JP2017218325A - Information collection device, article management system using the same, and winding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information collection device capable of acquiring image data on all articles stored in a warehouse or the like without having to consider capacity and weight of a battery.SOLUTION: An information collection device 10 can be moved at least in a horizontal direction and in a vertical direction, and includes an information collection unit 70 and a base unit 20, the information collection unit 70 and the base unit 20 being connected by a cable 42. It is preferable that the information collection unit 70 can fly and move three-dimensionally. It is preferable to transfer the image data acquired by an information collection member 76 to the base unit 20 through the cable 42, and execute processing of the image data by the base unit 20. It is preferable that the base unit 20 is provided with a power source and power is supplied to the information collection unit 70 through the cable 42. It is preferable that the base unit 20 is provided with a winding device 40.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information collection apparatus, an article management system that manages inventory of articles using the information collection apparatus, and a cable winding apparatus.

  Conventionally, as a method for inventory management of articles, the number of articles is initially recorded on a database, such as a method of counting the number of articles completely manually or an apparatus described in Patent Document 1, For example, a method may be used in which the number of articles is automatically counted using a machine each time an article is taken out, and the number taken out is subtracted from the original number.

  However, when the data is tabulated manually, a lot of man-hours are required, which increases labor costs. On the other hand, in the method of sequentially subtracting the number extracted from the initial number, an error occurs with a certain probability, and the error may be accumulated.

  Therefore, if the inventory of goods can be totaled using a machine at regular intervals, these problems can be solved.

International Publication No. 2010/101095

  By the way, in recent years, unmanned aerial vehicles called “drones” have begun to spread. The drone is provided with a plurality of rotor blades, flies while maintaining a horizontal posture, and can move and stop three-dimensionally in the air (so-called hovering). The present inventors have come to the knowledge that an unmanned aerial vehicle such as a drone can be used for inventory management of articles, and have made extensive studies. As a result, it has been found that by installing an information collection device such as a camera in a drone, an article stored in a warehouse or the like can be photographed and its image data can be acquired. In addition, it has been found that by processing the image data acquired in this way, the number of stored articles by type, that is, the inventory of articles can be aggregated.

  Here, after further examination, there is a certain limit to the drone's flightable time, so it is necessary to take some measures in terms of flightable time in order to use it for inventory management of goods. It came to knowledge. Specifically, the flying time of the drone increases as the capacity of the battery increases, and decreases as the weight of the load mounted on the drone such as a battery increases. On the other hand, the weight of the battery increases as the capacity increases. Therefore, there is a certain limit on the drone's flightable time, and depending on the size of the warehouse that stores the items, image data of all items may not be acquired, and inventory may not be aggregated. . That is, in order to make it possible to use an unmanned flying device such as a drone as an information collecting device used for inventory management of articles, a member such as a camera (information collecting member) used for photographing a moving device such as an unmanned flying device. It has been found that it is necessary to solve the contradictory problem of enabling the information collection unit to operate for a long time while reducing the weight of the information collection unit equipped with.

  The present invention has been made in view of such a problem. The information collection unit is provided over an extended period of time while reducing the weight of the information collection unit on which the information collection member used for photographing is mounted on the mobile device. An object is to provide an operable information collecting apparatus. It is another object of the present invention to provide an article management system capable of reliably managing inventory of articles by using this information collecting apparatus. Furthermore, it is a cable winding device that can be applied to this information collecting device, and does not cause twisting of the cable when winding or feeding the cable connecting the information collecting unit and the base unit. An object of the present invention is to provide a winding device that can maintain the durability of a cable.

  An information collection device of the present invention provided to solve the above-described problem is capable of moving at least in the horizontal direction and the vertical direction, and includes an information collection unit including an information collection member, and a base capable of following the information collection unit. The information collection unit and the base unit are electrically connected by a cable, and the information collection unit moves the information collection unit along the article to be photographed, and the information collection member It is possible to collect the information of.

