JP2846285B2 - How to rescue unmanned vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rescue method for recovering an unmanned vehicle traveling on a track when the vehicle is stopped due to a failure, and more particularly to a rescue method when it is difficult for a person to approach the unmanned vehicle.

[0002]

2. Description of the Related Art Unmanned vehicles traveling on a track have been widely used as a kind of robot. Such unmanned vehicles are designed to automatically perform various functions such as surveying, inspection, or transportation in a harsh environment for humans. However, if the unmanned vehicle breaks down and stops, it cannot be expected to return on its own, and it may be possible to bring it back using another rescue vehicle. Prior art related to the recovery of such unmanned vehicles is disclosed, for example, in Japanese Patent Publication No. Sho 6
1-42681, JP-A-56-114794, JP-A-5-114794
7-141719, JP-A-60-176112, JP-A-2-286462, JP-A-4-293636, and JP-A-61-42606. In these prior arts, when an unmanned vehicle is stopped at a place where it is difficult for a person to directly retrieve the vehicle, an unmanned rescue vehicle is brought into contact with the vehicle to retrieve the failed unmanned vehicle.

[0003] Rescue in the event of failure of an unmanned vehicle may be necessary for an unmanned vehicle that travels in a propulsion pipe and measures the position and attitude of an excavator as disclosed in Japanese Patent Application Laid-Open No. 7-197779, for example. FIG. 4 and FIG.
1 shows an outline of a surveying vehicle for a propulsion method disclosed in 197779. In the propulsion method, the ground is excavated in the vertical direction to provide a starting shaft 1, and the excavating machine 2 excavates the starting shaft 1 in a desired direction from the starting shaft 1. A propulsion pipe 3 is connected to the rear of the excavator 2 via a survey pipe 4. The propulsion pipe 3 has a certain length, and is pushed into the ground from a rear end portion by a hydraulic jack 5 installed in the starting shaft 1 to advance the excavator 2. The propulsion method has become a major technology for constructing lifeline facilities such as telephones, electric power, and water and sewage systems, especially in urban areas. Construction is now possible. The inside diameter of pipes buried in the ground by the propulsion method may be small enough to make it difficult or impossible for humans to enter.Therefore, a surveying system has been developed that allows unmanned surveying using a surveying robot. ing.

First, in the excavator 2, light receivers 6 and 6 are attached to two places on the ceiling, and an inclinometer 7 is installed below. In the survey pipe 4, an excavator detection device 8 is attached to a front ceiling, and a line laser light source 9 is installed on a lower surface of the excavator detection device 8. Using these, the relative position and attitude of the excavator 2 with respect to the survey pipe 4 can be measured. The position of the starting shaft 1 is measured by the distance measuring goniometer 10. The relative position and posture of the excavator 2 measured with respect to the survey pipe 4 are transmitted via the wireless communication device 11. Wireless communication device 1
The control of the excavator 1 and the excavator detector 8 is automatically performed by the controller 12.

The position of the survey tube 4 with respect to the starting shaft 1 is measured by a survey vehicle 15 traveling on a traveling rail 14 fixed by a sleeper 13 in the survey tube 4 and the excavator 2. The surveying vehicle 15 travels on the traveling rail 14 while driving the traveling wheels 16 by the driving device 17, and uses a gyro sensor 18 and a traveling distance measuring device 19 to travel from the starting shaft 1 to the surveying pipe 4. The running trajectory is measured by continuously detecting the amount of change between the angle and the distance,
The relative position of the survey pipe 4 with respect to the starting shaft 1 is measured.

