JPS60102580A - Position detecting apparatus of running unit - Google Patents

Abstract

PURPOSE:To attain to enhance the accuracy of positional detection, by providing a distance sensor and an azimuth sensor to a primary machine present at a reference point and the secondary machine of a running unit. CONSTITUTION:A primary machine 5 is constituted by providing a turntable 8 equipped with a rotary driving mechanism and an encoder 12 for detecting the rotary angle thereof on a base 7 supported by and moved on a reference track 4 while providing a limit switch 13 for detecting the direction of the primary machine itself to said base 7. A secondary machine 6 is constituted by providing a table 19 equipped with a rotary driving mechanism on a base 18 while providing a light emitter 24 constituting an azimuth sensor along with the light receiver 15 of the primary machine 5 on said table 19. In addition, a mirror 30 equipped with a high speed rotary mechanism and a sonic receiver 31 constituting a distance sensor along with the sonic generator 16 of the primary machine 5 are provided to the top part of the light emitter 24. Now, a rotary angle at a moment, when the light receiver 15 on the table 8 rotating at a low speed is opposed to the mirror 30 of the light emitter 24 rotating at a high speed, is detected by the encoder 12 to calculate the direction of the secondary machine 6 while the opposed distance between the primary machine and the secondary machine is detected from the sonic wave transmitting time from the sonic wave generator 16 to a sonic wave receiver 31.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position detection device that detects the distance and direction to a trackless traveling unit using a combination of sound waves and light.

The trackless running unit is capable of running in any direction along a running support surface using a preset program or by wireless induction, and the running support surface is made of a steel plate or the like. By using magnets and the like, it is possible to run on an incline or in a vertical direction.

Therefore, in environments where access by workers is restricted due to high levels of residual radiation, such as during inspection work on various equipment 1, such as the reactor pressure vessel, after the start of reactor operation, work equipment is This is useful when transporting the device to a desired location or moving it freely. In addition, in order to freely control the trackless running Ennin, it is necessary to accurately detect its position, and the following is a conventional example of a position detection method that can be applied to the trackless running Ennin.

There are ways to find out the distance from a reference point using a reversible odometer, and methods to find out the distance and direction by combining the odometer with an angle sensor, but in the case of an odometer, the traveling unit is non-linear. There are drawbacks such as increased errors if the device moves in an unsteady manner or slips.

The present invention was developed based on this background, and makes it possible to dramatically improve the accuracy of one-position detection, and detects the movement of the traveling body by high-speed detection. Facilitation and also detection range? The purpose is to make it bigger. To achieve such purposes.

The present invention has a configuration in which the main unit at the reference point Vcf+) and the slave unit mounted on the traveling unit F are provided with polar coordinate type sensors that directly measure distance and direction using sound waves and light beams.

Below, one embodiment of the present invention will be described based on the drawings.
FIG. 1 schematically shows the external appearance of a nuclear reactor pressure vessel 1 in which a trackless running device 2 and a position detection device 3 according to the present invention are disposed on the outer surface of the reactor pressure vessel 1.

The trackless traveling unit 2 has a function of being able to move in any direction (movement direction, A wired or wireless receiving device and drive device that receives various commands such as starting and stopping.

Steering device, etc.)f: What is provided is used.

Further, in the examples shown in FIGS. 1 to 3, the position detection device 3 detects a reference trajectory 4 that is peeked out along the vertical direction on the outer surface of the reactor pressure vessel 1, and a point of this base bubble trajectory 4, that is, Between the base machine 5 disposed at the reference point and the base machine 5 mounted on the trackless traveling unit 2 which is operated for various tasks at a position separated from the base machine 5. Handset 6 for detecting position based on distance and direction
First, to explain the reference trajectory 4, which has a basic configuration consisting of the following, the reference trajectory 4
guides the main unit 5 horizontally or vertically along the outer surface of the reactor pressure vessel l.

It is used to set a reference point, and in the example shown in FIG. 1, it is equipped with a rack that engages with a pinion (not shown) of the parent machine 5 in order to move the new machine 5 up and down.

The rotation of the pinion is detected with an encoder, etc., and the reference trajectory 4 is
Any position can be set as a reference point.

