JPH0722476B2 - Ant-anticide sprayer - Google Patents

Description

Detailed Description of the Invention

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for spraying an anti-termite agent along a cloth foundation of a house.

[0002]

As a means for preventing termites from damaging wooden members of wooden houses or prefabricated houses, in general, under the floor of the building, an anti-termite agent is sprayed on the soil surface under the floor and the cloth foundation or bundle columns, and the building is preliminarily constructed. Means are in place to prevent termites from entering. For this reason, a human being sneaks under the floor and sprays the drug solution over the entire floor. The termite repellent is, for example, an organic phosphorus-based one,
Since it is toxic to the human body, direct spraying by workers is dangerous. Further, the underfloor and the like are relatively small, and the worker is extremely poor in workability to infiltrate and spray the ant-preventive agent, which requires a great deal of labor. Therefore, an automatic spraying device that sprays the ant-preventive agent while self-propelled along a cloth foundation or the like with a running body equipped with a nozzle for spraying the ant-repellent agent is conceivable.

In such a prior art, since the traveling body is of a self-propelled type, it is not possible to efficiently avoid obstacles such as bundles and stones, so that the traveling body moves forward and backward. It often becomes impossible to do so, and there is a problem that the efficiency of the spraying of the termite control agent is poor. Further, since the spraying position cannot be accurately confirmed, there are cases in which the spraying is not carried out in a sufficient spraying place, or the spraying is carried out in an area which does not need to be sprayed, resulting in poor reliability.

[0004]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to improve the running property of a traveling body and to surely disperse a drug in an area where the drug should be sprayed. And to provide a device.

[0005]

The present invention is directed to a traveling body main body 5
9, a pair of endless crawler belts 60 and 61 provided on both sides of the traveling body main body 59, and a pair of drive wheels 184 provided on the front portion 70 of the traveling body main body 59 and wound around the crawler belts 60 and 61. And drive sources M1 and M2 for traveling that rotate and drive the drive wheels 184, and a rear portion 63 of the traveling body 59.
A pair of driven wheels 185a around which the crawler belts 60 and 61 are wound.
And is arranged in the upper part of the traveling body main body 59 toward the rear part 63,
The TV camera 20 directed to the rear of the traveling body 59.
And the rear part 6 of the traveling body 59 of the TV camera 20.
Lights 26a and 26b provided on the side portion closer to 3 and illuminating the image pickup area of the TV camera 20, and the TV camera 20.
A frame 75 for supporting the side portion of the television camera 20 swingably around a horizontal axis 69 perpendicular to the longitudinal axis of the television camera 20, and the frame body 75.
A swing drive source 83, 87, M4 that swings around 9 to face obliquely upward θ3 or diagonal downward θ4, and the traveling body main body 59 is provided to drive the frame 75 for angular displacement around the vertical axis 68. Rotary drive sources 127, 128, 134,
M3 and the rear portion 63 of the traveling body main body 59 are provided at both ends in the width direction, and can be angularly displaced about horizontal nozzle axes 66 and 67 extending in the front and rear of the traveling body main body 59, and from the nozzle axis 66 toward the rear. The ejection nozzles 18 and 19 which are bent in a direction away from each other and have nozzle holes behind the television camera 20 and the lights 26a and 26b, and the ejection nozzles 18 and 19 are angularly displaced around the nozzle axes 66 and 67, respectively. Nozzle drive sources M5, M6 and bearing means 1 for supplying an anti-termite agent to each injection nozzle 18, 19 respectively.
55, the flexible tube body 10, and the front portion 70 of the traveling body main body 59.
The flexible nozzle 10 is detachably attached to the injection nozzle 1
8 and 19, the pipe joint 34 connected to the traveling body main body 59, the traveling drive sources M1 and M2, and the television camera 2
0, lights 26a and 26b, and swing drive sources 83 and 8
7, M4 and rotary drive sources 127, 128, 134, M3
A control circuit 29 connected to the control circuit 29 for controlling the operation, a transmission / reception means 30, 31, 33 provided on the traveling body main body 59 and connected to the control circuit 29 for transmitting and receiving by radio waves, and a front portion 70 of the traveling body main body 59. 36, 37 connected to the control circuit 29, a power supply line 11 connected to the connectors 36, 37, a DC power supply 17 for supplying power to the power supply line 11, and a storage for storing the termite anticide. Container 15
A pump 16 for pressure-feeding an anti-termite agent from the storage container 15 to the flexible pipe body 10, a work vehicle 14 equipped with the storage container 15, the pump 16 and a DC power supply 17, and transmission / reception means 30, 3
1 and 33 for transmitting and receiving by radio waves to control the control circuit 29 remotely, and a television receiver 21 for transmitting and receiving by radio waves to and from the transmitting and receiving means 30, 31, 33 and displaying the image of the television camera 20. It is an anti-termite spraying device.

Further, according to the present invention, the drive wheel 1 of the traveling body main body 59 is provided.
84 and the driven wheels 185a are arranged in the front-rear direction with a space provided therebetween, and each of the crawler belts 60 and 61 has a lower stretched portion 288.
Of the intermediate driven wheels 185b to 185e that contact the upper portion of the lower supporting portion 288 and the intermediate driven wheels 185b.
˜185e is supported at one end and the other end is provided on the traveling body main body 59.
Lever 191 pivotally supported on the side wall of the
91. The ant-anticide spraying device according to claim 1, wherein 91 includes a spring 194 that applies a downward spring force to the intermediate driven wheels 185b to 185e.

