JP3679375B2 - Rescue robot system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rescue robot system that rescues an injured person who is difficult to evacuate from a disaster site where human approach is difficult.
[0002]
[Prior art]
Japanese Unexamined Patent Publication No. 2001-179668 discloses an example of an accident response robot system that ensures the safety of workers and responds quickly and flexibly to various accidents. In the robot system described in this publication, a monitoring robot that is equipped with a sensor that collects environmental information and investigates the movement route to the accident point and the surrounding situation, and a plurality of mobile robots including a working robot equipped with a manipulator are provided. Have. A work robot is selected based on the monitoring result of the monitoring robot, and the selected robot is dispatched to the accident site.
[0003]
Japanese Patent Laid-Open No. 2001-289980 discloses an example in which a shield is installed using a transport device in order to shield radiation safely and quickly when an accident occurs in a nuclear facility. In this publication, a radiation shielding member is enclosed in a radiation shield, and a transport device operated by a remote device transports this radiation shield.
[0004]
Furthermore, in the third page of the 13th edition of the Asahi Shimbun dated July 21, 2000, in the article entitled “Disaster prevention robots for nuclear disasters”, protective wall robots were placed around the affected areas, Is described as shielding.
[0005]
[Problems to be solved by the invention]
In nuclear power facilities, protective measures are taken against all phenomena currently foreseen to prevent accidents. Various preventive measures have been planned and implemented, assuming that there is a risk that an injured person may be left at the disaster site and exposed to radiation due to an unforeseeable fire or criticality accident.
[0006]
Examples of such measures are described in JP-top KitokuHiraki 2001-289990. In this publication, it is assumed that even if it is difficult for a person to approach an injured person safely even to rescue the injured person, a relatively large transport device on which the operator is boarded is described as a radiation shield. It is mainly used outdoors for transportation. If this device is used in a confined environment such as a building, there is a risk that it will be obstructed by obstacles and cannot always demonstrate its capabilities.
[0007]
Japanese Patent Application Laid-Open No. 2001-179668 describes that a plurality of robots having different functions are operated in accordance with the situation of an accident site. However, this publication does not fully consider the rescue of an injured person through a narrow passage encountered in indoor work.
[0008]
Furthermore, the above newspaper article is only an overview, and although there is a description about forming a radiation shielding wall by a plurality of small protective wall robots, a large number of protective wall members with large masses are transported quickly to the site. There is no disclosure about what to do.
[0009]
The present invention has been made in view of the above-mentioned problems of the prior art, and the purpose of the present invention is to provide a rescuer with a disaster site in a disaster site such as a disaster site in a nuclear facility that may be exposed to radiation. It is to be able to quickly form a radiation protection wall with a large mass in the field without going into the field .
[0010]
[Means for Solving the Problems]
In order to achieve the above object, a rescue robot system according to the present invention comprises a radiation protection wall formed by connecting a plurality of bag-like members that can be filled with a liquid substance or a granular substance , autonomous traveling and remote manual traveling. A plurality of unmanned robots capable of selecting a mode and mounting the bag-like member in a state where the bag-like member is not filled with a liquid substance or a granular substance, and a hose connecting the bag-like members and a connecting means consisting of connectors, pump for supplying a liquid material or particulate material in the bag member in a state of being connected by the connecting means, a supply means comprising a hose and a connector, and a control device for controlling the respective robots wherein the plurality of robots is made up of a base unit having a wireless camera, a plurality of slave unit having a wireless camera, the master unit was obtained from the camera Travel is controlled by remote control based on image information, and each of the slave units includes a control device for the slave unit, and the master unit immediately before that recognized by a camera mounted on each slave unit or It is configured to be controlled so as to autonomously follow the vehicle with the position of another child device as a target .
[0012]
And, preferably, the plurality of robots are crawler robot, the crawler robot has rescue robot system capable of feeding stretcher, a camera and a remotely operable arm in front of the traveling direction in each It has, and is controlled so as to put the arm in the stretcher wounded by remote control.
