JPH02262484A - Moving mechanism - Google Patents

Abstract

PURPOSE:To carry out position correction and change direction with high accuracy and smooth movement on stairs, etc., by providing four legs the bases of which are supported by a body via slide portions and which have wheels on their ends, and a turn table having driven wheels and driving wheels nearly in the center on the underside of the body. CONSTITUTION:The bases of four leg portions 5 are installed on a moving mechanism body 4 via slide portions 9, which are movable back and forth along slide rails 12 by the rotation of ball nuts 11a and the ball screws 11b on which the ball nuts 11a are fitted. A wheel 6 and a hook 7 are installed in the vicinity of the end of each leg portion 5 and the wheel 6 is driven by a leg wheel driving portion 8. A turn table 13 is installed nearly in the center on the underside of the moving mechanism body 4 and, by driving a driving portion 16, the turn table 13 is turned while also rotating driving wheels 15 installed on the turn table 13. Inspection equipment such as an ITV camera 17 and a universal head 18, etc., is installed on the top of the moving mechanism body 4.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a moving mechanism for moving inside a nuclear power plant or other various plants and for inspecting the inside of the plant.

(Prior Art) For example, in large systems such as chemical plants and nuclear power plants, it is necessary to inspect the inside of large systems during operation or during periodic inspections. Currently, such inspection work is mainly performed manually.

However, during the inspection route of these plants,
Some areas are difficult to access due to narrow spaces or harsh environmental conditions, creating a heavy burden on inspection workers.

Furthermore, in nuclear power plants, it is desired to automate work as much as possible in order to reduce radiation exposure of workers.

For these reasons, the development of devices that can freely move inside a plant for inspection is underway, and the movement mechanism is an important development element in such inspection devices.

FIG. 8 shows a crawler type traveling vehicle which is an example of a conventional moving mechanism. In this figure, crawlers 2a12b for running are provided on the left and right at the bottom of the vehicle body 1.

A control device, a drive device, a battery, a wireless communication device, and an inspection sensor (all not shown) are mounted on the vehicle main body 1, and the control device (in a separate room) is installed via an antenna 3.
The robot is configured to move while communicating with the robot (not shown).

(Problems to be Solved by the Invention) In the moving mechanism configured as described above, the traveling vehicle can freely move within the plant and perform automatic inspections, and can also turn on the spot.

However, in such a roller-type traveling vehicle, when changing direction, it is necessary to give a speed difference to the left and right crawlers 2 a % 2 b or cause them to rotate in reverse. At this time, slipping occurs on the ground surfaces of the crawlers 2a- and 2b. Therefore, there is a possibility that an error may occur in the intended direction.

In order to prevent such errors from occurring, it may be possible to use a wheel-type traveling mechanism and change direction by steering. However, with steering, it is difficult to accurately change direction or correct position on the spot, and wasteful operations such as turning are required. Another method is to provide steering to all wheels, but this may cause slippage due to speed differences between the wheels when turning.

As described above, with conventional moving mechanisms, it is difficult to accurately grasp their turning performance and positional accuracy on paper.

Therefore, at present, many methods are used for automatic driving, in which the vehicle moves while continuously correcting its position using various guidance means. This guiding means includes, for example, a method of detecting a guiding cable laid along the inspection route with an antenna of a traveling vehicle, a method of optically detecting a guiding tape, and the like.

However, these methods have the disadvantage that the derivative must be laid over the entire route. In addition, there is a method to visually recognize the environment in order to eliminate the need for these derivatives, but in this case, improving the reliability of the environment recognition method is a development issue, and so far it has not been put into practical use. It is.

Due to the above-mentioned circumstances, as an in-plant inspection device,
It is desired to develop a moving mechanism to which a simple guidance method can be applied and which can maintain good traveling position accuracy.

In addition, by further expanding the movable range of the vehicle, in other words, while maintaining the overall size, it is possible to move not only on flat ground, but also on flat ground.
It is increasingly desired to improve ground adaptability, such as being able to move around stairs and ladders.

The present invention was made based on the above-mentioned circumstances, and an object of the present invention is to provide a moving mechanism that is small, has good turning performance and position correction performance, and has improved ground adaptability in order to expand the range of movement. It is.