  The information collecting apparatus of the present invention is movable in the horizontal and vertical directions, and is separated into an information collecting unit having an information collecting member and a base unit. It can be changed flexibly. For example, when it is required to secure the operating time, the weight can be reduced by providing a battery with a large capacity in the base unit. Further, according to the present invention, it is possible to minimize the manpower required for information collection, and to contribute to the efficiency and labor saving of information collection work.

  In the information collection apparatus of the present invention described above, the information collection unit may be capable of flying and three-dimensional movement.

  According to such a configuration, it is not necessary to provide a large-scale device for moving the information collection unit, and the information collection device can be operated even if the place for storing the articles is small.

  In the information collecting apparatus of the present invention described above, it is preferable that the information collecting unit is constituted by a drone.

  According to such a configuration, it is possible to fly while keeping the posture of the information collecting unit horizontal, and to move and stop three-dimensionally (hover) in the air. As a result, a high-quality image can be obtained.

  The information collection device of the present invention described above may be capable of transferring data acquired by the information collection member to the base unit via the cable.

  According to such a configuration, data processing and storage can be performed in the base unit or a personal computer connected to the base unit by wire or wireless. Thereby, simplification and weight reduction of a structure of an information collection unit can be achieved. When the information collecting unit is capable of flying, the weight of the information collecting unit can be made lighter and cheaper by reducing the weight of the entire information collecting unit.

  In the information collecting apparatus of the present invention described above, it is preferable that the base unit is provided with a power source, and power is supplied to the information collecting unit via the cable.

  According to such a configuration, it is possible to supply power to the information collecting unit from the battery provided in the base unit electrically connected by the cable. Since the base unit moves on the floor surface, even if the weight of the battery increases in order to sufficiently increase the capacity, there is no problem as in the case where the battery is provided in the flightable information collection unit. Therefore, it is possible to secure a sufficient operation time, acquire image data of all articles accommodated in a warehouse or the like so as to be photographed, and reliably count the inventory of the articles.

  In the information collecting apparatus of the present invention described above, the base unit is preferably a self-propelled unit that includes a control device and can be self-propelled based on the control of the control device.

  According to such a configuration, the movable range of the information collection unit can be extended within the range in which the base unit can self-run without being limited to the range of the cable connecting the base unit and the information collection unit.

  In the information collecting apparatus of the present invention described above, it is preferable that the base unit includes a winding device capable of winding and unwinding the cable.

  According to such a configuration, even when the distance between the base unit and the information collection unit changes, it is possible to prevent a large slack from occurring in the cable, and to suppress the occurrence of troubles such as the cable becoming tangled. it can.

  In the information collecting apparatus of the present invention described above, the winding device is operated in conjunction with a fixed shaft that is fixed so as not to rotate, a wheel shaft member that is rotatable with respect to the fixed shaft, and the wheel shaft member. An intermediate winding mechanism, and the wheel shaft member includes a first columnar member and a second columnar member having a shorter outer circumference than the first columnar member, and the cable is The first fixing portion on the first columnar member side and the second fixing portion on the fixed shaft side are fixed, and the second fixing portion is provided between the first and second fixing portions. The cable can be wound and unwound with respect to the columnar member and the fixed shaft, and the intermediate winding mechanism operates in conjunction with the rotation of the first columnar member, whereby the second columnar shape The cable extended from one of the member and the fixed shaft is connected to the other It to be attached can may be characterized in.

  According to such a configuration, the cable does not distort even when the cable is repeatedly drawn and wound, so that the durability of the cable can be maintained. In addition, since it is not necessary to provide a rotating contact or the like for eliminating twisting in the cable, it is possible to suppress deterioration in the quality of the electrical signal transmitted from the information collecting unit to the base unit via the cable. Furthermore, the winding device can be made compact.