[0013]
Preferably, the stretcher is a variable shape stretcher that can be divided into left and right, and has a stretcher carriage that can move an injured person placed on the stretcher, and a saddle is provided on both sides of the stretcher carriage. by positioning the plurality of crawler robots down it is obtained by allowing moving the stretcher trolley. Preferably, the stretcher is a variable shape stretcher that can be divided into left and right, and a rope that is mounted on the stretcher and a winch that is fixed at one end of the rope and fixed at a position away from the disaster site, it is obtained by allowing transport the wounded from the disaster site by pulling the rope.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, some embodiments of the present invention will be described with reference to the drawings. In nuclear power facilities, protective measures are taken against all phenomena currently foreseen to prevent accidents. Various preventive measures have been planned and implemented, assuming that there is a risk that an injured person may be left at the disaster site and exposed to radiation due to an unforeseeable fire or criticality accident.
[0015]
FIG. 1 shows a situation in which an injured person is transported from an accident site 11 having a radiation source 16 using a rescue self-propelled robot system 1 according to the present invention. The self-propelled robot system 1 includes a plurality of self-propelled vehicles that can travel simultaneously. The self-propelled robot system 1 has one master unit 9 and at least one slave unit 10. Substantially rectangular parallelepiped plurality of bags 3,3, ... are provided so as to form a protective barrier. A water supply hose 2 is connected to each bag 3, and the hose 2 is connected to the extension pipe 4 through connector pairs 8 and 18. The extension pipes are finally combined into one and connected to the pump 7 mounted on the master unit 9.
[0016]
Each slave unit 10 is equipped with a camera 15, and the master unit 9 is equipped with a camera 14. The injured person 13 is placed on a dedicated stretcher 5 and the belt 33 fixes the abdomen and the ankle part. The stretcher 5 on which the injured person 13 is placed is held on its side on the slave unit 10 by using the collar 26 formed on the top of the slave unit 10. A total of six slave units 10 support the corners of the stretcher 5 and the middle part in the longitudinal direction. The subunit | mobile_unit 10 is a crawler type, and a some wheel rotationally drives an endless belt. A control device 6 that controls the parent device 9 and each child device 10 is placed in a safe place 12 away from the accident site 11.
[0017]
The operation of the rescue robot system configured as described above will be described with reference to FIGS. First, the self-propelled robot system 1, the plurality of bags 3, the stretcher 5, and the pump 7 are transported to a safe place 12 near the accident site 11 using radiation or a transport vehicle. This safe place 12 is secured on the same floor as the accident site 11 in the building.
[0018]
When the self-propelled robot system 1 arrives at the safe place 12, as shown in FIG. 2, the self-propelled robot system 1 is run in a row with the target of the position where the injured person 13 is present. At this time, the base unit 9 is set as the leading vehicle in the formation. The plurality of slave units 10, 10,... Based on the image information obtained from the wireless camera 14 mounted on the base unit 9, a driver (not shown) in a safe place runs the self-running robot system 1 by remote control while checking the surrounding environment. .
[0019]
The subunit | mobile_unit 10 is provided with the control apparatus, and is controlled so that the position of the main | base station 9 or the subunit | mobile_unit 10 immediately before recognized by the wireless camera 15 mounted in each may be followed autonomously. . The base unit 9 as the leading vehicle carries a plurality of extension pipes 4. Subsequent child machine 10 conveys bag 3 which connected hose 2 with connector 8 attached to the end.
[0020]
When the self-propelled robot system 1 sequentially arrives close to the injured person 13, the self-propelled robot system 1 arranges the bags 3 in a line on the floor between the injured person 13 and the radiation source 16, as shown in FIG. Next, at least one of the slave units 10 transports the distal end portion 17 of the extension pipe 4 conveyed by the master unit 9 as the leading vehicle to the vicinity of the hose 2 connected to any one of the bags 3. Then, the connector 18 provided at the distal end portion 17 of the extension pipe 4 is connected to the connector 8 of the hose 2. By repeating such an operation or when a plurality of slave units 9 perform this operation all at once, as shown in FIG. 4, a pump 7 mounted on the master unit 9 and a plurality of bags 3, 3,. A flow path is formed between them.