Next, in the master unit 5, a turntable 8 is rotatably provided on a base 7 that is supported by a reference track 4 and moves, and between the base 7 and the turntable 8,
A drive motor 9. A worm 10. In order to rotate the turntable 8 at a low speed, for example, at an angular velocity of about 2.5″/sec.
A rotary drive mechanism consisting of a wheel 11, etc., an encoder 12 for detecting the rotation angle of the turntable 8 with a resolution of, for example, O, Ql, and a rotation angle of the turntable 8? 270" and compared with the output signal of the rotary encoder 12, the master unit 5
A limit switch 13 for detecting its own direction is provided on the four-turn table 8, and an arbitrary rotation angle is set to 0° when stopped on the reference trajectory 4 (I- :/with a part of the table 8 facing vertically) At this time, a - tally encoder] Vertical sensor 14 used to use the output signal of 2 as a reference angle, and the azimuth for detecting the azimuth of the slave unit 6. Light receiving section 15 forming part of the sensor
and -f of the distance sensor that detects the distance etc. on the handset 61.
A sonic wave generator 16 that has a lSf configuration and emits ultrasonic waves of, for example, 1 megaH2, and a sound wave is received at a position a certain distance (for example, 100 parrots) away from this sonic wave generator 16, and its arrival time is used as a reference value. A calibration receiver 17 is provided for each. The optical reference center point of the light receiver 15 and the sound generation center point of the sound wave generator 16 are preferably set at a required height (for example, 20,011 m) above the reference point, that is, the rotational center line of the turntable 8. If there is any positional deviation, it is corrected by the base 7 or an external control unit (such as a central processing unit) based on the mechanical positional deviation and the angle detection signal from the rotary encoder 12. However, in the following explanation, in order to simplify the explanation, it will be assumed that the orientation sensor, the distance sensor, and the rotation center of the turntable 8 coincide as shown in FIG. 3.

On the other hand, the slave device 6 is provided with a base 18 that is attached integrally with the trackless running device 2, and a turntable 19 is rotatably provided on the base 18. Between,
Drive motor 20 for rotating turntable 19
．． Warm 21. A rotary drive mechanism consisting of a wheel 22 and the like, and a potentiometer 23 for detecting the rotational position of the turntable 19 and using the detection signal to direct a specific part of the turntable 19 to the base unit 5 are provided. On top of the turntable 19 is the main unit 5.
A light emitter 24 that generates a laser beam or the like to constitute an orientation sensor together with a light receiver 15;
Rotating lighthouse 25 to support 4g rotatably? For example, 3110 Or, p on the rotation center line of the turntable 19.
, m, the ninth drive motor 26. A high-speed rotating ffIk structure consisting of a belt 27, a boot II 2B, 29, etc., a nine-thorn mirror 30 mounted on the top of one light emitter 24, and a sound wave generator 16 of the main unit 5 constitute a distance sensor. Depending on the arrival time of the sound wave, the main unit 5
4m sound receiver 31 for calculating the distance to the reference point of
and are provided respectively. The optical center point of the light emitter 24 and the sound receiving center point of the sound wave receiver 31 are preferably set at a required height above the rotational center line of the turntable 19 (for example, 200111 as in the case of the main unit), and if there is a misalignment, is corrected to the extent of the previous example. In the following explanation, it will be assumed that it is on the center line as shown in FIG.

Next, to explain the reason why the required height of the direction sensor and distance sensor is set to, for example, 200m, the first
As shown in the figure, the reactor pressure vessel 1 is cylindrical, so
When detecting the slave unit 6 with the parent unit 11*5 on the outer e side,
The detection range is limited by fluoroscopy. That is, if the diameter of the reactor pressure vessel 1 is 6.5ta, and the distance between *i5 and the slave unit 6 is 2.3S, that is, if each Senna is installed at a height of about 200mm, Master unit 5 and child Il! The circumferential distance from 6 is 2.
You will be restricted within 3 deceptions. Note that there is no particular restriction in the height direction.

In addition, when the distance between the base unit 5 and the child t86 is limited to within 2.3 corners, and if the distance and direction are to be detected with an error of 1 mm or less, the resolution required for the distance and direction sensor is as follows. Become.

"Distance sensor" Sound waves have a clear waveform and excellent rise characteristics.For example, 1 megahertz (111i) I7) ultrasonic waves are applied, and the sound wave receiver 31 detects where D) the first wave is. If the performance is such that the detection error is lX
The distance that a sound wave travels in 1 second is 15 degrees Celsius.
When , 340XIXlO-'=3.4X10-'FB=0.3
4 It becomes a deception. In this case, regarding the calibration receiver 17,
On the committee that detects the standard sound wave arrival time.

In one embodiment, accuracy is achieved by detecting mutual zero crossing points immediately after the first wave or second wave of the sound wave exceeds the threshold level of the field f. Please select as appropriate. In addition, the sound wave generator 1
6 and calibration receiver 17% The sound wave transmission time of the sound wave generator IG and the sound wave receiver 31 is 2 o 5ii, respectively.
11t using i and IMH measurement a-ts as reference.
The above error range can be satisfied by measuring, etc.

"Azimuth sensor" As mentioned above, the light receiver 15 has an angular resolution of 0.0.
1', a collimator, etc. is used, but if the distance is 2300FJ, the deflection will be.

Therefore, the error can be kept to 1 u or less.

Note that the photoreceiver 15 is not limited to a collimator; for example, a one-dimensional semiconductor device detector such as a high-performance original conversion element can be applied.

In this case, the position of the optical slot F moving linearly is 1it1f.
(r) is output as a continuous electrical signal, and the photocurrent is divided proportionally according to the electric charge at both ends of the element (t) and the distance of the spot, so that the spot position can be detected over a range of, for example, 34 cm.

An example of use of the position detection device for a travel unit having such a configuration will be described below.

“Setting the base fishing point”? & A single track 4 is arranged on the outer surface of the reactor pressure vessel 1 as shown in FIG. Then, the position of the handset 6 will be detected below.

"Setting the turntable" The rotation angle is based on the position where the vertical sensor 14 operates when the turntable 8 of the parent t(! This will be detected by the encoder 12.

"Setting the orientation of the slave unit" Ultrasonic waves are transmitted from the sonic wave generator 16 of the base unit 5.

While rotating the turntable 19 of the slave unit 6.

The position where the sound wave receiver 31 faces the sound wave generator 16 is found based on, for example, the strength of the sound wave. At this time, if the performance of the microphone of the sound wave receiver 31 is within the effective range of 30 degrees as shown in FIG. Since the most sensitive part is detected at the center, the rotation angle of the turntable 190 at this time is read by the potentiometer 23, and the distance is detected by the sound wave reception signal at this rotation angle. Alternatively, the range in which ultrasonic waves can be detected is detected by the potentiometer 23,
It is also possible to calculate the center and detect the distance at this rotation angle, or alternatively, the turntable 19 of the slave unit 6 may be rotated intermittently to find the direction of the base unit 5. .

"Measurement of Distance" When the sonic wave generator 16, the calibration receiver 17, and the sonic wave receiver 31 are each in operation, the arrival time of the sound wave under arbitrary atmospheric conditions near the surface of the reactor pressure vessel 1 determines the following:
The facing distance between the master unit 5 and the slave unit 6 can be detected with high accuracy without being affected by temperature, air density, etc. That is, if the sound wave transmission time to the calibration receiver 17 is ftT, the sound wave transmission time to the sound wave receiver 31 of the child unit 6 is TI, and the distance to the calibration receiver 17 is L8, then the sound wave reception is 8!31 The distance to, that is, the distance to slave unit 6 @L□ is.

You can simply fill it with . Note that the speed of sound in air at room temperature increases or decreases by approximately 0.6 islands for every 1°C change in temperature.
However, an error of about 0.181/'O occurs.

By using the calibration receiver 31 to remove surrounding shadows, distance detection can be performed without this error.

The operation of the sound wave generator 16 is performed intermittently in consideration of the convenience of measuring the sound wave transmission time, but the time interval is adjusted depending on the traveling speed of the trackless traveling unit 2. It is.

"Direction Measurement" With the light emitter 24 and the light receiver 15 each in operation, the 11-rotation lighthouse 25t rotates at a high speed of about 3000 rpm, so that the laser beam irradiates the light receiver 15 at intervals of about 50 times per second.