  In the information collecting apparatus of the present invention described above, the intermediate winding mechanism has a rotating member that is rotatable in conjunction with the wheel shaft member, and the cable is connected to the rotating member in the relay portion. The cable is wound from one of the second columnar member and the fixed shaft by rotating the rotating member in conjunction with winding and unwinding of the cable in the first columnar member. While being fed out, it may be wound around the other.

  According to this configuration, the cable that is fed from one of the second columnar member and the fixed shaft can be smoothly wound around the other by the turning member that is rotatable in conjunction with the wheel shaft member.

  In the information collecting apparatus of the present invention described above, the rotating member is in the same direction as the wheel shaft member, provided that the second columnar member and the fixed shaft have the same diameter, and the wheel shaft member rotates twice. It is desirable to rotate once.

  According to such a configuration, it is possible to provide an information collection device including an optimum winding device from the viewpoint of suppressing twisting of the cable.

  The inventory management system of the present invention, which is provided to solve the above-described problem, collects article information by the above-described information collection device, acquires article information data, and uses the acquired article information data to collect the article information. It is characterized by counting the quantity.

  According to such a configuration, the quantity of articles can be easily aggregated from the acquired article information data. Thereby, the manpower required for inventory management can be suppressed to the minimum, and it can contribute to the efficiency and labor saving of inventory management work.

  The above-described inventory management system of the present invention can acquire image data obtained by photographing an article as the article information data, and identifies the article using identification information attached to the article included in the image data. It is desirable that the quantity of the articles is totaled.

  According to such a configuration, the quantity of articles can be totaled based on the identification information of articles specified from image data acquired as article information data. This makes it possible to acquire more accurate information regarding the inventory of articles.

  The winding device of the present invention provided to solve the above-described problem includes a fixed shaft that is fixed so as not to rotate, a wheel shaft member that is rotatable with respect to the fixed shaft, and an interlock with the wheel shaft member. An intermediate winding mechanism that operates, the wheel shaft member includes a first columnar member, and a second columnar member having a shorter outer circumference than the first columnar member, and the cable The second fixing portion is fixed at the first fixing portion on the first columnar member side and the second fixing portion on the fixing shaft side, and the second portion is provided at the relay portion provided between the first and second fixing portions. The cable can be wound and unwound with respect to the columnar member and the fixed shaft, and the intermediate winding mechanism is operated in conjunction with the rotation of the first columnar member. The cable fed from one of the columnar member and the fixed shaft is the other The wound is characterized in.

  According to such a configuration, the cable does not distort even when the cable is repeatedly drawn and wound, so that the durability of the cable can be maintained. In addition, since it is not necessary to provide a rotating contact or the like for eliminating twisting in the cable, it is possible to suppress deterioration in the quality of the electrical signal transmitted from the information collecting unit to the base unit via the cable. Furthermore, the winding device can be made compact.

  In the winding device of the present invention described above, the intermediate winding mechanism has a rotating member that is rotatable around the fixed shaft in conjunction with the wheel shaft member, and the cable includes the relay portion. The second columnar member and the fixed shaft are rotated by the rotation of the rotating member in conjunction with the winding and unwinding of the cable in the first columnar member. The cable may be drawn out from one side and wound around the other side.

  According to this configuration, it is possible to smoothly wind the cable fed from one of the second columnar member and the fixed shaft around the other by the turning member that can turn in conjunction with the wheel shaft member. A winding device can be provided.

  In the winding device of the present invention described above, the rotating member is in the same direction as the wheel shaft member, provided that the second columnar member and the fixed shaft have the same diameter, and the wheel shaft member rotates twice. It is desirable to rotate once.

  According to such a configuration, it is possible to provide a winding device including an optimal winding device from the viewpoint of suppressing twisting of the cable.

  In the winding device of the present invention described above, the diameter of the second columnar member and the diameter of the fixed shaft are in a relationship of 1: x, and the wheel shaft member rotates (1 + x). It is desirable that the moving member makes one rotation in the same direction as the wheel shaft member.