[Structure of the Invention] (Means for Solving the Problems) The moving mechanism of the present invention includes a main body of the moving mechanism, and two legs each on the left and right sides of the main body of the moving mechanism, each of which has a base pivot and a slide and a tip wheel. legs having a degree of freedom of rotation; wheels and hooks attached to the tip of each leg;
A grounding part provided at the rear of the moving mechanism main body, a rotatable turntable provided at the bottom of the moving mechanism main body, a rotatable wheel attached to the turntable, and an inspection part mounted on the moving mechanism main body. The device is characterized by comprising a sensor, a pan head, and a control device.

(Function) In the moving mechanism of the present invention having the above configuration, since the turntable provided at the lower center of the main body is used for turning, the direction can be changed with high accuracy.

Further, the structure is such that a large direction change can be easily performed on the spot, and positional displacement after the direction change is unlikely to occur.

Further, the turntable is equipped with wheels that can be rotated and driven, and the moving mechanism main body can also be moved in a straight line using these wheels. That is, the main body of the moving mechanism can be moved in any direction by turning the turntable in an arbitrary direction without touching the ground, and then making the turntable touch the ground and running the wheels. This results in
It is possible to accurately and directly correct positional deviations with respect to the travel route on the spot.

Moreover, the movement mechanism of the present invention includes wheels at the tip of the legs for moving on flat ground, slides at the base of the legs for moving on stairs and ladders,
It has a high degree of freedom in turning, and has hooks on the ground-contact part of the main body and the tips of the legs, so it can move freely on flat ground, stairs, and ladders.

(Example) Hereinafter, the present invention will be described in detail with reference to the drawings.

FIGS. 1(a) and 1(b) are a side view and a front view showing an embodiment of the present invention, in which four legs 5 are attached to the moving mechanism main body 4. FIG. Near each tip of these legs 5,
A wheel 6 and a hook 7 are attached to each. Each wheel 6 is driven by a leg wheel drive section 8, respectively.

Further, the base of each leg portion 5 is attached to a slide portion 9, respectively. A leg rotation/slide drive unit 10 is attached to each of these slide units 9.

A pole nut lla is rotatably fixed to the slide portion 9, and when these are rotated, the slide portion 9 moves back and forth depending on the relationship with the ball screw llb screwed into them. At this time, the slide bearing 9a fixed to the slide part 9 guides the slide part 9 along the slide rail 12 fixed to the moving mechanism main body 4 side.

A turntable 13 is rotatably attached to the lower part of the moving mechanism main body 4 at approximately the center thereof. - A driven wheel 14 and a driving wheel 15 are attached to this turntable. Further, a turntable drive unit 16 is attached to the turntable 13, and the turntable drive unit rotates the turntable 13 and rotates the drive wheels 15.

Inspection equipment such as an ITV camera 17 and a pan head 18 are attached to the upper part of the moving mechanism main body 4. Further, a battery 19 as a power source, a circuit section 20 for control/input/output, etc., a wireless communication device 21 for signal transmission, etc. are mounted.

Figure 2 shows a schematic configuration of the movable part of the moving mechanism configured as described above. Figure 2 (a) shows the position of the main parts, Figure 2 (b)
The arrows inside indicate the movement of each element. Moving mechanism body 4
At the bottom of the main body, as shown in FIG.
is provided.

FIG. 3 is a diagram showing the overall configuration of an automatic inspection system using the moving mechanism of the present invention, in which a wireless communication device 21 on the moving mechanism main body 4 transmits signals such as images and control data to a control room 3 through an antenna 3. send to

The control room 30 includes an antenna 31, a wireless communication device 32, a control device 33, an operation panel 34 for controlling the control device, and a control panel for receiving and controlling signals from the moving mechanism 4 and for remote inspection. An image processing device 35 that manually performs image processing on signals from the device 33, a processed image display 36 that displays images from this image processing device, and a video monitor 37 that monitors the images are installed.

4 to 7 explain the operation of the moving mechanism of the present invention configured as described above, and FIG. 4 is a diagram showing the operation when the moving mechanism of the present invention changes direction on flat ground. 5 is a diagram showing the operation when starting to climb the stairs 40. Further, FIG. 6 is a diagram showing the movement of climbing the stairs 40, and FIG. 7 is a diagram showing the movement of climbing the ladder 50.

In FIGS. 1 to 7, when sliding the legs 5 provided on the left and right sides of the moving mechanism main body 4, the leg rotation and
The slide drive unit 10 drives the pole nut lla. At this time, both ends of the ball screw 11b are fixed, and the pole nut 11a moves in the sliding direction. This method has the advantage that a plurality of pole nuts lla can be attached to the same ball screw llb and driven separately.