[0006]

When the surveying vehicle 15 for measuring the position of the excavator 2 is stopped for some reason, it does not always succeed even if an attempt is made to rescue by applying the above-mentioned prior art. If not, the time and effort required to attempt rescue will be wasted, and more extensive recovery work will be required. When the unmanned surveying vehicle 15 in the propulsion pipe becomes inoperable, the propulsion cannot be accurately performed by the excavator 2 and the propulsion pipe 3
Must be sequentially returned to the starting shaft 1 to collect the surveying vehicle 15 and the rescue vehicle, which requires much time and effort.
Examples of cases where rescue cannot be easily performed include not only the survey vehicle 15 itself but also an obstacle on the traveling rail 14 or a case where the survey vehicle 15 is derailed. Is the propulsion pipe 3
It is necessary to collect itself in the starting shaft 1 to remove the obstacle.

[0007] Of the above-mentioned prior art,
At 6112, a rescue vehicle is equipped with a TV camera, and after the rescue vehicle is connected to the unmanned vehicle, if the rescue vehicle also becomes unable to run, it is guided from the ground based on the image captured by the TV camera. Although the prior art for guiding is disclosed, it is very difficult to externally guide and guide a rescue vehicle in a small-diameter propulsion pipe. Particularly when the propulsion pipe is bent, it is difficult to connect a cable for guiding in a wired manner to the rescue vehicle in a good state, and it is also difficult to transmit information by radio waves or light.

An object of the present invention is to provide an unmanned vehicle rescue method capable of appropriately collecting an unmanned vehicle stopped on a track.

[0009]

SUMMARY OF THE INVENTION The present invention provides an unmanned vehicle which is buried in the ground by a propulsion method, has a bent portion, and travels forward and backward on a track laid in a pipe. This is a rescue method for retrieving when the vehicle is unattended.The unmanned rescue vehicle is advanced along the track, and the stopped state is photographed while approaching the stopped unmanned vehicle. Record the shooting result of the state, retreat once, play back the recording of the shooting result, judge whether it is possible to recover by the rescue vehicle, and when it is determined that the rescue vehicle is unmanned vehicle along the track This is a method for rescue an unmanned vehicle, characterized by recovering the stopped unmanned vehicle by moving forward. According to the present invention, an unmanned vehicle stopped on a track is photographed while approaching a rescue vehicle while approaching the rescue vehicle, and it is determined whether or not the rescue vehicle can be recovered from the captured image and collected. When it is determined that the recovery is possible, the unmanned vehicle is collected, so that when the collection is possible, the unmanned vehicle can be reliably collected. When it is determined that recovery is not possible, rescue vehicles will not be collected, so it is possible to avoid wasted time required to attempt recovery and the situation where rescue vehicles need to be recovered together with unmanned vehicles. , Can perform appropriate unmanned vehicle rescue.

[0010] In particular, since the rescue vehicle records the photographing result of the stopped state of the unmanned vehicle and then retreats, even if remote image transmission from the departure position to the rescue vehicle is difficult or impossible, the unmanned vehicle is unmanned. The stopped state of the vehicle can be reliably determined. The unmanned vehicle is recovered by the rescue vehicle again when it is determined that the recovery is possible by reproducing the record of the photographing result, so that the recovery can be reliably performed. If the size of the rescue vehicle is limited and the equipment that can be mounted is limited, after it is determined that collection is possible, replace the shooting device with the collection device or rescue The vehicle itself can be divided into a vehicle for photography and a vehicle for collection, and the unmanned vehicle can be reliably collected using the vehicle for collection. Also,
Since the unmanned vehicle travels on the track laid in the pipe, it is difficult for a person to enter and rescue when the diameter of the pipe is small, and the unmanned rescue vehicle can appropriately recover the unmanned vehicle. Even if the pipe is bent, the rescue vehicle advances to the unmanned vehicle along the track and can be easily collected. Further, when an unmanned vehicle that performs position measurement in a pipe buried underground by a propulsion method is stopped due to a failure, it can be appropriately rescued, so that interruption of construction due to an accident can be avoided.

Further, in the present invention, the rescue vehicle detects whether an obstacle ahead of the traveling direction is detected and determines whether or not the obstacle detected based on a change in the distance to the obstacle accompanying the forward movement is an unmanned vehicle. When it is determined that the vehicle is unmanned, shooting is performed while approaching the unmanned vehicle. According to the present invention, the rescue vehicle travels while detecting an obstacle in the forward direction of the traveling direction, and performs photography while approaching the unmanned vehicle to a predetermined distance when the unmanned vehicle is detected as an obstacle.
If there is an obstacle around the orbit, an obstacle that is not on the orbit is detected as an obstacle when the orbit is going straight, but such an off-orbit obstacle is moved forward by the rescue vehicle. At the same time, the detection state changes, and if the vehicle approaches, the vehicle moves away from the orbit, so that it can be determined that the vehicle is not an obstacle on the orbit. An obstacle such as a failed unmanned vehicle existing on the track can be easily determined because the distance is reduced in accordance with the approach. Since the shooting is performed while approaching the obstacle to a predetermined distance, even when the obstacle is not an unmanned vehicle, it can be easily determined from the shooting result, and the rescue vehicle can be prevented from being damaged.

Further, in the present invention, the rescue vehicle can be connected to an unmanned vehicle, and when the unmanned vehicle detected as an obstacle starts moving forward together with the rescue vehicle when traveling to a stopped unmanned vehicle, the rescue vehicle is connected. It is characterized in that it is determined to be established, the traveling direction is switched, and the unmanned vehicle is collected. According to the present invention, when a rescue vehicle that moves forward while detecting an unmanned vehicle as an obstacle contacts the unmanned vehicle and the connection is established, the distance detected as an obstacle becomes closer even if the rescue vehicle moves forward. Therefore, it is possible to easily determine whether or not the connection is established. Since it is determined that the connection has been established, the traveling direction is switched and the unmanned vehicle is collected, so that the unmanned vehicle can be reliably collected.

[0013]

[0014]

[0015]

[0016]

FIG. 1 shows a configuration for rescue of an unmanned vehicle according to an embodiment of the present invention. Rescue car 20
Is equipped with a driving device for traveling, and the excavator 2
The vehicle is operated unmanned to rescue a surveying vehicle 25 stopped on a traveling rail 24 in a propulsion pipe 23 connected to 2. The rescue vehicle 20 has a distance sensor 26 that detects an obstacle in front of the traveling direction and measures the distance to the obstacle, a video device 27 that includes a video camera and lighting for photographing ahead in the traveling direction, and an image of the video device 27. A recording device 28 that records the recorded video, a control device 29 that controls the operation of the rescue vehicle 20 and the operation of the video device 27 and the recording device 28 in accordance with a preset program, a battery power supply, and the like are mounted. The propulsion pipe 23 is made of steel, and has at least an upward or downward gradient in the case of laying a sewer pipe, and further has a curved section in the case of a curved propulsion method. Since the propulsion tube is made of metal, it is difficult to transmit the image by radio waves, especially in a small-diameter case. And it is difficult to hold it securely. On the other hand, it is easier for a person to visually determine the stop state of the survey vehicle 25 by looking at the image, and a reliable determination can be made.

FIG. 2 shows the operation of the rescue vehicle 20 of FIG.
In step a1, when an abnormality occurs in the survey vehicle 25 and the vehicle stops on the traveling rail 24, in step a2, the starting shaft 21
Set the rescue vehicle 20 on the side. In step a3, the video device 27 of the rescue vehicle 20 is turned on and operated, and in step a4, the rescue vehicle 20 is started.