  According to such a configuration, it is possible to provide a winding device including an optimum winding device from the viewpoint of suppressing twisting of the cable, regardless of the ratio of the diameter of the second columnar member and the diameter of the fixed shaft.

  In the winding device of the present invention described above, the rotating member rotates in the same direction as the rotating direction of the wheel shaft member, and the winding diameter of the cable wound around the second columnar member and the fixing It is desirable that the angular velocity of the rotating member is 1 / (1 + y) of the angular velocity of the wheel shaft member when the winding diameter of the cable wound around the shaft has a 1: y relationship.

  According to this configuration, even when the winding diameter of the cable wound around the second columnar member and the fixed shaft changes, the winding provided with the optimum winding device from the viewpoint of suppressing the twisting of the cable. Equipment can be provided.

  The winding device of the present invention described above includes a winding diameter deriving device for deriving the winding diameter, the rotating member, and the rotating member so that the angular velocity of the rotating member changes following the change in the winding diameter. It is desirable to have a control device capable of controlling the rotation speed of the second columnar member.

  According to such a configuration, even when the winding diameter of the cable wound around the second columnar member and the fixed shaft changes, the rotating member and the second columnar member follow the change in the winding diameter. Can be changed at any time. Thereby, even if it is a case where the change of a winding diameter has to be considered, the winding apparatus which can suppress twisting of a cable can be provided.

  In the winding device of the present invention described above, the rotating member may include an arm that can rotate in conjunction with the wheel shaft member.

  According to the present invention, it is possible to provide an information collection device capable of operating an information collection unit for a long time while reducing the weight of an information collection unit on which an information collection member used for photographing is mounted on a mobile device. Further, by using this information collection device, it is possible to provide an article management system capable of reliably managing inventory of articles. Furthermore, it is a cable winding device that can be applied to this information collecting device, and does not cause twisting of the cable when winding or feeding the cable connecting the information collecting unit and the base unit. A winding device that can maintain the durability of the cable can be provided.

It is a schematic block diagram of the information collection device which concerns on one Embodiment of this invention. It is a perspective view of the winding device concerning one embodiment of the present invention. It is explanatory drawing for demonstrating the principle which concerns on winding and unwinding of the cable in the winding apparatus shown in FIG. It is explanatory drawing for demonstrating the principle which concerns on winding and unwinding of the cable in the winding apparatus shown in FIG. It is the graph which showed the relationship between the angular velocity of the pulley in the winding apparatus shown in FIG. 2, and the angular velocity of the 2nd columnar member. It is an external appearance perspective view of the storage shelf which accommodates articles | goods, and shows the application state of the inventory management system which concerns on this invention. It is a schematic block diagram of the other information collection apparatus applicable to the inventory management system which concerns on this invention, and shows the application state to the inventory management system which concerns on this invention.

  Hereinafter, an information collection device and a winding device according to an embodiment of the present invention will be described in detail with reference to the drawings.

1. Configuration of Information Collection Device According to One Embodiment of the Present Invention FIG. 1 is a schematic configuration diagram of an information collection device according to one embodiment of the present invention. As shown in the figure, the information collecting apparatus 10 includes a base unit 20 and an information collecting unit 70, and the base unit 20 and the information collecting unit 70 are electrically connected by a cable 42. The information collecting apparatus 10 can collect information about the subject by the information collecting member 76 provided in the information collecting unit 70 while moving the information collecting unit 70 along the article or the like that is the subject.

  The base unit 20 incorporates a plurality of wheels 22 and a battery 24. Since at least one wheel 22 is driven by a motor (not shown) fed from the battery 24, the base unit 20 can freely move on the floor surface. That is, the base unit 20 includes a self-propelled mechanism including wheels 22 and a motor. Further, the base unit 20 has a built-in control device 26, and the operations of the base unit 20 and the information collecting unit 70 can be controlled by setting the control device 26 in advance. That is, the base unit 20 can self-run by operating the self-running mechanism described above under the control of the control device 26.