A slide portion 9 is attached to the pole nut lla in a rotatably supported state using a bearing or the like. These slide parts 9 rotatably support a pivot shaft (not shown) of the leg part 5.

In addition, the leg rotation which is directly connected to the slide part 9 and moves together with it,
- The position of the slide drive unit 10 is vertically shifted on the left and right sides of the moving mechanism main body 4 (see FIG. 1(b)). With this structure, the left and right legs 5 can slide independently without interfering with each other, and the width of the main body 4 can be reduced.

Also, when the center of gravity of the main body 4 is stably held by the four legs 5,
When the position of one leg 5 is to be slid, the wheels 6 at the tips of the legs 5 are driven in coordination, so that the leg 5 can be slid while remaining in contact with the ground.

When the leg section 5 is rotated about its base axis, the leg rotation/slide drive section 10 drives a reduction gear provided in the slide section 9, such as a worm or a worm wheel (not shown), and connects it to its output shaft. The legs 5 that have been rotated are then rotated. Similar to the sliding movement, the turning movement can also be performed in coordination with each degree of freedom of each leg 5.

When rotating the wheels 6 at the tips of the legs 5, each leg 5 can be rotated independently by driving the wheels 6 with the leg wheel drive unit 8 provided on each leg 5.

When the turntable 13 is rotated, it is driven by a turntable drive unit 16 attached thereto. Also, when rotating the drive wheel 15 provided on the turntable 13, the drive wheel 15 is driven by the turntable drive section 16. Each of these can operate independently.

To summarize the operations of each part above, as shown in Figure 2,
The legs 5 have three degrees of freedom: sliding at the base, pivoting, and rotating the wheel 6 at the tip.

Since the leg portions 5 have four legs, the leg portions 5 alone have 12 degrees of freedom. Moreover, the degree of freedom of the turntable 13 is
There are two degrees of freedom: turning and rotation of the drive wheels 15. Therefore, the degrees of freedom of this moving mechanism are 14 in total.

This degree-of-freedom configuration allows easy control on flat ground by making all four legs move in the same way, and allows flexible adaptability by moving each leg individually on stairs and ladders. .

In the automatic inspection system using the present moving mechanism shown in FIG. 3, as described above. On the moving mechanism main body 4, there is an ITV camera 17 which is a sensor for inspection and two degrees of freedom (PAN, T I
LT) is installed. Note that various sensors such as a microphone, an infrared camera, etc. may be installed as necessary. In addition, the battery 1 that is the power source
9. Circuit section 20 which is a control section. It is equipped with a wireless transmission device 21 for communicating and transmitting images.

Such a wireless and battery system has the advantage that the moving mechanism 4 can move freely. However, the present invention is not limited to this, and power supply, data communication, etc. may be performed via a cable.

Although not shown, the circuit section 20 includes a CPU board, PIO, motor driver, camera control unit, sensor controller, etc. that control each section of the moving mechanism 4. This circuit section 20 has a function of freely controlling each section of the moving mechanism and performing data communication with the control room 30 side via the wireless transmission device 21. With this function, the moving mechanism main body 4 can be freely moved in response to a command from the control room 30 side.

The control room 30 side receives video signals and control data from the moving mechanism main body 4 side via the wireless transmission device 32. The video signal is monitored by a video monitor 37, which allows an inspector to perform remote inspection.

Further, if necessary, it is also possible to perform image processing by the image processing device 35 and perform automatic inspection. The processed image at this time is displayed on the processed image display 36.

When the ITV camera 17 captures the position confirmation mark on the inspection route, the image processing device 35 detects a positional deviation of the moving mechanism main body 4 with respect to the inspection route l- based on the image. Calculations at this time can be easily performed based on data on the position and orientation of each part of the moving mechanism.

The control device 33 in the control room 30 has internal data such as inspection routes and inspection positions, and gives operation commands through data communication with the moving mechanism main body 4, and also confirms the completion of the operation. At the same time, it issues a processing request to the image processing device 35, receives the processing results, and makes a determination. Furthermore, the moving mechanism main body 4 is freely controlled by receiving instructions from an inspector via the operation panel 34, which is a man-machine interface.

With such a configuration on the control room side, when the inspector is on his/her own, the moving mechanism is automatically moved to the inspection position by the control device 33, and the inspection object is captured by the ITV camera 17, and the inspector performs a remote inspection. It is also possible to perform automatic inspection using the image processing device 35.