In steps a5 and a6, the rescue vehicle 20 detects an obstacle by the distance sensor 26 while traveling, and measures the distance when there is an obstacle. The detection of the obstacle is performed using, for example, an ultrasonic sensor or a laser sensor. Since the running rail 24 is provided in the propulsion pipe 23, when the propulsion pipe 23 is curved,
May be detected as an obstacle. However, when the rescue vehicle 20 moves forward, the obstacle moves away or disappears when the wall surface is detected as an obstacle, and the measurement vehicle 25 stops on the traveling rail 24 when the rescue vehicle 20 moves forward. The distance decreases when approaching,
It can be easily determined. If no obstacle is detected in step a6, the flow returns to step a5 to continue running. If an obstacle is detected, the vehicle stops at a predetermined distance to the obstacle in step a7. As the predetermined distance, a distance at which an obstacle can be satisfactorily video-recorded is set. The rescue vehicle 20 is stopped and video shooting is continued. If a certain time has elapsed, the rescue vehicle 20 retreats on the traveling rail 24 in step a8, and stops when it reaches the starting shaft 21 in step a9.

In the starting shaft 21, the video image recorded in the recording device 28 is reproduced in step a10, and it is determined whether or not the rescue vehicle 20 can rescue the surveying vehicle 25 from the stopped state. When it is determined that rescue is impossible, the rescue operation by the rescue vehicle 20 ends in step a11. When rescue by the rescue vehicle 20 is impossible, the propulsion pipe 23 is pulled back into the starting shaft 21 in the reverse order of the propulsion, and the survey vehicle 25 is collected without disassembling one by one, or the survey vehicle 25 is removed from the ground. Excavates the propulsion pipe 23 at the part where it has stopped, and collects the survey vehicle 25. These tasks take time and effort.

If it is determined in step a10 that rescue is possible, the rescue vehicle 2 is moved from the starting shaft 21 in step a12.
Restart 0. Step a13 and step a1
In step 4, the rescue vehicle 20 travels while detecting an obstacle. If there is an obstacle, the rescue vehicle 20 moves forward to a predetermined distance while measuring the distance.
In step a15, the traveling speed is reduced to a very low speed, and the vehicle continues to move forward. In step a16, the connection state is confirmed while the obstacle is detected by the distance sensor 26. When approaching the stopped traveling vehicle 25, the distance detected by the distance sensor 26 also changes so as to approach. When the connection is completed, the survey vehicle 25 moves forward together with the rescue vehicle 20, so that the distance does not change. If the connection between the survey vehicle 25 and the rescue vehicle 20 is confirmed by such a state continuing for a certain period of time, the rescue vehicle 20 stops at step a17 and starts retreating at step a18. Step a19
When the vehicle arrives at the starting shaft 21, the rescue vehicle 20 becomes a survey vehicle 25.
At the same time, and the rescue of the survey vehicle 25 ends at step a20.

In the operation described above, when it is determined in step a10 that rescue is possible, the rescue vehicle 20 is restarted in step a12 to rescue the surveying vehicle 25, but the size of the rescue vehicle 20 is limited. In such a case, a part of the on-board equipment can be replaced or the rescue vehicle 20 itself can be replaced. The video device 27 and the recording device 28 necessary for the first half shooting are not necessarily required for the second half collection. On the other hand, when the surveying vehicle 25 is connected and collected, more driving force is required. Therefore, a large-capacity driving device or battery is used instead of the video device 27 or the recording device 28 when collecting. It can also be installed. In addition, since a device for performing connection is also required for recovery, when the size of the rescue vehicle 20 is limited, the connection mechanism can be mounted at the recovery stage.

FIG. 3 shows an example of a coupling mechanism for the rescue vehicle 20 to collect the survey vehicle 25. The coupler 30 provided on one of the rescue vehicle 20 and the survey vehicle 25 can swing between a solid line state and a virtual line state shown in FIG.
Usually, the solid line is maintained by gravity. When approaching the coupler 31 provided on the other side, the lower part of the coupler 30 rides on the end face of the coupler 31, changes to the state of the imaginary line, and when it climbs over the end of the coupler 31 again, the coupler 30 and the coupler 31 is completed. As a form of the coupler,
In addition, such as automatic couplers used in railway vehicles, etc.
Various things can be applied.