  The information collecting unit 70 includes a main body 72 and a predetermined number (four in this embodiment) of rotor blades 74, flies while maintaining a horizontal posture, and moves and stops three-dimensionally in the air ( It is composed of an unmanned flying device capable of so-called hovering. The information collecting unit 70 can be configured by a radio-controlled helicopter or the like, but is configured by a drone in the present embodiment. The main body 72 of the information collection unit 70 includes an information collection member 76. The information collecting member 76 may be any member that can collect various types of information such as images, sounds, and temperatures. In the present embodiment, a photographing device such as a digital camera or a digital video camera is used. Yes. Image data acquired by the information collecting member 76 is transmitted to the base unit 20 via the cable 42. The base unit 20 transmits the received image data to the server 80 by wireless communication. The information collecting unit 70 is supplied with power from the battery 24 of the base unit 20 via the cable 42.

  Since the base unit 20 moves on the floor surface, the information collection device of this embodiment accommodates a battery that is heavy, that is, a battery with a large capacity, compared to the case where the battery is housed in the flying information collection unit 70 itself. can do. Therefore, a battery having a sufficient capacity according to the use of the information collecting apparatus 10 can be accommodated. When the information collecting apparatus 10 is not used, the base unit 20 is preferably set so that it is automatically connected to a charging unit (not shown) connected to an external power source and is charged by the battery 24. The base unit 20 may be connected to an external power source via an electric wire instead of incorporating a battery as a power source.

  Further, the base unit 20 has a built-in winding device 40, and the cable 42 can be fed and wound from a feeding hole 44 provided on the upper surface of the base unit 20. As the winding device 40, various types of conventionally known types may be used. For example, it is desirable that the winding device 40 be described in detail later. By using the winding device 40 to be described later, the cable 42 is drawn out or wound up according to the position of the information collecting unit 70, so that there is no more slack than necessary and the cable 42 is entangled. Can be suppressed.

  The main body 72 of the information collection unit 70 can be provided with an auxiliary device for assisting information collection by the information collection member 76. For example, when a photographing device such as a camera is used as the information collecting member 76 as in the present embodiment, it is preferable to provide an illumination device that can irradiate light in the photographing direction of the information collecting member 76. In this case, image data with sufficient brightness can be acquired by irradiating light with the illumination device even when the subject to be photographed is dark. As the illumination device, for example, a light source such as an LED can be applied. Next, the configuration of the winding device 40 will be described.

2. Configuration of Winding Device According to One Embodiment of the Present Invention FIG. 2 is a perspective view of a winding device according to one embodiment of the present invention. The winding device 40 is rotatably connected to the columnar fixed shaft 46 having one end fixed to the inner surface of the frame constituting the outer periphery of the base unit 20, the intermediate winding mechanism 47, and the fixed shaft 46. A wheel shaft member 52 is provided.

  In the wheel shaft member 52, a first columnar member 54 and a second columnar member 56 are integrally formed. The second columnar member 56 has a shorter outer circumference than the first columnar member 54 and has the same axial direction as the first columnar member 54. In the present embodiment, the first columnar member 54, the second columnar member 56, and the fixed shaft 46 are all cylindrical and are arranged so that the axes are on the same straight line. The first columnar member 54 has a larger diameter than the second columnar member 56, and the second columnar member 56 and the fixed shaft 46 have the same diameter. The shapes of the first columnar member 54, the second columnar member 56, and the fixed shaft are not limited to a columnar shape, and may be a prismatic shape. Further, the first columnar member 54 and the second columnar member 56 do not have to have the axes on the same straight line.