[0007]

According to the present invention, the remote control means 24 transmits and receives radio waves to and from the transmitting / receiving means 30, 31, 33 of the traveling body 59, whereby the control circuit 29 causes the crawler belt 60,
The drive source M1 for traveling of the drive wheel 184 around which 61 is wound.
M2, the television camera 20, and the rear part 63 of the traveling body main body 59 of the television camera 20 (downward in FIG. 13)
Lights 26a, 26b provided on the TV camera 20 for illuminating the image pickup area of the TV camera 20, and rocking drive sources 83, 87, M for rocking the TV camera 20 around the horizontal axis 69.
4 and a rotary drive source 127 for driving the frame 75 supporting the TV camera 20 to be angularly displaced about a vertical axis 68.
A television receiver 21 is provided which controls the operation with 128, 134 and M3, and which transmits and receives with the transmitting and receiving means 30, 31, and 33 by radio waves to display the image of the television camera 20.
Therefore, by operating the remote control means 24 while observing the image on the television receiver 21, the ant-preventive agent can be sprayed on the desired area. Furthermore, according to the present invention, the storage container 15 for storing the termite proofing agent, the pump 16 and the DC power source 17 are mounted on the work vehicle 14, and the termite proofing agent is passed through the flexible pipe 10 and Electric power from the DC power supply 17 passes through the power supply line 11 and the pipe joint 34 and the connector 3
6 and 37, the traveling body main body 59 is supplied to the traveling body main body 59 side. Therefore, the traveling vehicle main body 59 can be downsized, and the work vehicle 14 can transport the heavy storage container 15, the pump 16, the DC power supply 17, and the like. Therefore, it can be moved to the vicinity of the place where the ant-preventive agent is sprayed, and the workability is improved. The lights 26a and 26b that illuminate the imaging area of the TV camera 20 are
It is provided on the side part of the front part of the, and therefore, the illumination of the imaging region can be surely performed.

Further, in the present invention, the injection nozzles 18 and 19 for injecting the ant-preventive agent are provided at both ends in the width direction of the rear portion 63 of the traveling body main body 59, and are farther from the horizontal nozzle axis lines 66 and 67 toward the rear. Jet nozzles 18, 1 in the direction of leaving
9 is bent, and the injection nozzles 18, 19
Has a nozzle hole behind the television camera 20 and the lights 26a, 26b, so that the television camera 20 and the lights 26a, 26b are not contaminated or damaged by the termiticide injected. Further according to the invention,
The intermediate driven wheels 185b to 185e are supported at one end of a swing lever 191, and the swing lever 191 is provided with a spring 19a.
4, the intermediate driven wheels 185b to 185e exert downward spring force so that the intermediate driven wheels 185b to 185e support the lower stretched portion 288 of the crawler belts 60 and 61, so that the traveling body main body travels. Even in a place with a lot of irregularities, smooth movement is possible, and there is no possibility that the main body of the traveling body will stop in a narrow place such as under the floor of a house.

[0009]

1 is a vertical sectional view showing the overall construction of an embodiment of the present invention, and FIG. 2 is a sectional line II-II of FIG.
It is a horizontal sectional view seen from. For example, a floor 3 of a building 1 which is a wooden house is supported by a cloth foundation 6 and a bundle pillar 7 with a roadbed 4 and a space 5 left between the cloth foundation 6, the bundle pillar 7 and the roadbed 4. An anti-termite agent, which is a chemical, is sprayed from the traveling body 8 so that the appearance of the above does not appear. A white paper tape 9 as a guide member is laid on the roadbed 4 by a worker along a predetermined spreading path.

A pipe 10 such as a flexible rubber hose and a power supply line 11 for supplying driving power to the traveling body 8 are connected to the traveling body 8. These tubes 1
0 and the power supply line 11 are extended to the outside of the building 1 by inserting a through hole 13 formed in the floor 3 by turning up a part of a floor plate and the like, and are guided to a work vehicle 14 stopped near the building 1. . Inside the work vehicle 14, there are a storage container 15 for storing the termite-preventing agent, a pump 16 for pumping the termite-preventing agent in the storage vessel 15 to the pipe body 10, an on-vehicle battery to which the power supply line 11 is connected, and the like. A direct current power supply 17 is provided.

The traveling body 8 has a pair of left and right injection nozzles 1.
8, 19 and CCD (Charge Coupled D
evice) Television camera (hereinafter abbreviated as camera) 20
And are provided. The image captured by the camera 20 is displayed by the television receiver 21 which is an image display means provided on the floor 3, and the operator 23 controls the television receiver 2
The traveling body 8 can be controlled by the remote control means 24 while looking at the display screen 1 of FIG. The television receiver 21 is equipped with a video tape recorder 25, and the image displayed on the display screen is recorded on a video tape.
At a later date, you can check the application status of the termite repellent.