[0023]

[0024]

[0025]

As described above, according to the present invention, it is determined that the rescue vehicle can be recovered by approaching the stopped unmanned vehicle, photographing the stopped state, and viewing the captured image. Since the stopped unmanned vehicle is collected when the vehicle is stopped, the unmanned vehicle can be appropriately collected by comprehensive judgment. In a case where the recovery by the rescue vehicle is inappropriate, it is possible to prevent an increase in loss due to an unreasonable recovery attempt and to perform a comprehensive and effective rescue.

In particular, the photographing result of the stopped state of the unmanned vehicle is recorded, and it is determined whether the vehicle can be collected by retreating the rescue vehicle and then playing back the image of the stopped state to determine whether the vehicle can be recovered. The determination can be made reliably even in an environment where transmission is difficult, and the function of the rescue vehicle can be switched. Furthermore, even if an unmanned vehicle that measures the position of a pipe buried in the ground by the propulsion method has a bent part and is stopped in a place where small people can not directly rescue it, In addition, since it can be appropriately collected, delays in the construction period of the propulsion method can be minimized.

Further, according to the present invention, it is determined whether or not the rescue vehicle is an unmanned vehicle while detecting an obstacle. When it is determined that the rescue vehicle is an unmanned vehicle, the photographing is performed while approaching a predetermined distance, so that the photographing is ensured. Can be done.

Further, according to the present invention, since the rescue vehicle approaches while detecting the unmanned vehicle as an obstacle, and the rescue vehicle starts moving forward, it is determined that the connection has been established. can do.

[0029]

[0030]

[0031]

[Brief description of the drawings]

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

FIG. 2 is a flowchart showing a rescue operation by the rescue vehicle 20 of FIG.

FIG. 3 is a partial side view showing a configuration for connection provided in the rescue vehicle 20 of FIG. 1;

FIG. 4 is a simplified plan sectional view showing a configuration for position and orientation measurement in the propulsion method.

FIG. 5 is a simplified side sectional view showing a configuration for position and orientation measurement in the propulsion method.

[Explanation of symbols]

 Reference Signs List 20 rescue car 21 starting shaft 22 excavator 23 propulsion pipe 24 running rail 25 surveying vehicle 26 distance sensor 27 video device 28 recording device 29 control device 30, 31 coupler