[0021]
When the flow path is formed, water is fed all at once from the pump 7 to the plurality of bags 3, 3,. The bag 3 in which water is stored forms a radiation protection wall 20. Next, the plurality of slave units 10 use the posture control member 15a attached to the front part of the slave unit to jointly adjust the limbs of the injured person 13 so that the injured person's posture is extended to the back. (See FIG. 5).
[0022]
The handset 10 prepares the stretcher 5 so that the injured person 13 whose posture is adjusted can be carried out from the accident site 11. As shown in FIG. 6, the stretcher 5 includes a left side member 5 a, a right side member 5 b, and a pulling mechanism 21. These left side member 5a and right side member 5b are loaded in a plurality of slave units 10, 10,. The left side member 5a and the right side member 5b are connected by a drawing mechanism 21, and a plurality of plate-like portions are arranged with a gap in the height direction, which is the longitudinal direction. The plurality of plate-like parts are connected at the innermost part.
[0023]
The left member 5a and the right member 5b of the stretcher 5 are arranged along the substantially injured person 13 with a space around the injured person 13 with the limbs aligned. Thereafter, the left side member 5 a and the right side member 5 b of the stretcher 5 are pulled toward the center of the injured person 13 using the pulling mechanism 21. The details of pulling the left member 5a and the right member 5b of the stretcher 5 will be described with reference to FIG.
[0024]
FIG. 7 is a view as seen from the head side of the injured person 13. First, the handset 10 inserts the posture control member 15a below one of the scapulas of the injured person 13 ((a) in the figure). Next, the handset 10 lifts the body of the injured person 13 by lifting the posture control member 15a upward. At the same time, the right side member 5b is drawn to the vicinity of the spine of the injured person 13 by using a drawing mechanism 21 (not shown) ((b) in the figure). Next, the child machine 10 performs the same operation on the left side body as well ((c) in the figure). This operation is alternately performed to bring the left member 5a and the right member 5b of the stretcher 5 closer to each other. As a result, the injured person 13 is finally placed on the stretcher 5. In this work, if a plurality of slave units 10, 10,... Are arranged on the left and right sides and different slave units 10 are used to lift each half of the injured person, the time required for rescue can be shortened.
[0025]
In order to make it possible to move the injured person 13 placed on the stretcher 5, two to four handset 10 carry a stretcher carriage 25 having wheels 23 and winches 24 near the injured person 13 ( (See FIG. 9). The stretcher trolley 25 has a mounting portion on which the stretcher 5 is placed at the center. On both sides of the mounting portion, flanges 26 are formed at intervals in a plurality of locations in the longitudinal direction. The wheels 23 are attached to both ends in the longitudinal direction of the placement portion.
[0026]
The winch 24 is attached to a front end portion corresponding to the forward movement direction when the stretcher carriage 25 is retracted. The rope 30 is pulled out from the winch 24 and mounted on the pulling mechanism 21 of the stretcher 5 on which the injured person 13 is placed. The winch 24 of the stretcher carriage 25 is driven, and the stretcher 5 on which the injured person 13 is placed is placed on the stretcher carriage 25. The pulling mechanism 21 is provided at the front and rear portions of the stretcher 5 and has a cylindrical shape. Therefore, when the stretcher 5 is placed on the stretcher carriage 25, it operates as a wheel.
[0027]
When the stretcher 5 is positioned at a predetermined position of the stretcher carriage 25, the belt 33 conveyed by the slave 10 together with the stretcher carriage 25 is wound around the body of the injured person 13, and the injured person 13 is fixed to the stretcher carriage 25 (FIG. 10). reference). Thereafter, the plurality of slave units 10 enter the lower side of the cage 26 formed on the stretcher carriage 25 to support the stretcher carriage 25. The plurality of slave units 10 are simultaneously moved in the same direction, and the injured person 13 is transported to the safe place together with the stretcher 5 (see FIG. 11).
[0028]
According to the present embodiment, since the bag 3 is supplied with water and the radiation protection wall 20 is formed after the bag 3 is transported, the self-loading mass is relatively light compared to the case of transporting solid objects such as lead plates. Work can be performed using the running robot system 1. Therefore, it is easy to enter even in a complicated and narrow accident site such as indoors of a nuclear facility.
[0029]
Moreover, since the same self-propelled robot system 1 is used for the work of transporting the radiation protection wall 20 and the work of placing the injured person 13 on the stretcher 5, the number of vehicles required for the self-propelled robot system can be reduced. . Furthermore, since the robot can be reduced in size and weight, even if the robot accidentally touches the injured person during work, there is no risk of hurting the injured person. In the above embodiment, water is supplied to the bag forming the protective wall, but the same applies even when using water solutions of various substances or granular substances such as iron having a particle diameter of about 5 mm or less instead of water. An effect is obtained.
[0030]
Another embodiment of the present invention will be described with reference to FIG. In the above embodiment, the winch is placed on the stretcher carriage 25. However, in this embodiment, the stretcher carriage 25 is drawn directly by the winch 29 placed on the floor surface of the safe place 12. The procedure is the same as in the above embodiment until the stretcher 5 is mounted on the stretcher carriage 25. Thereafter, the handset 10 pulls out the rope 30 from the winch 29, and the rope 30 is mounted on the drawing mechanism 21 on the head side. By winding up the winch 29, the injured person 13 is quickly evacuated to a safe place 12.
[0031]
According to the present embodiment, the winch 29 installed at a location away from the accident site pulls the stretcher carriage 28. Therefore, in an accident site with a relatively flat floor and a simple arrangement, the efficiency is improved by a simple operation. The injured person can be rescued remotely. In each of the above embodiments, water is used to form the protective wall, but an aqueous solution or the like may be used instead of water.
[0032]
Still another embodiment of the present invention will be described with reference to FIGS. FIG. 13 is a view of a robot group 35A forming a protective wall in the rescue robot system. FIG. 13 (a) is a top view thereof and FIG. 13 (b) is a side view thereof. FIG. 14 is a side view of a robot group 35B used for water supply in the rescue robot system. This embodiment is different from the above embodiments in that each robot that forms a protective wall forms a protective wall after reaching the accident site.
[0033]
Each robot 36 forming the protective wall travels while being loaded with a pipe 37 at the center in the width direction. The last robot 36A of the robot group 35A has a reel 39 at the top. Further, the robot 36A is loaded with a pipe 37A, one end of which is connected to the center of the side surface of the reel 39 and the other end of which is connected to a pipe 37 provided in the robot 36 that runs immediately before.
[0034]
On the other hand, a reel 39 is mounted on each robot 38 of the robot group 35B for water supply. The adjacent robots 38 are connected to each other with a hose 40 wound around a reel 39 so that the hoses can be transported to the disaster site by a plurality of robots 38.
[0035]
The robots 36 and 36A of the robot group 35A forming the protective wall travel in a platoon. Then, when approaching the vicinity of the injured person 13 near the radiation source 16, the loaded pipes 37 and 37A are connected in series as shown in FIG. Thereafter, when water is supplied to the hose 40 using the pump 19, the bag 3 mounted on each robot 36 is filled with water. The bags filled with water together form a protective wall 41.
[0036]
According to the present embodiment, a plurality of traveling robots are connected to form part of the protective wall 41, so that the protective wall 41 can be formed more efficiently. In each of the above examples, the environment where there is a risk of radiation exposure from a specific radiation source has been described. However, if the building is contaminated with radioactive material, the injured person should be removed without forming a protective wall. Needless to say, priority may be given to secure human lives.