Next, the operation of the moving mechanism main body 4 on level ground, stairs, and ladders will be explained.

Figure 4 shows the operation on flat ground. When this moving mechanism moves straight on flat ground, as shown in FIG. 4(a), with the turntable 13 floating by the rotation of the base of the leg 5, the four wheels 6 at the tip of each leg 5 are independently operated. , and rotate at the same time.

Since each wheel 6 faces only the straight direction, the vehicle can stably travel straight.

In some cases, it is also possible to travel along an arbitrary curved trajectory by giving a speed difference to the wheels. In this case, running resistance can be reduced by standing each leg 5 vertically and sliding the curved side 2111J closer to each other before running. Such curve driving based on the speed difference between the wheels is effective when the travel path is extremely narrow.

If the travel path is wide to some extent, the turntable 13 can be used to change direction. This sequence is
In the state shown in FIG. 4(a), rotate each leg 5 at the same time to ground the wheels 14 and 15 of the turn tape 13,
The wheel 6 at the tip of the leg 5 is lifted as shown in FIG. 5(b). In this state, the turntable 13 is rotated. This allows the moving mechanism 4 to be directed in any direction.

A case where the direction is changed by 90° is shown in FIG. 4(e).

Next, each leg portion 5 is turned simultaneously again to bring the tip wheel 6 into contact with the ground, and the wheels 14 and 15 of the turntable 13 are floated, so that the turntable 13 moves straight as shown in FIG.

By using the turntable 13 in this manner, the direction can be changed with high accuracy without being affected by wheel slippage or the like. By combining these straight movements and direction changes, the moving mechanism 4 can freely move on flat ground.

Alternatively, the turntable 13 may be oriented in any direction in the state shown in FIG. 4(a), and moved by the drive wheels 15 of the turntable 13 in the state shown in FIG. It is possible to easily and accurately perform positional corrections such as moving the moving mechanism 4 right sideways.

In this way, the present moving mechanism 4 can improve the accuracy of movement on flat ground, and even if there is a slight deviation from the inspection route, if the amount of deviation can be detected, the turntable 13 can be rotated or moved straight. It is also possible to make accurate corrections on the spot using the degrees of freedom. Since the moving mechanism 4 has good movement accuracy, this position correction operation does not need to be performed constantly on the inspection route, but may be performed as appropriate at a turning point, an inspection position, in front of a staircase, a ladder, or the like. Therefore, it is possible to simplify the installation of the traveling guide.

The following method can be considered as a specific example of travel guidance. That is, after moving to a position correction point set in advance, the mark for position correction is set there and captured by the ITV camera 17. From the image, the image processing device 35 detects the amount of parallel movement and rotational movement of the mark. The control device 33 converts the value into the amount of deviation from the inspection route based on the posture of each part of the moving mechanism 4, and sends the data to the moving mechanism 4 side.

Based on this data, the circuit section 20 of the moving mechanism 4 directs the wheels 14 and 15 in the moving direction with the turntable 13 floating, and after the turntable 13 touches the ground, drives the driving wheels 15 to adjust the amount of parallel movement. Correct directly. Further, the amount of rotational movement is controlled so as to be directly corrected by rotating the turntable 13 after it touches the ground.

Conventionally, even if a position correction mark is detected, it is difficult to correct it immediately, so a method has been adopted in which the amount of deviation is corrected until the next position correction mark detection position.However, in the present moving mechanism 4, It is possible to easily correct the amount of deviation on the spot when the position correction mark is detected. For this reason,
It can be said that this is a moving mechanism suitable for travel guidance using the discrete mark method.

Next, the operation when climbing stairs will be explained with reference to FIGS. 5 and 6.

When attempting to climb the stairs 40, the moving mechanism 4 climbs the stairs 40.
A position correction operation is performed on the level ground immediately before so that the position is straight with respect to the stairs 40.

Since this can be done with high precision as described above, it is possible to minimize the occurrence of positional deviation while moving on the stairs 40. Therefore, it is possible to apply a method in which the position is not corrected during movement of the stairs 40, but is corrected after reaching level ground.

After the position correction just before the stairs 40 is completed, the position shown in FIG.
), the legs 5 are erected vertically depending on the degree of freedom of each leg 5. In order to perform such a rising operation, it is necessary to coordinate the rotation and slide at the base of the leg portion 5 and the wheel 6 at the tip to simultaneously drive each leg 5a to 5d.
Since all four legs operate in the same way, control is simple.