FIG. 3 is a system diagram showing a schematic structure of the traveling body 8. The traveling body 8 has a pair of left and right traveling motors M.
1, M2, a camera rotation motor M3 for rotating the camera 20 about a vertical axis, a camera swing motor M4 for swinging the camera 20 up and down, the camera 20, and both sides of the camera 20. A pair of lights 26, the injection nozzles 18, 19 and nozzle rotation motors M5, M for rotating the injection nozzles 18, 19 respectively.
6, electromagnetic valves 27 and 28 for controlling the supply amount of the termiticide to the injection nozzles 18 and 19, the motors M1 to M6, the camera 20, the light 26 and the electromagnetic valves 27 and 28, and a microcomputer. Control circuit 29 realized by, for example, television receiver 21 and remote control means 24.
The signal from the antenna 30 that receives the radio wave transmitted from the antenna 3 is input, and the signal is transmitted based on the input signal.
It has a transmission / reception circuit 31 that outputs 0, and a processing circuit 33 that performs signal processing of outputs from the control circuit 29 and the transmission / reception circuit 31.

The pipe body 10 is detachably connected to a pipe joint 35 provided on the traveling body 8 by a pipe joint 34.
The power supply line 11 is connected to a socket 37 provided on the traveling body 8 by a plug 36. TV camera 2
0 is arranged in the upper part of the traveling body main body 59, close to the rear part 63 (toward the left as seen from FIG. 6), and is directed to the rear of the traveling body main body 59. Lights 26a, 26
b is the front portion of the TV camera 20, that is, the running body 59.
It is provided on the side of the rear portion 63, which is clear from FIGS. 6 and 7, and these lights 26a and 26b illuminate the image pickup area of the television camera 20. The frame 75 supports the side portion of the television camera 20 so as to be swingable around a horizontal axis 69 perpendicular to the longitudinal axis of the television camera 20. The motor M4 or the like provided on the frame 75 swings the TV camera 20 around the horizontal axis 69 so that the TV camera 20 faces obliquely upward θ3 or oblique downward θ4. The control circuit 29 is provided in the traveling body main body 59 and is connected to the motors M1, M2, M3 and M4, the television camera 20 and the lights 26a and 26b to control the operation. The plug 36 and the socket 37 form a connector.

FIG. 4 is a front view of the remote control means 24. The remote control means 24 includes a casing 38, a transmission / reception antenna 39 provided in the casing 38, and a key input means 40 realized by, for example, a sheet switch.
Have and.

The key input means 40 is a left turn key 41 for turning the traveling body 8 left, and a forward key 4 for advancing the traveling body 8 with the traveling direction D1 in FIG. 2 as the forward direction.
3, a right turn key 44 for turning the traveling body 8 to the right, a camera rotation key 45 for driving the camera rotation motor M3 to rotate the camera 20 around the vertical axis, and a stop key for stopping the traveling body 8. 46, a first rotary injection key 47 for opening the solenoid valve 27 while rotating one of the injection nozzles 18 to inject the anti-termite agent, and an electromagnetic valve 28 for opening the solenoid valve 28 while rotating the other injection nozzle 19. The second rotation ejection key 48 for ejecting, the camera up key 49 for angularly displacing the camera 20 upward, the camera down key 50 for angularly displacing the camera 20 downward, the traveling body 8
Reverse key 51 to turn the car backwards, light 26 on /
A light key 53 for turning off, a power key 54 for turning on / off the power, and a clockwise key 55 for setting the rotation direction of the camera 20 clockwise while pressing the camera rotation key 45. The counterclockwise key 56 for setting the rotation direction of the camera 20 to the left while the rotary key 45 is being pressed, and the solenoid valve 27 on one side is opened so that only the injection of the termiticide from the injection nozzle 18 is performed in a certain direction. And a second injection key 58 that opens the other electromagnetic valve 28 to only inject the ant-preventive agent in a certain direction from the injection nozzle 19.

By selecting any one of the keys 41 to 58 and pressing it, a signal corresponding to the pressed key is transmitted from the antenna 39, and the transmitted signal is the antenna of the traveling body 8. It is received by the transmission / reception circuit 31 via 30.

FIG. 5 is a front view of the traveling body 8, FIG. 6 is a side view of the traveling body 8, and FIG. 7 is a plan view of the traveling body 8. The traveling body 8 has a main body 59 and a pair of endless crawler belts 60, 61 provided on both sides of the main body 59. The rear portion 63 of the main body 59 is provided with the injection nozzles 18 and 19 at both ends in the width direction (vertical direction in FIG. 7). Each of the injection nozzles 18 and 19 has an axis 66 of the hollow shafts 64 and 65,
It is detachably connected to each one end in the 67 direction.
The hollow shafts 64 and 65 are rotationally driven around the axes 66 and 67, and the injection nozzles 18 and 19 make angles θ1 to θ2 with respect to the axes 66 and 67. Each of the angles θ1 and θ2 is selected to be 45 °, for example.

The main body 59 is also provided with the camera 20. The camera 20 is driven to rotate about a vertical axis 68 in the directions of arrows A1 and A2, and also has a horizontal axis 69.
As shown by phantom lines 20a and 20 in FIG. 6, it is vertically rocked. The upper and lower swing angles θ3 and θ4 are selected to be 15 °, for example. At the front portion 70 of the main body 59, the antenna 39, the pipe joint 35 and the socket 37 are provided.
Is provided.