[0037]
【The invention's effect】
As described above, according to the rescue robot system of the present invention, the rescuer does not enter the disaster site in a disaster site where it is difficult for people such as disaster sites in nuclear facilities to be exposed to radiation, A radiation protection wall with a large mass can be quickly formed on site .
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an operating state of an embodiment of a rescue robot system according to the present invention.
FIG. 2 is a diagram for explaining an operation method of the rescue robot system shown in FIG. 1;
FIG. 3 is another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 4 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 5 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 6 is still another diagram illustrating an operation method of the rescue robot system shown in FIG.
FIG. 7 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 8 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 9 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 10 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 11 is still another view for explaining the operation method of the rescue robot system shown in FIG. 1;
FIG. 12 is a diagram for explaining the operating state of another embodiment of the rescue robot system according to the present invention.
FIG. 13 is a top view and a side view of still another embodiment of the rescue robot system according to the present invention.
14 is a detailed view of a water supply work robot provided in the rescue robot system shown in FIG. 13;
15 is a diagram for explaining the operation of the rescue robot system shown in FIG. 13;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Self-propelled robot system, 2 ... Hose, 3 ... Bag, 4 ... Extension piping, 5 ... Stretcher, 6 ... Control device, 7 ... Water supply device, 8 ... Connector, 9 ... Master machine, 10 ... Slave machine, 11 ... Accident site, 12 ... safe place, 13 ... injured, 14 ... camera, 15 ... camera, 16 ... radiation source, 17 ... extension pipe tip, 18 ... connector, 20 ... protection wall, 21 ... attraction mechanism, 23 ... wheels, 24 ... winches, 25 ... stretcher trolleys, 26 ... saddles, 27 ... wheels, 28 ... stretcher trolleys, 29 ... hoisting mechanisms, 30 ... ropes, 31 ... vehicles, 33 ... belts, 34 ... control devices, 36 ... robots , 39 ... reel, 40 ... hose, 41 ... protective wall.

Claims (4)

A radiation protection wall formed by connecting a plurality of bag-like members that can be filled with a liquid substance or a granular substance inside, and
You can select the mode of autonomous and remote manual driving, and the bag-like interior of the liquid material or the particulate material is a plurality can be mounted the bag-shaped member in the state not filled unmanned robot member,
A connecting means comprising a hose and a connector for connecting each bag-shaped member ;
A supply means comprising a pump, a hose and a connector for supplying a liquid substance or a granular substance to the bag-like member in a state connected by the connection means ;
A control device for controlling each robot ,
The plurality of robots are composed of a master unit equipped with a wireless camera and a plurality of slave units equipped with a wireless camera,
The master is controlled by remote control based on image information obtained from the camera,
Each of the slave units includes a control unit for the slave unit, and autonomously follows the target position of the master unit or the other slave unit immediately before that recognized by the camera mounted on the slave unit. Rescue robot system characterized by being controlled by the robot. Said plurality of robots are crawler robot, the crawler robot has rescue robot system capable of feeding stretcher, and a camera and a remotely operable arm in front of the traveling direction in each, the 2. The rescue robot system according to claim 1, wherein the rescue robot system is controlled so that an arm is remotely operated to place an injured person on the stretcher. The stretcher is a variable shape stretcher that can be divided into left and right, and has a stretcher carriage that can move an injured person placed on the stretcher. The rescue robot system according to claim 2 , wherein the crawler robot is positioned so that the stretcher carriage can be moved. The stretcher is a shape-variable stretcher that can be divided into left and right. A rope to be mounted on the stretcher and a winch that is fixed at one end of the rope and fixed at a position away from the disaster site are provided to pull the rope. The rescue robot system according to claim 2 , wherein an injured person can be transported from a disaster site.

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