From the state shown in FIG. 5(a), slide the legs 5a to the center of the main body 4. Subsequently, the leg 5b is pivoted forward as shown by the arrow in FIG. 5(b).

At this time, as shown in FIG. 5(c), the center of gravity G of the moving mechanism 4
is inside the triangle drawn by legs 5a, 5c, and 5d,
Leg 5b can be made free while maintaining stability. Thereby, the leg 5b comes into contact with the first step of the staircase 4o.

This grounding detection method may be a method of attaching a grounding detection sensor (not shown), for example, a proximity sensor, etc. to the tip of the leg 5, or a method of detecting the grounding by using a current sensor (not shown) provided on the swing drive part of the leg 5. A method of detecting current may also be used.

After the leg 5b touches the ground, the leg 5a is slid backward and the leg 5c is slid forward as shown by the arrow in FIG. 5(c). During this time, the center of gravity G is shifted to the leg 5 as shown in Fig. 5(d).
Since it is inside the triangle connecting a, 5b, and 5c, it can maintain stability.

In this state, the leg 5d is moved to the first step of the stairs 40 using the degree of freedom of sliding and turning of the base, and is brought into contact with the ground as shown in FIG. 5(d). Subsequently, the leg 5C is slid rearward to the state shown in FIG. 5(e).

Here, the main body 4 is tilted by sliding and pivoting the base of each leg 5.

In the state shown in FIG. 5(f), the center of gravity G is at the leg 5 a s5c
, 5d and the triangle connecting 5 a s 5 b −, 5
Since it is in both triangles connecting c, leg 5d,
Stability will be maintained even if one of 5b is floated. Therefore, first, one of the wires is grounded to the second stage of the stage, and then the other wire is grounded to the second stage.

Next, the base of each leg 5 is slid, rotated, and the legs 5a, 5
c Due to the degree of freedom of the tip wheel 6, the main body 4 is moved forward while being tilted to the state shown in FIG. 5(g).

In this state, the center of gravity G is leg 5 a -, 5C% 5
To enter the triangle connecting d and legs 5a, 5c, and 5b,
It remains stable. Therefore, the legs 5b and 5d can be moved one by one to the third step of the stairs 40.

As mentioned above, FIG. 5 shows how the movement mechanism 4 operates when starting to ascend the stairs 40. From this example, the action when climbing the stairs 40 or a ladder, or the action when descending a staircase or a ladder, etc., can be analogized to the case.

FIG. 6 shows the steady operation when climbing the stairs 40.

The state in FIG. 5(a) is the same as that in FIG. 5(g), and then the legs 5b and 5d are moved forward and backward one by one. From this state shown in FIG. 6(b), the main body grounding part 22 at the rear of the main body 4
is brought into contact with the front stage of the rear legs 5a and 5c. This grounding can be detected by a proximity sensor, a contact sensor (not shown), or the like. Furthermore, the material of the main body grounding portion 22 is made of a material that does not easily cause slippage, such as soft rubber.

After the main body grounding portion 22 is grounded, as shown in FIG. 6(c),
Leg 58% Move 5c to the front stage.

Thereafter, the legs 5as and 5c stand up and move the main body 4 forward. As a result, as shown in FIG. 6(d), it is possible to climb one step of the stairs from the state shown in FIG. 6(a). By repeating these movements, you can climb as many steps as you like.

FIG. 7 shows the steady operation when the moving mechanism 4 climbs the ladder 50. FIG. 5A shows a state in which the moving mechanism 4 is attached to the ladder 50. In this case, the moving mechanism 4 is 11
It is attached by hooking the hook 7 (see FIG. 1) at the tip of the ladder 50 onto the horizontal bar of the ladder 50.

Although the movement at the start of climbing until the state shown in FIG. While maintaining stability in this manner, the hooks of the now free legs 5 are successively hooked onto the ladder 50, and the main body 4 is erected vertically in line with the ladder 50.

As in the case of FIG. 5, by accurately aligning the moving mechanism 4 on a level ground before starting this climbing operation, the positional deviation when climbing the ladder 50 can be kept to a minimum. .

In the state shown in FIG. 7(a), since the hooks 7a to 7d hold the horizontal bars of the ladder 50, stability is maintained even if one of the legs 5a to 5d is removed.

Therefore, when climbing the ladder 50, the leg 5b is first moved to the upper step, resulting in the state shown in FIG. 7(b). In this case, in order to confirm that the hook 7 of the leg 5 has captured the ladder 5o, a proximity sensor (not shown) or the like may be attached near the hook.