FIG. 8 is a sectional view showing the structure for swinging driving the camera 20 as seen from the front side, and FIG. 9 is a sectional view seen from above in FIG. A pair of plate-shaped support members 71 and 73 and the support members 71 and 7 are provided on the main body 59.
A U-shaped frame 75 is formed by the connecting member 74 connecting the lower ends of the three. Through holes 76 and 77 are formed in the support members 71 and 73, and bushes 78 and 79 are fitted into the through holes 76 and 77. Each bush 78, 79 has
The swing shaft 8 fixed near the center of the camera 20 in the longitudinal direction.
0 and 81 are fitted into each other, and the camera 20 is swingably supported around the axis 69.

A gear 83 is provided with a screw 84 on one swing piece 81.
And the gear 83 is fixed to the gear 83 by a camera swing motor M.
The gear 87 fixed to the output shaft 86 of No. 4 meshes.

A boss 89, to which the slit plate 88 is fixed, is fixed to the other swing shaft 80 by a screw 90. The slit plate 88 has an axis 69 that is horizontal to the one support member 71.
Is detected by a pair of photo interrupters 91 and 93 provided at different positions by 90 ° in the circumferential direction. That is, as shown in FIG. 10, in the state in which the slit plate 88 is detected by the one photo interrupter 93, the camera 20 faces upward, and as shown by the imaginary line 20a in FIG. It is brought into contact with the stopper 94 at a position closer to 63 and positioned so as to form the angle θ3 described above. Further, when the slit plate 88 is detected by the other photo interrupter 91, the portion of the camera 20 near the front portion 70 abuts the stopper 95 as shown by the phantom line 20b, and the camera 20 forms the angle θ4 described above. And be positioned.

The camera 20 swingably driven in this manner
As shown in the front view of FIG. 12 and the plan view of FIG. 13, the pair of lights 26a and 26b are attached to the. Therefore, the axis 69 passing through the swing shafts 80 and 81 is
The lights 26a, 2 are located farther from the center of the camera 20 in the longitudinal direction.
6b is set so as to deviate toward the one end portion 32 to which it is attached, whereby the balance in the longitudinal direction of the camera 20 is maintained and the torque of the motor 85 is small.

FIG. 14 is a vertical sectional view of the camera 20, and FIG. 15 is a sectional view taken along the section line XV-XV of FIG. Each swing shaft 80, 81 has a flange 96, 97, respectively, and each flange 96, 97 is formed with a projection 98, 99 protruding on the side opposite to the swing shaft 80, 81.
The protrusions 98 and 99 are fitted into the recesses 103 and 104 formed in the fitting pieces 100 and 101, respectively, and the flange 9
6 and 97 are screwed to the fitting pieces 100 and 101 with screws or the like so that the swing shafts 80 and 81 are fitted to the fitting pieces 1.
It is fixed at 00 and 101. Each fitting piece 100, 101
Is fitted into the insertion holes 107 and 108 of the sleeve 106 in which the camera body 105 is housed, and is fixed in a closed state by thermal welding or the like over the entire circumference. The sleeve 106 has a right cylindrical shape, and is made of a synthetic resin such as ABS resin or polypropylene.

A spacer 109 made of synthetic resin such as vinyl chloride is fitted to one end of the sleeve 106 in the axial direction, and is fixed to the camera body 105 with screws 110. A right cylindrical cover body 111 made of the same material is attached to the spacer 109, and is fixed to the spacer 109 by a screw 113. An outer screw 114 is engraved on one end of the cover body 111 in the axial direction, and the inner screw 11 is formed on the inner peripheral surface.
The pressing member 116 on which 5 is engraved is screwed.

An annular seal material 117 made of a flexible and elastic material such as rubber is attached to the tip of the cover body 111, and a glass cover 118 is mounted above the annular seal material 117. It is sandwiched between one axial end portion of 111 and the pressing member 116.

A cap 119 made of, for example, urethane rubber having flexibility and elasticity is fitted to the other end of the sleeve 106 in the axial direction. A cable 1 extending from the camera body 105 is attached to the cap 119.
An insertion hole 121 through which 20 is inserted is formed. In this way, the camera body 105 is housed in the sleeve 106 and the cover body 111.

FIG. 16 is a sectional view showing the rotating means 123 for rotating the camera 20 about the axis 68.
7 is a plan view thereof. The upper end of the drive shaft 124 is fixed to the connecting member 74 of the frame 75. The drive shaft 124 is axially supported by a pair of upper and lower thrust bearings 125 and 126, and the worm 12 is provided between the thrust bearings 125 and 126.
7 is fixed. A worm wheel 128 meshes with the worm 127, and the worm wheel 128 is fixed to the shaft 129. A wheel 130 is coaxially supported on the shaft 129. A wheel 133 fixed to the output shaft 131 of the camera rotation motor M3 is provided near the wheel 130, and a timing belt 134 is wound and stretched between the wheels 130 and 133.

The camera rotation key 4 of the remote control means 24
By pressing 5 the motor M for camera rotation
3 is energized, and the output shaft 131 is rotated by the wheel 13
3, transmitted to the shaft 129 via the timing belt 134 and the wheel 130. As a result, the worm wheel 128 is rotationally driven and the worm 127 is rotationally driven around the axis 68. The rotation of the drive shaft 124 is
The clockwise key 55 or the counterclockwise key 5 of the remote control means 24
By pressing 6 the rotation directions A1 and A2 can be selected.

The top plate 136 is provided with angle detectors 137 and 138 which are realized by microsensors or the like at 180 ° intervals in the circumferential direction around the axis 68, and a slit plate 139 fixed to the drive shaft 124 is provided. By detecting the rotation, the rotational position of the drive shaft 124 is detected.

The drive shaft 124 is also fixed with a positioning flange 143 having four fitting holes 140 formed at 90 ° intervals in the circumferential direction around the axis 68.
A pair of ball plungers 144 and 145 provided at intervals of 180 ° in the circumferential direction are fitted on 36. Balls 146, 147 of each ball plunger 144, 145
Are elastically urged by a spring (not shown) toward the positioning flange 143, that is, upward in FIG. 16, and the balls 146, 147 are fitted into the fitting holes 140, 1 respectively.
By elastically fitting into 41, rotation of the drive shaft 124 about the axis 68 is blocked every 90 °. Therefore, there is no possibility that the camera 20 is undesirably displaced by the action of vibration or the like while the traveling body 8 is traveling.

FIG. 18 is a sectional view showing the injection nozzle 18 and the structure related thereto, FIG. 19 is a plan view seen from above in FIG. 18, and FIG. 20 is a front view seen from the left side in FIG. 21 is a rear view seen from the right side of FIG. Since the other injection nozzle 19 and the structure related thereto are the same as the injection nozzle 18 and the structure related thereto described below, description thereof will be omitted. The injection nozzles 18 and 19 are provided at both ends in the width direction of the rear portion 63 of the traveling body main body 59, and are arranged around the horizontal nozzle axes 66 and 67 extending in the front and rear of the traveling body main body 59 (vertical direction in FIG. 19). It can be angularly displaced by 64. The injection nozzles 18 and 19 are bent in a direction away from the nozzle axes 66 and 67 as they go rearward (downward in FIG. 6). Moreover, the injection nozzles 18 and 19 have nozzle holes behind (to the left in FIG. 6) the television camera 20 and the lights 26a and 26b.

The injection nozzle 18 has a nozzle member 149 having a nozzle hole, and a curved pipe 150 bent at an angle θ1 with respect to the axis 66 of the hollow shaft 64. The nozzle member 149 and the curved pipe 150 are fixedly connected, and the curved pipe 150 and the hollow shaft 64 are detachably connected. The hollow shaft 64 is mounted on the rear portion 63 of the main body 59 on the support piece 15.
Supported by 1. The support piece 151 has an insertion hole 153.
Is formed and the bush 154 is fitted therein, and the hollow shaft 6
4 is rotatably supported by being inserted through the bush 154.

A bearing means 155 is provided at one end of the hollow shaft 64 for supplying a termite proofing agent to the hollow shaft 64 while rotating it.
Is provided. The bearing means 155 is connected to one end of the hollow shaft 64 by welding or the like, and the shaft hole 1 of the hollow shaft 64 is
A shaft hole 157 communicating with 56 and a diameter hole 1 perpendicular to the shaft hole 157
58 is housed in a casing 160, and both ends thereof are radial bearings 161 and 163.
It is axially supported by water, and annular sealing members 164 and 165 are mounted between the radial bearings 161 and 163 to make it watertight, and the annular space 166 formed between the sealing members 164 and 165 on the inner circumference of the casing 160 is provided with An inlet 167 is formed which communicates the radial holes 158 and is inserted into the annular space 166 of the casing 162. An anti-termite agent is supplied to the intake port 167 from a pipe line 168.

A shaft 169 is coaxially fixed to the guide pipe 159, and a pulley 170 is fixed to the shaft 169. A pulley 171 is provided close to the pulley 170, and the pulley 171 is provided with a shaft 174 that is pivotally supported by a pair of mounting members 173.
Fixed to. The shaft 174 is parallel to the shaft 169 and the axes of the flow guide tube 159 and the casing 160. A slit plate 175 is fixed to the shaft 174, and the rotation position of the slit plate 175, and thus the shaft 174, is detected by a rotation detector 176 realized by a photo interrupter or the like.

A timing belt 177 is wound and stretched between the pulleys 170 and 171. A pulley 179 is fixed to the output shaft 178 of the nozzle rotation motor M5,
Timing belt 180 is provided between the pulleys 171 and 179.
Is wrapped around. When the nozzle rotation motor M5 is energized and the output shaft 178 is rotationally driven, the power thereof is pulley 179, timing belt 177 and pulley 171.
It is transmitted to the shaft 174 via the shaft 174 and the rotational position for each rotation is detected by the slit plate 175 and the rotation detector 176. The power transmitted to the shaft 174 is transmitted to the shaft 1 via the pulley 171, the timing belt 172, and the pulley 170.
69. In this manner, the ant-preventive agent can be injected from the injection nozzle 18 while rotating the flow guide tube 159 and the hollow shaft 64 around the axis 66.

FIG. 22 is a plan view of the vicinity of the solenoid valve 27. The pipe line 168 is connected to the pipe line 280 via the electromagnetic valve 27. The pipe 280 is connected to the pipe joint 35 via a T-shaped branch pipe 181 and a pipe 183.
Therefore, the termite control agent supplied to the pipe joint 35 is
81 is branched to both sides and guided to the solenoid valve 27, and the solenoid valve 27 is connected to the control circuit 2 as described with reference to FIG.
The opening and closing control is performed by 9. The other injection nozzle 1
Regarding 9 as well, an anti-termite agent is supplied by the same structure as the above-mentioned injection nozzle 18, and the description thereof is omitted to avoid duplication.

Referring again to FIGS. 6 and 7, the crawler belt 60 includes a pair of drive wheels 184 to which the powers from the traveling motors M1 and M2 are individually transmitted, and a plurality of drive wheels 184 (in this embodiment, 5). ) And the driven wheels 185a to 185e. The driven wheel 185a provided closest to the rear part 63 among the driven wheels 185a to 185e is fixed to the wheel shaft 187 as shown in FIGS. 23 and 24, and the wheel shaft 187 is indicated by an arrow by a tension adjusting bolt 186. It is provided so as to be displaceable in the C1 and C2 directions, and is configured so that the tension of the crawler belt 60 can be adjusted.

The crawler belt 60 is formed with a plurality of protrusions 188 protruding outward at equal intervals over the entire circumference in the circumferential direction.
You can easily get over obstacles such as stones. The remaining driven wheels 185b to 185e are pivotally supported by the wheel shaft 190, and each wheel shaft 190 is rocked by the swing lever 19.
1 is fixed to one end. The other end of each rocking lever 191 is elastically biased downward by a torsion spring 194 while being pivotally supported on the side wall of the main body 59 by a shaft 193. Therefore, when the driven wheels 185b to 185e pass over an obstacle such as a stone, the driven wheels 185b to 185e are twisted by the torsion spring 194.
It is possible to prevent the traveling body 8 from being largely tilted against the spring force of the vehicle, and thus the spraying position of the ant-preventive agent by the respective injection nozzles 18 and 19 is largely displaced. Is being prevented. Driven wheels 185b-1
85e is a drive wheel 184 and a driven wheel 18 of the traveling body 59.
A plurality of (4 in this embodiment) are arranged with an interval in the front-rear direction from 5a. Driven wheels 185b-185e
Abuts on the upper portion of the under tension portion 288 of each crawler belt 60, 61 to support the under tension portion 288. The spring 189 is
A spring force is applied to the swing lever 191 so that the driven wheels 185b to 185e move downward.

In the crawler belt 60, as shown in FIG. 25, a convex portion 196 fitted in a concave hole 195 formed in the driven wheels 185a to 185e is formed corresponding to the protrusion 188,
A through hole 197 is formed between the protrusion 188 and the protrusion 196 so that sand or stones are not caught between the crawler belt 60 and the driven wheels 185a to 185e. The crawler belt 60 is made of a flexible and elastic material such as rubber, and as shown in FIG. 26, a strip-shaped core body 198 made of, for example, thin stainless steel is embedded in the crawler belt 60 by integral molding. The strength is improved by this. The other crawler belt 61 is also provided symmetrically with the crawler belt 60.

When the ant-preventive agent is sprayed into the underfloor space 5 by the running body 8 having the above-described structure, as shown in FIGS. After laying 9, the running body 8 is inserted through the insertion hole 13 of the floor 3, and the remote control means 24 is operated while watching the screen of the television receiver 21 imaged by the camera 20 to put the running body 8 on the paper tape 9. The vehicle is made to travel along and is arranged at the spraying start position P1 with the rear portion 63 as the head. After that, the camera 20 is turned over to the front portion 70 side, the traveling position is confirmed while watching the paper tape 9 on the traveling direction D1 side on the screen of the television receiver 21, and the rotary ejection keys 47, 48 of the remote control means 24.
Is pressed to inject the ant-preventive agent while rotating the injection nozzles 18 and 19, and the traveling body 8 travels in the traveling direction D1.

When the traveling body 8 reaches the branch point P2, the spraying of the termite control agent is stopped, the traveling body 8 is stopped, and the rear portion 63 is made to travel again in the traveling direction D2 for the second spraying. It is placed at the start position P3. At this time, the camera 20 is inverted in the traveling direction D2.

The running body 8 arranged at the second spraying start position P3 reverses the camera 20 in the running direction D3 again, and then starts the running operation, and sprays the ant-preventive agent from the respective injection nozzles 18 and 19. To do. When the traveling body 8 reaches the branch point P2 again, the left turn key 41 of the remote control means 24 is pressed to turn left, that is, the traveling direction is changed to the right in FIG. 2, and the ant-preventive agent is sprayed on the paper tape 9 as it is. Run along.

When the traveling body 8 reaches the spraying completion position P4 in this way, the injection from the injection nozzles 18 and 19 is stopped,
The camera 20 is reversed to guide the traveling body 8 to a position right below the insertion hole 13 and is taken out onto the floor 3. In this way, the traveling body 8 can be run and the ant-repellent agent can be sprayed while observing the image on the TV receiver 21, so that the toxic ant-anticide will directly adhere to the operator or be sucked. Without that, it is possible to spray the termiticide efficiently and safely.

In the above-mentioned embodiment, the white paper tape 9 is used as the guide member. However, as another embodiment of the present invention, a rope or a point mark coated with fluorescent paint may be used. Alternatively, an electric cord or the like in which a plurality of light bulbs are provided at intervals in the longitudinal direction may be used. Furthermore, the paper tape,
A rope coated with fluorescent paint or an electric cord provided with a plurality of light bulbs may be attached, for example, to a display tag having a number attached every 1 m.

As another embodiment of the present invention, a wiper may be provided on the glass cover 118 of the camera 20 to remove the ant-preventive agent adhered by wind or the like.

[0046]

According to the present invention, the storage container 15 for storing the termite control agent, the pump 16 for pumping the termite control agent from the storage vessel 15, and the DC power source 17 are mounted on the work vehicle 14, Therefore, the ant-preventive agent can be sprayed to move to the vicinity of the place where the work should be performed, the workability is good, and the weight of the entire traveling body 59 can be reduced, which facilitates the traveling. . Further, according to the present invention, the remote control means 24 includes the transmitting / receiving means 3 provided in the traveling body main body 59.
It is possible to remotely control the control circuit 29 of the traveling main body 59 by transmitting and receiving radio waves to and from 0, 31, 33, and thus the television camera 2 displayed by the television receiver 21.
The control can be performed while looking at the image of 0 or while directly looking at the traveling body 59, and the workability is good. Moreover, according to the present invention, the television receiver 21 can display the image of the television camera 20 by transmitting and receiving with the transmitting and receiving means 30 provided in the traveling body main body 59 by radio waves, and as described above, the remote control means. The control by 24 can be easily performed, and the ant-preventive agent can be surely and accurately sprayed. In particular, according to the invention, a light 26 for illuminating the imaging area on the front side of the television camera 20.
a and 26b are provided, and in the television camera 20, a side portion of the television camera 20 is supported by a frame body 75 so as to be swingable around a horizontal axis 69 perpendicular to the longitudinal axis of the television camera 20. 75 rocking drive sources 83, 87, M4
Is provided so that the television camera 20 can be swingably driven around the horizontal axis 69, whereby the television camera 20 is slanted upward θ3 or slanted downward θ.
4, the frame 75 can be angularly driven about the vertical axis 68 by the rotary drive sources 127, 128, 134 and M3.
In this way, the television camera 20 can be aimed toward the desired injection place of the ant-preventive agent.

Further in accordance with the present invention, the television camera 20
And the lights 26a, 26b are not only pivotably and rotatably configured as described above, but in particular according to the invention, the injection nozzles 18, 19 are also separate from the television camera 20 and the lights 26a, 26b, i.e. Independently, it can be angularly displaced about the nozzle axes 66, 67 by the nozzle drive sources M5, M6, thus injecting the ant-repellent agent at the desired location. The image can be confirmed on the television receiver 21 by capturing an image of the image capturing area irradiated by 26 b with the television camera 20. Further, according to the present invention, the television camera 20 is arranged on the upper portion of the traveling body main body 59, closer to the rear portion 63, and is directed toward the rear of the traveling body main body 59. Therefore, as described above, the range of swing and rotation is set. Can be wide. Further according to the invention, the injection nozzle 18,
19 is a TV camera 20 and lights 26a and 26b.
Has a nozzle hole at the rear of the injection nozzle 1
8 and 19 are provided at both ends in the width direction of the rear portion 63 of the traveling body 59, and are bent in a direction away from the nozzle axes 66 and 67 toward the rear, and therefore the injection nozzles 18 and 19 are provided. It is possible to prevent the TV camera 20 and the lights 26a and 26b from being contaminated by the termiticide injected from the. This is important for ensuring the safety of workers, especially when the ant-preventive agent is also toxic to the human body. Further, according to the present invention, the pipe joint 34 to which the flexible pipe 10 is connected and the connectors 36 and 37 to which the power supply line 11 is connected are provided at the front portion 7 of the traveling body main body 59.
Therefore, it is possible to prevent the outer peripheral surfaces of the flexible tube body 10 and the power supply line 11 from being contaminated by the applied termite control agent, which also contributes to the safety of the operator. Will be able to secure.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing the overall configuration of an embodiment of the present invention.

FIG. 2 is a sectional view taken along the section line II-II in FIG.

FIG. 3 is a system diagram showing a schematic configuration of a traveling body 8.

FIG. 4 is a front view of remote control means 24.

FIG. 5 is a front view of a traveling body 8.

FIG. 6 is a side view of a traveling body 8.

FIG. 7 is a plan view of a traveling body 8.

FIG. 8 is a cross-sectional view seen from the front side near the camera 20.

9 is a cross-sectional view of FIG. 8 seen from above.

FIG. 10 is a side view seen from the left side of FIG.

FIG. 11 is a side view seen from the right side of FIG.

FIG. 12 is a front view of the camera 20 and the light 26.

13 is a plan view seen from above in FIG.

FIG. 14 is a cross-sectional view of the camera 20.

15 is a cross-sectional view taken along the section line XV-XV in FIG.

FIG. 16 is a cross-sectional view of rotating means 123.

FIG. 17 is a plan view of a rotating means 123.

FIG. 18 is a cross-sectional view of the rotation supply means 155.

19 is a plan view seen from above in FIG. 18. FIG.

20 is a front view seen from the left side of FIG.

FIG. 21 is a rear view seen from the right side of FIG.

22 is a plan view of the vicinity of a solenoid valve 27. FIG.

FIG. 23 is a partial side view showing a crawler belt 60 and a structure for driving the crawler belt 60.

FIG. 24 is a plan view with a part cut away as viewed from above in FIG. 23.

25 is an enlarged cross-sectional view taken along the section line XXV-XXV in FIG. 23.

FIG. 26 is an enlarged sectional view of a part of the crawler belt 61.

[Explanation of symbols]

 1 Building 3 Floor 4 Roadbed 5 Space 6 Cloth Foundation 8 Traveling Body 9 Paper Tape 14 Work Vehicle 15 Storage Container 18, 19 Injection Nozzle 20 Camera 21 Television Receiver 23 Operator 24 Remote Control Means 59 Main Body 60, 61 Tracks

Claims (2)

[Claims] 1. A traveling body main body 59, a pair of endless crawler belts 60, 61 provided on both sides of the traveling body main body 59, and a crawler belt 60, 61 provided on a front portion 70 of the traveling body main body 59.
And a pair of drive wheels 184 around which the drive wheels 184 are wound.
Drive sources M1 and M2 for driving the rotating body, a pair of driven wheels 185a provided on the rear portion 63 of the traveling body main body 59, around which the crawler belts 60 and 61 are wound, and a portion of the traveling body main body 59 near the rear portion 63. And a light 26a for illuminating the image pickup area of the television camera 20, which is provided on the side of the television camera 20 facing the rear 63 of the traveling body main body 59 and which is directed to the rear of the traveling body main body 59. Two
6b, a frame 75 for supporting the side portion of the TV camera 20 so as to be swingable around a horizontal axis 69 perpendicular to the longitudinal axis of the TV camera 20, and the frame 75 provided on the frame 75 to support the TV camera 20 in the horizontal direction. A swing drive source 83, 87, M4 for swinging around the axis 69 so as to face obliquely upward θ3 or diagonal downward θ4, and the traveling body main body 59 are provided, and the frame 75 is angularly displaced around the vertical axis 68. The rotary drive sources 127, 128, 134, M3 and the rear portion 63 of the traveling body 59 are provided at both ends in the width direction, and can be angularly displaced around horizontal nozzle axes 66, 67 extending in the front and rear of the traveling body 59. And the injection nozzles 18 and 19 each of which is bent in a direction away from the nozzle axis 66 toward the rear and has nozzle holes behind the television camera 20 and the lights 26a and 26b. Nozzle drive sources M5 and M6 for angularly driving the jet nozzles 18 and 19 around the nozzle axes 66 and 67, bearing means 155 for supplying a termite proofing agent to the jet nozzles 18 and 19, respectively, and a flexible tubular body. 10 and
A pipe joint 34 that is detachably attached to the flexible pipe 10 at the front portion 70 of the traveling body main body 59 and is connected to the injection nozzles 18 and 19, and is provided in the traveling body main body 59, and is used as a traveling drive source M.
1, M2, TV camera 20, and lights 26a, 26
b, the swing drive sources 83, 87, M4, and the rotary drive source 12
7, 128, 134, and M3 are connected to the control circuit 29 for controlling the operation, and the traveling body main body 59 is connected to the control circuit 29 and is connected to the control circuit 29.
0, 31, 33 and connectors 36, 37 provided on the front portion 70 of the traveling body main body 59 and connected to the control circuit 29,
A power supply line 11 connected to the connectors 36 and 37, a DC power supply 17 that supplies power to the power supply line 11, a storage container 15 that stores a termite proofing agent, and a termite proof on the flexible pipe 10 from the storage container 15. Pump 16 for pressure-feeding agent and storage container 15
Working vehicle 14 equipped with a pump 16, a DC power source 17, and a pump 16
And a means 24 for transmitting and receiving radio waves to and from the transmitting and receiving means 30, 31, 33 to remotely control the control circuit 29, and a television for transmitting and receiving radio waves to and from the transmitting and receiving means 30, 31, 33 and displaying an image of the television camera 20. An anti-termite spraying device comprising a receiver 21. 2. A plurality of drive wheels 184 and driven wheels 185a of the main body 59 of the traveling body are arranged at intervals in the front-rear direction, and abut on the upper portion of the lower stretched portion 288 of each crawler belt 60, 61. , The intermediate driven wheel 18 that supports the sub-slanted portion 288.
5b to 185e and the respective intermediate driven wheels 185b to 185e at one end, and the other end pivotally supported on the side wall of the traveling body main body 59, the swing lever 191 and the intermediate driven wheel 185b. ~ 185e downward spring force 194 is provided, the ant-anticide application device according to claim 1, characterized in that.