monitored, reducing the number of monitoring devices and reducing communication between the power transmission wire of the drive device and the monitoring device. Since the cable is connected to the monitoring vehicle through the guide pipe of the rail, even if the monitoring vehicle is configured to run along the rail,
Problems such as the power transmission wires and communication cables not protruding outside the guide pipe and the power transmission wires or communication cables getting caught on or coming into contact with other equipment or structures in the space. In addition, even if the power transmission wire and the communication cable follow the movement of the monitoring vehicle in the guide pipe, the guide device installed in the guide pipe can prevent As a result, the power transmission wire and the communication cable do not come into contact with the inner wall surface of the guide pipe, and there is an effect that the power transmission wire, the communication cable, the inner wall surface of the guide pipe, etc. are less likely to be damaged.

Further, according to the traveling type remote monitoring device of the invention of claim 2 of the present application, even if the monitoring vehicle is made to travel across multiple floors above and below, the horizontal position of each floor on the rails is Since the monitoring vehicle maintains an upright position while traveling at the installation site, the monitoring machine can face each location to be monitored in a normal position, allowing for accurate monitoring work. effective.

(Embodiment) An embodiment of the present invention will be described with reference to FIGS. 1 to 7. The remote monitoring device of this embodiment is as follows:
For example, it is suitable for installation in spaces where people cannot directly enter, such as inside nuclear reactor facilities (where the radiation dose rate is high).

The remote monitoring device of this embodiment consists of a rail 1 installed in a space where equipment to be monitored is installed.
and a surveillance vehicle 2 having a surveillance device (surveillance camera) 3 mounted on a trolley 21 that travels along the rail 1.
The basic components include a drive device 4 that causes the monitoring vehicle 2 to travel along the rail 1, and a control panel 5 that operates the drive device 4 or processes data sent from the monitoring machine 3. It is configured.

In addition, in this embodiment, as shown in FIG. 1, the rail 1 spans three floors in the vertical direction of the first floor space S ₁ , the second floor space S ₂ , and the third floor space S ₃ , and also extends to each floor. It is laid so that there are horizontal laying parts 1a, _1b , and 1c within the spaces _S1 , S2, and _S3 . In addition, in FIG. 1, the horizontal laying parts 1a, 1b, 1c of each floor space in the rail 1 are as follows:
Although described in a relatively short length range, the horizontal installation parts 1a, 1b, and 1c on each floor go around the various equipment to be monitored installed in the spaces S ₁ , S ₂ , and S ₃ on each floor. It is laid down in this way. Also, this first
In the example shown in the figure, the rails are laid in an inclined manner between the 1st floor space S ₁ and the 2nd floor space S ₂ , and are laid vertically between the 2nd floor space S ₂ and the 3rd floor space S ₃ . There is.

The rail 1 is constructed by fixing (welding) rails 15A and 15B made of relatively thin round pipes to substantially opposite positions on the outer surface of a guide pipe 11 made of a round pipe having an appropriate outer diameter (for example, about 140 mm). ing. These rails 15A, 15B are angled with respect to the guide pipe 11 in the range rising from the second floor space _S2 to the third floor space _S3 in FIG.
It is twisted by 180° (details will be explained later). Further, the guide pipe 11 of the rail 1 has a guide pipe 11 extending in the length direction of the guide pipe 11 and a monitoring vehicle 2.
Continuous narrow width (for example, 35
A notch groove 13 with a diameter of about mm) is formed. This notched groove 13 allows a connecting arm 29 for connecting a trolley towing cable or a communication cable inserted into the guide pipe 11 to slide in the direction of travel of the trolley while straddling the inside and outside of the guide pipe 11, as will be described later. It is intended to help you obtain.

The trolley 21 of the surveillance vehicle 2 is shown in Figures 3 to 6.
As shown in the figure, on the lower surface of the base plate 22, there are a total of four wheel units consisting of a pair of left and right front wheel units 23, 23, a pair of left and right rear wheel units 33, 33, and a drive device as described later. 4 rope 4
3 and a connecting arm 29 for connecting the communication cable 51 of the monitoring device 3.

As shown in FIGS. 3 to 5, each of the left and right front wheel units 23, 23 has a wheel leg 25 attached to the lower surface of the base plate 22 via a ball bearing 24 so as to be rotatable in a horizontal plane. Wheel leg 25
Two upper and lower wheels 26A and 26B that sandwich the rail 15A or 15B from above and below at the bottom of the rail 1
It is constructed by attaching two front and rear side wheels 26C and 26D that are applied to the outer side of 5A or 15B. The upper and lower wheels 26A, 26B are connected to the rail 15 via ball bearings 27 with respect to the wheel legs 25.
It is attached so that it can rotate freely within a vertical plane parallel to A and 15B. The left and right front wheel units 23, 23 each have a pair of left and right rails 1.
5A and 15B are respectively attached to sandwich them from the outside.

As shown in FIGS. 3 and 6, each of the left and right rear wheel units 33, 33 has a total of four wheels (upper and lower wheels 36A, 36B, side wheels, 36C, 36D)
is installed. And each rear wheel unit 3
3 and 33, both rails 15A and 15 are attached to both ends of an arc-shaped slide plate 34 that is attached to the lower surface of the base plate 22 so as to be slidable in an arc shape in a vertical plane.
They are attached so as to sandwich B from the outside. The slide plate 34 is held by two holding members 30, 30 attached to the lower surface of the base plate 22. Each of the holding members 30, 30 includes rollers 31, 31 that hold the slide plate 34 from both front and rear sides, and two rollers 3 that slide within an arcuate guide groove 34a provided in the slide plate 34.
2 and 32 are provided. The holding members 30, 30 hold the slide plate 34 in the arcuate groove 34.
It is held so that it can slide in an arc only in the left and right direction within the range a. In addition, rear wheel unit 3
The upper and lower wheels 36A and 36B of No. 3 and 33 are rotatable in a vertical plane by ball bearings 37 as in the case of the front wheel unit.

Therefore, this truck 21 carries each front wheel unit 2.
3 and 23 are rotatable in a horizontal plane, and each of the rear wheel units 33 and 33 can be displaced in a vertical plane in the left and right direction via the slide plate 34, and the upper and lower wheels 26A and 26B of the front and rear wheel units are respectively ,3
Since the rails 6A, 36B are rotatable in a vertical plane parallel to the rails 15A, 15B, even if the rails 15A, 15B are installed in a twisted state with respect to the guide pipe 11, the rails 15A,
Each wheel 26A-2 corresponds to the twist change of 15B.
The postures of 6D, 36A to 36D change, and the trolley 21
can run smoothly along each rail 15A, 15B.

The connecting arm 29 is connected to the notch groove 1 of the guide pipe 11.
A monitoring device 3 is attached to the inner end of the guide pipe of the base member 45, which is attached to the inside and outside of the guide pipe through the base member 45.
A cable connecting portion 48 and a cable connecting portion 49 are provided for connecting the communication cable 51 of the drive device 4 and the power transmission wire (cable) 43 of the drive device 4, respectively. The upper part of the base member 45 of this connecting arm 29 is connected to the base plate 22.
It is attached to a mounting plate 28 fixed downward to the lower surface of the holder so as to be rotatable in an arc in the left and right direction. That is, an arc-shaped guide groove 28a is formed in the mounting plate 28, and on the other hand, the base member 4 of the connecting arm 29
5 At the top, there is a mounting plate 29 that is held between the front and rear surfaces.
two clamping members 46, 46 and each clamping member 46, 4
Two rollers 47, 47 that slide along the guide groove 28a of the mounting plate 28 are provided between the mounting plates 28 and 6. It is attached so that it can slide within the guide groove 28a. In addition, when the connecting arm 29 is installed, the cable connecting portion 48 and the cable connecting portion 49 are spaced apart from each other with an appropriate distance, and are placed in the space 1 in the guide pipe 11.
It is located near the center of 2. This truck 21 can be made to travel (forward and backward) along the rail 1 by pulling the cable connecting portion 49 of the connecting arm 29 in the rail length direction, and the connecting arm 29 Guide pipe 11
It is guided by the opening edge of the notch groove 13 and can swing in the left-right direction. Note that even if the connecting arm 29 is swung in the left-right direction, the cable connecting portion 48 and the cable connecting portion 49 will not be displaced from the vicinity of the center of the space 12 in the guide pipe 11.

Drive device 4 for driving the monitoring vehicle 2
In this embodiment, an electric winch device is employed. This winch device 4, as shown in FIG.
It is wound around the winch drum 41 while being inserted through the guide pipe 11. Further, the wire rope 43 connects the connecting arm 29 of the trolley 21 in the middle thereof.
It is fixed to the cable connecting part 49 of. This winch device 4 operates the winch drum 41 in the right rotation direction or the left rotation direction.
The surveillance vehicle 2 can be moved forward or backward by pulling the wire rope 43 in either the forward or backward direction. In FIG. 1, reference numeral 44 is a tension spring for tensioning the wire rope 43. In this embodiment, a traction type drive device using a winch device is adopted as the drive device 4 for driving the monitoring vehicle 2, but in other embodiments, the trolley 21 is equipped with an electric motor for driving the wheels. It can also be configured to be self-propelled. In that case, instead of the wire rope, an electric wire cable becomes the power transmission wire in the claims.

The surveillance device 3 mounted on the upper part of the trolley 21 has a surveillance camera 3A and a control box 3B for controlling the surveillance camera 3A.

A communication cable 51 consisting of a plurality of cables such as an optical cable and a power cable is connected between the monitoring device 3 (control box 3B) on the trolley 21 and the control panel 5 installed outside the space to be monitored. The proximal end of the communication cable 51 is wound around a winding drum 52, while the distal end of the communication cable 51 is passed through the guide pipe 11 and fixed to the cable connecting portion 48 of the connecting arm 29 of the trolley 21. It is led to control box 3B. Winding drum 52
As the monitoring vehicle 2 moves forward or backward (in synchronization with the rotation of the winch drum 41), the communication cable 51 is paid out or rewound in response to a command from the control panel 5. It is controlled so that it does not become sagging or too tense.

A guide device 7 is provided in the guide pipe 11 of the rail 1 to guide the wire rope 43 of the winch device 4 and the communication cable 51 of the monitoring device 3, respectively. This guide device 7 includes a total of three vertical guide rollers 71, 71, 71 and a total of two horizontal guide rollers 72, 72 provided at the lower part between the two adjacent vertical guide rollers 71, 71. They are configured as one set. The guide device 7 includes a wire rope guide section 73 for guiding the wire rope 43 by a total of five guide rollers 71, 71, 71, 72, 72, and a communication section for guiding the communication cable 51. Two types of guide parts of the cable guide part 74 are formed. This guide device 7 is
A plurality of sets are installed within the guide pipe 11 at predetermined intervals, and the wire rope 43 and the communication cable 51 are prevented from coming into contact with the inner wall surface of the guide pipe 11 by the respective guide devices 7, 7, . In this way, the monitoring vehicle 2 can move along the rail 1.
Even when traveling along the wire rope 43 and the communication cable 51, the wire rope 43 and the communication cable 51 do not rub against the inner wall surface of the guide pipe, and the wire rope 43, the communication cable 51, and the guide pipe 11 are not damaged.

The rising portion 1d of the rail 1 that rises from the second floor space _S2 side to the third floor space _S3 side (the range designated by the symbol Y in Figure 1) is shown in enlarged view in Figures 2 and 7. Rising part 1 on rail 1
d shows a horizontally laid part 1b on the second floor space _S2 side of the rail 1 and a horizontally laid part 1c on the third floor space _S3 side.
A posture maintenance mechanism 6 is provided for driving the surveillance vehicle 2 in an upright posture. That is, in this embodiment, 2 in rail 1
Horizontal laying part 1b and rising part 1 on floor space S ₂ side
d and the horizontal laying part 1c on the side of the third floor space _S3 are bent into a substantially U-shape. There is an inconvenience that the surveillance vehicle 2 starts to run downward in either the horizontal laying section 1b on the S ₂ side or the horizontal laying section 1c on the third floor space S ₃ side, and the posture maintenance mechanism 6 It is intended to improve. This posture maintenance mechanism 6 is a rail 15A, 15A of the rail 1.
With respect to the guide pipe 11, the horizontally laid part 1b and the rising part 1d on the second floor space _S2 side of the rail 1
Twisted at an angle of 90° between
d and the horizontal laying part 1c on the 3rd floor space S ₃ side, twist it by an angle of 90°, and then connect the horizontal laying part 1b on the 2nd floor space S ₂ side and the horizontal laying part 1c on the 3rd floor space S ₃ side. Total the rails 15A and 15B between
It is configured by displacing it by 180°. In this way _, as shown in FIG _.
Monitoring vehicle 2 within the range of horizontal laying portion 1c
are respectively displaced to the postures shown by the chain lines, and 2
Floor space S ₂ side horizontal laying section 1b and 3rd floor space
In the horizontal laying section 1c on the _S3 side, the monitoring vehicles 2 each travel while maintaining an upright posture. If the monitoring vehicle 2 is made to travel in an upright position in the horizontally laid part of each floor space on the rail 1 in this way, the monitoring machine 3 can be made to face each location to be monitored in an upright position. , it becomes possible to perform accurate monitoring work.

In addition, in the range from the horizontal laying part 1b to the rising part 1d on the second floor space _S2 side of the rail 1, the notch groove 13 of the guide pipe 11 is cut in order to allow the posture of the surveillance vehicle 2 to change. The guide pipe 11 is twisted at an angle of 180°. That is, as shown in FIGS. ₂ and 7, the notch groove 13 is set at an angle with respect to the guide pipe 11 in the range from position a to position b near the rising part 1d of the horizontal installation part 1b on the second floor space S2 side.
Twist by 90° and twist the corner part (position b) between the horizontal laying part 1b and the rising part 1d on the second floor space side.
to position c), it is further twisted by an angle of 90°. Moreover, the guide devices 7, 7... installed in the guide pipe 11,
As shown in FIG. 7, the mounting postures of the wire rope 43 and the communication cable 51 are sequentially changed so that they do not come off the guide device 7. That is, in FIG. 7, the A-A arrow view to the J-J arrow view shown on the outer side of the rail 1 correspond to the A-A to JJ arrow directions of the rail 1, respectively. Also at the corner of the rail 1, the wire rope 43 and the communication cable 51 are connected to each guide device 7,
7... and the wire rope 43 and communication cable 51 are installed so as not to come into contact with the inner wall surface of the guide pipe 11. In addition, in FIG. 7, from the GG arrow view to the J
- For J arrow view, A-A arrow view or F-F
The arrow view is shown as viewed from a direction displaced by an angle of 180° from the arrow direction.

The mobile remote monitoring device of this embodiment is installed in a space that people cannot directly enter, such as inside a nuclear reactor facility, and a single monitoring device 3 monitors various devices in that space. It is now possible to patrol and monitor them one by one. That is, in FIG. 1, the drive device 4 is controlled by remote control from the control panel 5.
When the winch drum 41 is rotated to the left, the wire rope 43 is activated in the direction of arrow A, and the surveillance vehicle 2 is pulled forward along the rail 1 (in the direction of arrow A). 41
When rotated clockwise, the wire rope 43 is actuated in the direction of arrow B, and the surveillance vehicle 2 is pulled in the backward direction (direction of arrow B) along the rail 1. Therefore, by simply rotating the winch drum 41 in either the forward or reverse direction, the monitoring vehicle 2 can be moved sequentially through the spaces on each floor while monitoring the various devices installed in the spaces S ₁ , S ₂ , and S ₃ on each floor. It can be circulated. Further, when the winch drum 41 is operated, the winding drum 52 for the communication cable 51 is also synchronously winded or unwinded to prevent the communication cable 51 from becoming too tense or sagging. . Further, since the wire rope 43 and the communication cable 51 are inserted into the guide pipe 11, even if the surveillance vehicle 2 runs along the rail 1, the wire rope 43 and the communication cable 51 are inserted into the guide pipe 11.
Since the wire rope 43 and the communication cable 51 are guided by the guide device 7, the wire rope 43 and the communication cable 51 do not come into contact with the inner wall surface of the guide pipe 11. In addition, the monitoring vehicle 2
Horizontal installation part 1 of each floor space S ₁ , S ₂ , S ₃ in
A, 1b, and 1c, the vehicle is always maintained in an upright posture, and the monitoring device 3 can always accurately monitor each device to be monitored. Incidentally, various data monitored by the monitoring device 3 are sent to the control panel 5 side via the communication cable 51 and displayed on a cathode ray tube or the like.

[Brief explanation of the drawing]

FIG. 1 is an overall schematic perspective view of a mobile remote monitoring device according to an embodiment of the present invention, FIG. 2 is a partially enlarged perspective view of FIG. Side view of the surveillance vehicle in use, No. 4
The figure is the right side view of Fig. 3, and Fig. 5 is the - of Fig. 3.
FIG. 6 is a cross-sectional view taken from FIG. 3, and FIG. 7 is an explanatory diagram showing the state of attitude fluctuation of the cart and guide device with respect to the rail in the traveling type remote monitoring device of FIG. 1. DESCRIPTION OF SYMBOLS 1... Rail, 2... Monitoring vehicle, 3... Monitoring machine, 4... Drive device, 5... Control panel, 6... Attitude maintenance mechanism, 7... Guide device, 11... Guide pipe, 12 ... Blank space, 13 ... Notch groove, 15A, 1
5B...Rail, 21...Dolly, 29...Connection arm, 43...Power transmission wire (wire rope), 51...Communication cable.

Claims (1)

[Scope of Claims] 1. A series of rails 1, which are laid in a space where there are a plurality of points to be monitored, so as to go around each of the points to be monitored, and have a hollow guide pipe 11, and the rails 1. A trolley 21 that can run along
The monitoring vehicle 2 is connected to the rail 1 by transmitting power to the monitoring vehicle 2 via a power transmission wire 43.
Further, the guide pipe 11 is provided with a notched groove 13 which is continuous in the length direction of the guide pipe 11 and over the travel range of the surveillance vehicle 2. On the other hand,
The trolley 21 has the notch groove 13 inside the notch groove 13.
A connecting arm 29 is provided which is slidable in the length direction of 3 and reaches the space 12 in the guide pipe 11, and also connects the communication cable 51 of the monitoring device 3 and the power transmission wire 4 of the drive device 4.
3 are inserted into the guide pipe 11 and connected to the connection arm 29, and the communication cable 51 and the power transmission wire 43 are connected to the guide pipe 11 within the guide pipe 11.
1. A traveling remote monitoring device characterized in that a guide device 7 for guiding the connecting arm 29 so as not to come into contact with an inner wall surface is installed so as not to obstruct the movement of the connecting arm 29. 2. The rail 1 spans the space of multiple floors above and below, and within the space of each floor, the horizontally laid part 1
The rails 15A, 15A, 1C provided on the rail 1 are
5B is the horizontal laying part 1a, 1 of each floor on the rail 1
2. The traveling type remote monitoring device according to claim 1, wherein the traveling type remote monitoring device is provided in such a manner that the monitoring traveling vehicle 2 can be maintained in an upright position at the points b and 1c.