Next, the leg 5d is moved to the upper stage to become the figure (c), and the leg 5d is moved to the upper stage.
A is moved to the upper stage to become the state shown in the same figure (d), and further the leg 5c is moved to the upper stage to become the state shown in the same figure (e).

From this state, by simultaneously sliding the legs 5a to 5d, the moving mechanism main body 4 is moved upward, and the
). The state of (f) is 1 from (a) in the same figure.
By repeating this action, it is possible to climb up any number of steps on the ladder 50.

As described above, according to the present moving mechanism, it is possible to move with high precision on level ground, and it is also possible to move freely not only on level ground but also on stairs and ladders.

Note that the present invention is not limited only to the above embodiments. For example, as a movement control method, a method of detecting the outside world using a proximity sensor, an ultrasonic sensor, a contact sensor, a current sensor, a tilt sensor, etc. may be used. Alternatively, a method of detecting feature points in the outside world using an ITV camera and an image processing device may be adopted. Features in the outside world may be permanently installed equipment such as fluorescent lights, fire extinguishers, doors, and the like.

In this way, the present moving mechanism can perform accurate position correction in the same way as when using discrete marks.

Furthermore, we provide some degree of freedom to move the installed equipment,
By controlling the center of gravity, it is also possible to move more stably.

[Effects of the Invention] As is clear from the above, the moving mechanism of the present invention has four legs having degrees of freedom of sliding at the root, rotation of the wheels at the tip, and degrees of freedom of rotation of the wheels for turning and rotation of the wheels. Since the turntable is constructed from a turntable having a rotary structure, it is possible to accurately correct the position and change the direction on a flat ground, thereby simplifying the guidance of the moving mechanism and saving labor. Furthermore, the reliability of movement can be improved.

Moreover, since the object to be inspected can be accurately captured by sensors such as ITV cameras, the effectiveness of the inspection device can be improved, and it is also possible to perform fully automatic inspections, something that would not have been possible with conventional floor-based vehicles. Since good position reproducibility can be achieved, it is also possible to automate local inspections by zooming.

Furthermore, since the stairs and ladders are configured to be movable, the inspection range can be expanded, and a useful remote inspection system can be configured.

[Brief explanation of drawings]

Figures 1 (a) and cb> are side and front views showing a configuration example of the device of the present invention, and Figures 2 (a) and (b) are diagrams for explaining the outline and operation of the movable parts of the device of the present invention. An explanatory diagram, FIG. 3 is an explanatory diagram showing the overall configuration of an inspection system to which the present invention is applied, and FIGS. 4 to 7 respectively explain the operation of the device of the present invention. Figure 5 is an explanatory diagram showing the movement of the stairs, and Figure 6 is an explanatory diagram showing the movement of starting to climb the stairs.
FIG. 7 is an explanatory diagram showing a steady operation of climbing stairs, FIG. 7 is an explanatory diagram of a regular operation of climbing a ladder, and FIG. 8 is a schematic perspective view illustrating a conventional device. 1...... Traveling vehicle body 2a, 2b... Crawler 3.31... Antenna 4... Moving mechanism body 5.5a ~5d... Legs 5.5a to 5d, 6 = Wheel 7... Hook 8... Leg wheel drive section 9... ...Slide section 10...Slide drive section 11a...
... Pole nut 11b ... Ball screw 12 ... Slide lane 13 ...
...Turntable 14... Driven wheel 15 ... Drive wheel 716 ... Turntable drive section 17.
......ITV camera 18... Pan head 19... Battery 20... Circuit section 21.32... ......Wireless communication device 22...
...... Main body grounding section 30 ...... Control room 33 ...... Control device 34 ...... Operation panel 35 ... ...Image processing device 36...Processed image display 37...
......Video monitor 40...Stairs 50...Ladder

Claims (1)

[Claims] The main body of the moving mechanism, and the two on the left and right sides of the main body of the moving mechanism.
Each leg is provided with a degree of freedom for turning and sliding at the base and rotating at the tip wheel, a wheel and a hook attached to the tip of each leg, and a grounding section provided at the rear of the moving mechanism main body. and a rotatable turntable provided at the bottom of the moving mechanism main body, rotatable wheels attached to the turntable, and an inspection sensor, a pan head, and a control device mounted on the moving mechanism main body. A movement mechanism featuring: