JPH0574841B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a traveling direction detection system that detects predetermined elements in the atmosphere on the ground while traveling, and performs high-density detection while indicating the next detection direction.

[Conventional technology]

Conventionally, in order to detect and search for predetermined elements in the atmosphere on the ground, it is necessary to directly carry a detector for detecting those predetermined elements, or to operate a hand-operated trolley equipped with the detector while using the detector's detection reaction. The data is collected by the worker while checking visually through the meter, and the data is collected by the worker's manual operation. Then, from the data of the detected predetermined element,
Although it is possible to know the number of predetermined elements, it is not possible to know the direction of the searched position such as the source of the predetermined element. Therefore, Japanese Patent Laid-Open No. 59-87332 discloses a configuration in which the sampled gas concentration distribution is displayed two-dimensionally in different colors so that the direction of the gas generation source can be recognized. However, with the above configuration, although the direction in which detection should be performed is known, the sampling interval is not determined, so accurate detection cannot be performed.

[Problems to be solved by the invention]

As a result of extensive research in view of the above circumstances, the inventors of the present invention have determined that a predetermined element can be detected two-dimensionally by measuring simultaneously or sequentially using a plurality of sensors with different arrangements, and the subsequent detection In addition to determining the direction,
The objective was to improve detection accuracy by determining which detection pattern it belongs to based on the detected value.

[Means to solve the problem]

In this first invention, in order to achieve the above-mentioned object, as shown in the block diagrams of FIGS. (b) Predetermined elements in the atmosphere sampled simultaneously or sequentially by the atmosphere sampling sections 11, 12, ..., which sample predetermined elements in the atmosphere on the ground. (c) Each atmosphere sampling section 1 of the predetermined element obtained from the predetermined element conversion means 2 at the same sampling time is provided.
1, 12, . . . (d) From this distribution state, based on the installation position of the atmosphere sampling section, Detection direction determining means 4 that determines the direction of bias in the detected amount of a predetermined element and determines it as the detection direction.
(e) A detection direction indicating means 5 is provided to display the determined detection direction on an external display device in order to instruct the operator. (g) The speed of the self-propelled object is changed based on the determined detection pattern, and the speed of the self-propelled object is changed in the caution area. A technical measure is taken to provide a pattern control determining means that slows down the sampling interval and changes the sampling interval with respect to the traveling distance of the self-propelled object at a high density. Further, in a second invention, instead of the detection direction indicating means 5 of the first invention, a travel control means is provided for controlling the steering mechanism and drive mechanism of the self-propelled body according to the determined detection direction and speed. Technical measures are being taken.

[Effect]

In this first invention, the atmosphere on the ground sampled simultaneously or sequentially from the plurality of atmosphere sampling units 11, 12, . measured,
The predetermined element conversion means 2 detects a predetermined element in the atmosphere and converts it into predetermined element data. Since the obtained predetermined element data has a positional relationship according to the arrangement of the respective atmosphere sampling sections 11, 12,..., the detected amount of the predetermined element sampled from each atmosphere sampling section at the same sampling time It is possible to determine the distribution state representing the detected amount corresponding to the installation position of each atmosphere sampling section at a point. Then, based on this distribution state, the detection direction determining means 4 determines the location of the atmosphere sampling section.
The direction of bias in the detected amount of the predetermined element is determined and determined as the detection direction. This determined detection direction is then instructed by the detection direction instructing means 5 to the operator in the next detection direction. Incidentally, FIG. 3 shows an explanatory diagram of the distribution state of the predetermined elements detected from the atmosphere sampling section and the determination of the detection direction based on the distribution state of the predetermined elements. Here, an example is shown in which four atmosphere sampling sections are arranged at 90° intervals. Here, the term "sampling at the same time" refers to cases where each atmosphere sampling section performs sampling at the same time and cases where sampling is performed one by one. To determine the running direction, simply determine the direction in which the maximum detection value (or the minimum detection value, depending on the purpose of detection) is detected during the same sampling at each atmosphere sampling section. (see Figure 3 a)), but based on each detected value, assume a concentric contour line centered on the source of the predetermined element, and calculate the deviation in the installation position of each atmosphere sampling section. , a method of calculating the direction of the maximum value (see FIG. 3b)) may be used. According to this, the optimum detection direction can be calculated by using at least three atmosphere sampling sections. Furthermore, if the direction in which the maximum detection value is detected is set as the detection direction as described above, it is possible to determine the direction by using at least two atmosphere sampling sections. It is necessary to arrange it so that it is shifted to the left and right sides. In addition, even when determining the installation position direction of the atmosphere sampling section that determined the maximum detection value during the same sampling as the traveling direction, if the detection data detected from the adjacent atmosphere sampling sections are both the same and maximum, may determine the running direction to be the middle between the adjacent atmosphere sampling units, and in this case, the direction twice as many as the number of atmosphere sampling units installed can be specified as the running direction (the third (See figure c)). Further, the density of the detected data collected in this manner is determined by a pattern determining means, and the speed of the self-propelled object is determined based on a predetermined detection pattern. If the detected concentration is dangerous, the speed of the self-propelled vehicle can be changed to be slower, and the sampling interval for the distance traveled can be made closer, thereby increasing the detection accuracy. Furthermore, the detection direction and speed of the self-propelled object are determined based on the detection direction determining means and the pattern control determining means.
The steering mechanism and drive mechanism of the self-propelled body may be automatically controlled.