At this time, the light receiver 15 on the turntable 8, which is being rotated at a low speed, is accurately connected to one of the mirrors 3 of the light emitter 24.
By detecting the rotation angle at the moment when it faces the rotary encoder 1z.

The direction of the handset 6 can be set. Note that the rotary encoder 12 has an angular resolution of, for example, 2 when the angular resolution is 0.01'.
Approximately 0 bits are applied.

"Sonic wave receiver fine V@adjustment" A device that can instantly and accurately detect the position of the vehicle (2) by measuring the distance at the same time as the direction is measured. However, as the traveling unit 2 moves, it is also expected that the direction of the sonic wave receiver 31 of the handset 6 will gradually deviate from the wave generator 16.

In this case, the direction measurement by the rotary encoder 12 of the base unit 5 is performed sequentially, so that the direction of the sonic wave receiver 31 does not fall outside its effective range.

A correction signal is transmitted to the potentiometer 23 based on the detection data of the orientation, and the drive motor 20 and the like are operated intermittently to sequentially correct the orientation.

"Driving of parent +95" For example, the turntable 8 of +95 initially reverses the direction of rotation, that is, swings, and in the middle of the swing, the light receiver 15 is emitted) and the device 24. We are trying to make sure to create a moment when the child e6 is accurately facing (directly facing), but once the orientation of the child e6 is detected by 'f1 degrees, that detection data can be used, so the floating range is reduced. It is possible to carry out continuous detection by shortening the time interval of distance detection by advancing the time interval, or by swinging it within the effective reception range of the acoustic wave receiver.

Note that the arrangement of each sensor is not limited to one embodiment, and the arrangement of the light emitters 24.
Photoreceiver 15. Sound wave generator 16. The arrangement of the acoustic wave receiver 31 etc. can be reversed.

1) According to the present invention, the following effects are achieved.

■ Sound waves are used to measure distance, and light and light are used to measure direction.
By using a laser beam or the like, the position of the traveling unit on a non-planar surface such as the surface of a nuclear reactor pressure vessel can be detected with an error accuracy of, for example, about one inch.

(2) By rotating the light receiver and measuring the direction along the way, it is possible to detect the moment when the master unit and slave unit face each other, thereby improving the accuracy of position detection and expanding the one-position detection range.

■ By matching the timing of intermittent detection by the direction sensor and the detection timing of the distance sensor.

Instantaneous position detection is facilitated, and the position of a traveling unit in a moving state can be detected and tracked intermittently.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a partially cutaway external perspective view of an example of application to a nuclear reactor pressure vessel, FIG. 2 is a model diagram of the relationship between the parent unit and slave units, and FIG. Figures (A) and (B) are perspective views of the master unit 5 and slave unit, and Fig. 4 is an explanatory diagram of the required heights of the direction sensor and distance sensor. 1... Nuclear reactor pressure vessel, 2... Trackless running Enitz F, 3... Position detection device, 4...
... Reference orbit, 5 ... Base unit, 6 ...
Slave unit, 7... Base, 8... Turntable, 9... Drive motor, 12...
Rotary encoder, 15...Receiver, 16
...Sound wave generator, 17...Calibration receiver, 1B...Pace. 19...Turntable%20...m
<Dynamic motor. 23...Potentiometer, 24...
Light emitter, 25... Rotating lighthouse, 2G...
Ml motion-e-ta, 30...1 tube mirror, 31
...Sonic wave receiver. Applicant Ishikawajima Harima Heavy Industries Co., Ltd. Agent Patent Attorney Masaki Shiga ゛)ゝ・, :L,
,,; 3rd @ 23 Fig. 4

Claims (1)

[Claims] It is equipped with a master unit that is positioned above the base point, and a slave unit that is mounted on a moving body that is moved at a position apart from the base unit, and a sound wave generator is installed on one of the base unit and the slave unit. , the other is provided with a sonic receiver for detecting the entire transmission time of the sound waves from the sonic wave generator and calculating the separation distance, and one of the parent unit and the slave unit is provided with a light emitting device, and the other is provided with a light emitting device from the light emitting device. 1. A position detection device for a travel unit, etc., characterized in that a light receiver is provided to calculate the direction based on the arriving light of the vehicle.