Continued on the front page (73) Patent holder 000160784 Kubota Corporation 1-8-8 Shinkawa, Chuo-ku, Tokyo (73) Patent holder 592089010 Daito Kogyo Co., Ltd. 1-36-6 Kameido, Koto-ku, Tokyo (73 ) Patent holder 592009133 Minamino Construction Co., Ltd. Shin-Umeda Building, 2-2-1 Shibata, Kita-ku, Osaka-shi, Osaka (73) Patentee 000154565 Fukuda-gumi Co., Ltd. 3-10 Ichibanoridoricho, Niigata City, Niigata Prefecture (73) Patent holder 591214804 Matsumura Gumi Co., Ltd. 1-10-20 Higashitenma, Kita-ku, Osaka-shi, Osaka (73) Patent holder 594082604 Magarashi Construction Co., Ltd. 1-13-43 Hikomicho, Kanazawa-shi, Ishikawa (73) Patent Authority 594186555 Mabuchi Construction Co., Ltd. 2-26 Hananogi-cho, Minami-ku, Yokohama-shi, Kanagawa Prefecture (73) Patent holder 000176785 Mitsubishi Construction Co., Ltd. 3-6-1 Nihonbashi Honcho, Chuo-ku, Tokyo (73) Patent holder 591091205 Muramoto Construction Co., Ltd. 1 (73) Patentee 000146928 Morimoto Gumi Company 4-11, Yuyooka-cho, Tennoji-ku, Osaka-shi, Osaka (73) Patent holder 000000974 Kawasaki Heavy Industries, Ltd. 3-1-1, Higashi-Kawasaki-cho, Chuo-ku, Kobe-shi, Hyogo (72) Inventor Yu Nozawa Tokyo 2-17-3, Shibuya, Shibuya-ku, Japan Aoki Construction Co., Ltd. (72) Inventor Kimura Nobuhiro 3-24-1, Otsukacho, Takatsuki City, Osaka Prefecture Co., Ltd. Asanuma Gumi Co., Ltd. (72) Inventor Hayao Noami Nishinomiya, Hyogo Prefecture 12-20 Ikedacho Arai Gumi Co., Ltd. (72) Yoshikatsu Takegaki 1-11-18 Sannichi, Minato-ku, Osaka City, Osaka Prefecture Inside Okumura Gumi Civil Engineering Co., Ltd. (72) Inventor Riki Sato Ebara, Sakura-shi, Chiba 298-18 Nitta (72) Inventor Toshinori Kato 2-18-7-406, Miyuki-ku, Mihama-ku, Chiba-shi, Chiba (72) Inventor Mamoru 2-2-1 Shibata, Kita-ku, Osaka-shi, Osaka Shin-Umeda Building Minami Construction Co., Ltd. (72) Inventor Kazuyuki Igarashi 3-10, Ichibanoridoricho, Niigata City, Niigata Prefecture Fukuda Gumi Co., Ltd. (72) Inventor Koji Kawashima Osaka Prefecture (72) Inventor Katsunobu Takeuchi 1-13-43 Hikomicho, Kanazawa-shi, Ishikawa Pref.Shin Pattern Construction Co., Ltd. (72) Inventor Koji Katano Machida, Tokyo 1-10-7 Ogawa (72) Inventor Hiroki Takahashi 3-6-1 Nihonbashi Honcho, Chuo-ku, Tokyo Inside Mitsubishi Construction Co., Ltd. (72) Kinya Morioka 1-5-5 Shitennoji, Tennoji-ku, Osaka-shi, Osaka 43 Muramoto Construction Co., Ltd. (72) Takahiro Yamazaki, Inventor 4-11 Yuuokamachi, Tennoji-ku, Osaka-shi, Osaka Morimoto Gumi Co., Ltd. (72) Katsumi Nakajima 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki (56) References JP-A-7-26885 (JP, A) JP-A-7-109888 (JP, A) JP-A-8-34599 (JP, A) 42606 (JP, U) (58) Field surveyed (Int. Cl. ⁶ , DB name) G05D 1/02

Claims (3)

(57) [Claims] 1. A rescue system for recovering an unmanned vehicle that is buried in the ground by a propulsion method, has a bent portion, and moves forward and backward on a track laid in a pipe when the vehicle stops due to a breakdown. A method in which an unmanned rescue vehicle is advanced along a trajectory, and a stop state is photographed while approaching a stopped unmanned vehicle. The driver retreats once, plays back the recording of the shooting result, judges whether or not it can be recovered by the rescue vehicle, and when it is possible, advances the rescue vehicle along the track to an unmanned vehicle and stops. An unmanned vehicle rescue method characterized by collecting unmanned vehicles. 2. The rescue vehicle determines whether or not an obstacle detected by a change state of a distance to the obstacle accompanying the forward movement is an unmanned vehicle while detecting an obstacle ahead in a traveling direction, 2. The rescue method for an unmanned vehicle according to claim 1, wherein when it is determined that the vehicle is unmanned, an image is taken while approaching the unmanned vehicle to a predetermined distance. 3. The rescue vehicle can be connected to an unmanned vehicle, and when the unmanned vehicle detected as an obstacle starts moving forward together with the rescue vehicle when moving forward to a stopped unmanned vehicle, the connection is established. The method for rescue of an unmanned vehicle according to claim 1 or 2, wherein the judgment is made, the traveling direction is switched, and the unmanned vehicle is collected.