【Example】

An embodiment in which the traveling direction detection system of the present invention is used as a gas leakage detection system will be described below based on the drawings from FIG. 4 onwards. The traveling direction detection system 1 shown in FIG.
are arranged at 90° intervals on a disk-shaped sensor body 1A, and gas components are detected from the ground air sucked from the sensor body 1A,
A detection device 1B configured with a microcomputer that determines the detection direction, and a direction indicating device 50 connected to (the microcomputer 20 of) the detection device 1B.
and a recording device 60. Here, the sensor main body 1A has gas sampling holes 11,
12, 13, and 14 in a certain order (for example, gas sampling hole 11→same 12→same 13→same 1)
4), each of which sucks ground air (atmosphere), and is driven and controlled via a sensor control mechanism (not shown) in order to sequentially detect gas components in each sucked air. Although the configuration for detecting gas components is not particularly limited, in this example, the amount of gas components is determined using a semiconductor optical sensor that burns sampled air and converts its brightness into electrical resistance. It consists of a detection configuration. Next, the gas sampling hole 11 of this sensor body 1A
The microcomputer 20 to which the detection signals are input from 14 to 14 is composed of a one-chip microcomputer with a normal configuration consisting of an I/O port, a central processing unit (CPU), and a memory. In the case of this embodiment, this microcomputer 2
0 is connected to a direction indicating device 50 and a recording device 60 via its I/O port (output port). The direction indicating device 50 is an instrument equipped with an indicator needle that instructs the operator in the direction of travel for detection, or
It consists of an external display device such as a CRT, LED, LCD, or printer that indicates the direction of travel. Next, the arithmetic processing of this microcomputer 20 is shown in a functional block diagram in FIG. That is, the gas sampling holes 11, 1 of the sensor body 1A
From the ground atmosphere sampled simultaneously (at the same sampling time) from 2, 13, and 14,
Gas concentration conversion means 21 that converts detection signals obtained by detecting each gas component (concentration) into a gas concentration value.
, a distribution state determining means 22 for determining the gas concentration distribution state corresponding to the arrangement position of each gas sampling hole based on the gas concentration data detected from the gas concentration converting means 21; and the distribution state determining means Detection direction determining means 23 for determining the high concentration direction based on the distribution state determined in step 22 and determining the direction as the detection direction;
It has calculation recording means 24 for calculating the average value based on the gas concentration data obtained from the gas concentration conversion means 21 and storing it as detected data. Here, the determination method in the detection direction determining means 23 is determined depending on the element to be detected and the purpose of detection. For example, among the four data of the distribution state,
The position of the gas sampling hole where the smallest numerical data is detected may be determined. Further, the calculation storage means 24 performs calculation processing for processing the gas concentration data obtained from the gas concentration conversion means 21 into data that needs to be recorded. Alternatively, only the maximum (or minimum) value data at the same sampling time may be selected and recorded. The detected direction data determined by the detected direction determining means 23 in this manner is output to the direction indicating device 50 via the I/O port (output port) 20A. Further, the gas concentration data recorded by the calculation recording means 24 is similarly stored at the I/O port (output port) 2.
It is output to the recording device 60 via 0A. Here, the recording device 60 is preferably a device that stores the detected data in the external storage 61, and for example, a recording device using an IC card and an information writing device is used. In the above-mentioned embodiment, the configuration for determining the pattern of the detected gas concentration is the same as that described later, and therefore will be omitted. Further, the configuration for recording the gas concentration (in this embodiment, the arithmetic storage means 24 of the microcomputer 20 and the recording device 60) is not an essential configuration for the present invention, and may or may not be provided as appropriate. It is. Next, the running direction detection system 1 shown in FIG.
The illustrated example has a configuration in which a detection device 1B including a sensor main body 1A and a microcomputer 20, and a recording device 60 are mounted on a self-propelled vehicle V. That is, the sensor main body 1A is fixed to a conduit 16 that hangs from the bottom of the chassis of the self-propelled vehicle V and is bent horizontally slightly above the ground plane, and is installed in a horizontal position with respect to the ground plane. . Therefore, the gas sampling holes 11 to 14 provided in the disk-shaped sensor main body 1A are arranged at 90° intervals on the same horizontal plane with the traveling direction in the middle. In this way, the running direction detection system 1 mounted on the self-propelled vehicle V has gas sampling holes 11, 12, 13, and 14 arranged at 90° intervals in the disc-shaped sensor body 1A to suck air from the ground. Sensor main body 1A,
A detection device 1B configured with a microcomputer that detects gas components from the ground air sucked from the sensor body 1A and determines the detection direction, and a detection device 1B connected to (the microcomputer 20 of) the detection device 1B and used by the operator. It is comprised of a direction indicating device 50 that indicates the detection direction, a control means 70 that controls the self-propelled vehicle V, etc. in the detection direction, and a recording device 60 that is attached as necessary. Here, the structure of the sensor body 1A and the detection device 1
A part of the arithmetic function of B and the configuration of the direction indicating device 50 are the same as those in the embodiment described above, so the same components are given the same numbers and the explanation will be omitted. This traveling direction detection system 1 is a system in which a worker manually drives a self-propelled vehicle V to detect the gas concentration through gas sampling holes 11 to 14, and the gas concentration is detected from each gas sampling hole at the same sampling time. The detected signals are input to the microcomputer 20 of the detection device 1B as detection signals for each gas sampling hole. The detection signal input via the I/O port 20A is input to the gas concentration conversion means 21, and then converted into gas concentration data and sent to the distribution state determination means 22. Then, the detection direction is calculated and determined by the detection direction determining means 23 from the obtained distribution state data. Further, the gas concentration data obtained by the gas concentration conversion means 21 is sent to the pattern determination means 25, and the running speed and sensor sampling period are preset in stages according to the gas concentration. It is determined which pattern among the detected patterns corresponds to the detected pattern. Based on the gas leak detection pattern determined by the pattern determining means 25, the pattern control determining means 26 outputs a control signal corresponding to the gas leak detection pattern. For example, when a gas concentration higher than a predetermined value is detected in the gas leak detection pattern, the sensor control is performed by the pattern control determining means 26 in the case where the detected area is designated as a caution area and the sampling interval for the traveling distance is shortened. A control signal for changing the sampling period is output to the means 27, and the sampling interval of the gas sampling hole is changed. Further, when the detection direction determined by the detection direction determining means 23 controls the steering mechanism of the self-propelled vehicle V via the control means 70, the traveling speed similarly determined by the pattern control determining means 26 becomes the same. to control the drive mechanism. In this way, when the speed of the self-propelled object is slowed down, even if the sampling time interval is the same, the sampling interval for the travel distance can be made denser, making it possible to perform a precise search. Furthermore, the gas concentration data detected from the gas sampling hole is stored in the arithmetic storage means 24 as in the previous embodiment, and an information write function is provided in which detection data and other work data can be written in an external storage device 61 such as an IC card. The information is stored in a recording device such as the device 60. Further, in this embodiment, the detection direction determining means 2
3 and the direction and speed determined by the pattern control determining means 26 are used to automatically control the steering mechanism and drive mechanism of the self-propelled vehicle V via the control device 70. Further, the detected direction and speed determined in this way may be displayed on an external display device such as the direction indicating device 50, even if the self-propelled vehicle V is not directly driven through the control device 70 as described above. It may also be configured to be output to instruct the worker on the next direction and speed. In addition, the configuration for instructing the operator on the detection direction is as follows:
Any other configuration may be used as long as the operator can sense the direction of travel, such as voice instructions. Here, in the above embodiment, the gas sampling holes sequentially suck air during the same sampling, but if each gas sampling hole is configured to sample at the same time, the time required for one sampling will be reduced. Since the time is shortened, the efficiency of the detection work can be improved.

【Effect of the invention】

As described above, according to the present invention, detection of a predetermined element at a detection point can be captured two-dimensionally, the distribution state of the detection elements can be determined, and the direction of the detection target point can be determined. Detection work can be carried out efficiently and without waste. In addition, by mounting the atmosphere sampling unit on the self-propelled vehicle, it is possible to standardize the detection conditions and detect reliable data. The sampling interval or traveling speed of the sampling section can be controlled at the same time.

[Brief explanation of drawings]

Figures 1 and 2 are functional block diagrams showing the configuration for determining the detection direction of the present invention, Figure 3 is a conceptual diagram showing the distribution state and detection direction, and Figures 4 and 5 are different implementations. FIG. 2 is a block diagram showing an example. 11-14...Atmosphere sampling hole, 21...Gas concentration conversion means, 22...Distribution state determination means, 23...
...Detection direction determining means, 25... Pattern determining means, 26... Pattern control determining means.

Claims (1)

[Claims] 1. A plurality of atmosphere sampling sections mounted on a self-propelled body and provided on a substantially horizontal plane to sample predetermined elements in the atmosphere on the ground; A predetermined element conversion means that detects and converts predetermined elements in the sequentially sampled atmosphere; and a detection amount corresponding to the installation position of each atmosphere sampling section of the predetermined element at the same sampling time obtained from the predetermined element conversion means. a distribution state determination means for determining a distribution state expressed; and a detection direction determining means for determining a bias direction of a detected amount of a predetermined element from this distribution state based on the installation position of the atmosphere sampling section and determining the direction of detection. a detection direction indicating means for displaying the determined detection direction; and a pattern determining means for determining to which of detection patterns pre-classified according to the detected amount the detected amount of the sampled predetermined element belongs. , Based on the determined detection pattern, pattern control decision is made to change the speed of the self-propelled object, slow down the speed of the self-propelled object in areas requiring attention, and change the sampling interval for the distance traveled by the self-propelled object to a high density. A running direction detection system comprising means. 2. The traveling direction detection system according to claim 1, wherein the atmosphere sampling section comprises a gas sampling hole that sucks the atmosphere on the ground and detects the gas concentration. 3 Atmosphere sampling units that are mounted on a self-propelled vehicle and are provided in plurality on a substantially horizontal plane to sample predetermined elements in the atmosphere on the ground, and the atmosphere sampled simultaneously or sequentially by the atmosphere sampling units. a predetermined element conversion means for detecting and converting a predetermined element in the predetermined element, and determining a distribution state representing a detected amount corresponding to the installation position of each atmosphere sampling part of the predetermined element at the same sampling time obtained from the predetermined element conversion means. a distribution state determination means; a detection direction determination means for determining the direction of bias in the detected amount of a predetermined element based on the distribution state and the installation position of the atmosphere sampling section and determining the direction of detection; a pattern determining means for determining which of detection patterns classified in advance the detected amount of a predetermined element belongs to, and a pattern determining means for determining which of detection patterns classified in advance according to the detected amount; A pattern control determining means that slows down the speed of the self-propelled object in the caution area and changes the sampling interval for the travel distance of the self-propelled object to a high density, and a steering mechanism and a drive mechanism of the self-propelled object according to the determined detection direction and speed. A running direction detection system comprising: a running control means for controlling a running direction; 4. The running direction detection system according to claim 3, wherein the atmosphere sampling section comprises a gas sampling hole that sucks the atmosphere on the ground and detects the gas concentration.