  The intermediate winding mechanism 47 operates in conjunction with the wheel shaft member 52, thereby winding the relay portion 40 b of the cable 42 around the portion extended from one of the second columnar member 56 and the fixed shaft 46. Mechanism. The intermediate winding mechanism 47 has an arm 48 that is rotatable in conjunction with the wheel shaft member 52.

  The arm 48 is rotatably connected to the other end of the fixed shaft 46. The arm 48 is provided with a pulley 50 (rotating member, projecting member) at a portion away from a portion connected to the fixed shaft 46. In the present embodiment, the pulley 50 has a cylindrical shape that is the same as the second columnar member 56 in the axial direction, protrudes on both sides of the arm 48, and slidably contacts the bottom surface of the first columnar member 54. Yes. The pulley 50 only needs to extend from the arm 48 toward the first columnar member 54, and there may be no portion extending in the direction away from the first columnar member 54 of the arm 48 shown in FIG. 2. Further, the pulley 50 does not necessarily have to be attached to the arm 48, and any pulley can be used as long as it can rotate around the fixed shaft 46 in conjunction with the wheel shaft member 52. Also good.

  The intermediate winding mechanism 47 includes a power transmission mechanism (not shown) for rotating the arm 48 in the same direction in conjunction with the rotation of the wheel shaft member 52. The power transmission mechanism provided in the intermediate winding mechanism 47 can rotate the arm 48 so that the angular velocity of the arm 48 with respect to the wheel shaft member 52 is 1 / n. That is, in the intermediate winding mechanism 47, when the wheel shaft member 52 rotates n times, the arm 48 rotates once in the same direction. In the present embodiment, the intermediate winding mechanism 47 is configured such that when the wheel shaft member 52 rotates twice, the arm 48 rotates once in the same direction.

  In the winding device 40, the cable 42 is wound around each of the first columnar member 54 and the second columnar member 56 of the wheel shaft member 52 and the fixed shaft 46. In order to prevent the wound cable 42 from falling off, the first columnar member 54 is preferably provided with a ridge. The cable 42 has one end connected to the information collecting unit 70 and the other end connected to the control device 26. The control device 26 is connected to the battery 24. A portion (fixed portion 42 a) between one end of the portion wound around the first columnar member 54 of the cable 42 and one end of the portion wound around the second columnar member 56 is on the bottom surface of the first columnar member 54. It is fixed. A portion between the portion of the cable 42 wound around the second columnar member 56 and the fixed shaft 46 is wound around the pulley 50 of the arm 48. Hereinafter, the part wound around the second columnar member 56 and the fixed shaft 46 of the cable 42 and the part wound around the pulley 50 of the arm 48 are collectively referred to as a relay part 42b. In addition, the end portion (fixed portion 42 c) of the cable 42 on the side of the control device 26 that is wound around the fixed shaft 46 is fixed to the fixed shaft 46. As described above, the cable 42 can be wound and unwound with respect to the second columnar member 56 and the fixed shaft 46 at the relay portion 42b provided between the fixed portions 42a and 42c.

  The cable 42 is wound around the first columnar member 54 and the second columnar member 56 in the same direction, and is wound around the fixed shaft 46 in the opposite direction. The arrows in FIG. 2 indicate the rotation direction of the wheel shaft member 52 and the arm 48 when the cable 42 is drawn out.

  When the cable 42 is extended, the wheel shaft member 52 is rotated in the direction of the arrow in FIG. At this time, the cable 42 is fed out from the first columnar member 54, and the relay portion 42 b of the cable 42 wound around the second columnar member 56 is fed out toward the pulley 50 that rotates together with the arm 48. The relay portion 42 b fed out from the second columnar member 56 is wound around the fixed shaft 46 by the pulley 50.

  An urging member (not shown) is provided between the second columnar member 56 of the wheel shaft member 52 and the fixed shaft 46, and urges the wheel shaft member 52 to rotate in the winding direction of the cable 42. . For example, a spring can be used as the urging member. The urging force by the urging member is set to a magnitude that does not hinder the movement of the information collection unit 70 when the cable 42 is pulled by the information collection unit 70.

  Here, as described above, in the winding device 40 according to the present embodiment, when the wheel shaft member 52 rotates twice, the arm 48 rotates once in the same direction. The second columnar member 56 and the fixed shaft 46 have the same diameter. Therefore, the length of the relay portion 42 b that is fed out from the fixed shaft 46 and the length of the relay portion 42 b that is wound around the second columnar member 56 are the same. Therefore, the length of the portion of the relay portion 42b of the cable 42 that is hung on the pulley 50 of the arm 48 is constant.

  When winding the cable 42, the wheel shaft member 52 is rotated in the direction opposite to the arrow direction in FIG. At this time, the cable 42 is wound around the first columnar member 54, the cable 42 is fed out from the fixed shaft 46 by the rotating arm 48, and the cable 42 fed out from the fixed shaft 46 is transferred to the second columnar member 56. Wrapped. Even when the cable 42 is wound, the length of the portion of the relay portion 42b of the cable 42 that is hung on the pulley 50 of the arm 48 is constant.

  The principle relating to the winding and unwinding of the cable in the winding device 40 will be described in more detail with reference to FIG. In the present embodiment, the second columnar member 56 and the fixed shaft 46 have the same diameter. However, in FIG. 3, for convenience of illustration, the fixed shaft 46 has a larger diameter than the second columnar member 56. Indicated by a circle. In the drawing, symbols indicated by triangles or squares are marks provided to help understanding the rotation state of the fixed shaft 46 and the second columnar member 56.

  Here, as shown in FIG. 3A, it is assumed that the second columnar member 56 and the fixed shaft 46 are juxtaposed, and the pulley 50 is disposed between them, and the fixed shaft 46 is a rotatable shaft. Suppose it is a body. In this case, when the cable 42 wound around the second columnar member 56 is to be wound around the fixed shaft 46 side, the fixed shaft 46 is rotated clockwise as indicated by an arrow in the drawing, and the first The second columnar member 56 needs to be rotated counterclockwise.

  3B, the fixed shaft 46 is folded back to the second columnar member 56 side at the position where the pulley 50 is provided, and the fixed shaft 46 and the second columnar member 56 Are superimposed so as to be concentric. In that case, in order to wind up the cable 42 wound around the second columnar member 56 to the fixed shaft 46 side as described in FIG. ), It is necessary to sequentially rotate the fixed shaft 46 and the second columnar member 56 in the opposite direction by the same angle, as indicated by arrows, triangles, and squares in the figure.

  FIGS. 3C to 3G show an example in which the cable 42 fed out from the second columnar member 56 is wound around the fixed shaft 46 on the assumption that the fixed shaft 46 is rotatable. Actually, as described above, the fixed shaft 46 is not rotatable. Therefore, in order to wind the cable 42 fed out from the second columnar member 56 to the fixed shaft 46 side while fixing the fixed shaft 46, as shown in FIGS. The columnar member 56 is rotated in the feeding direction of the cable 42 (counterclockwise in the illustrated example), and the pulley 50 is rotated in the same direction as the second columnar member 56, so that the second columnar member 56 is rotated with respect to the fixed shaft 46. The cable 42 fed out from the member 56 needs to be wound. Since the fixed shaft 46 and the second columnar member 56 have the same diameter, the pulley 50 is halved around the fixed shaft 46 and the second columnar member 56 while the second columnar member 56 rotates once. By rotating, the cable 42 fed out from the second columnar member 56 can be wound around the fixed shaft 46.

  The cable 42 fed out from the second columnar member 56 by rotating the pulley 50 in conjunction with the second columnar member 56 without rotating the fixed shaft 46 based on the principle described above. Can be wound around the fixed shaft 46.

  In the present embodiment, since the fixed shaft 46 and the second columnar member 56 have the same diameter, the pulley around the fixed shaft 46 and the second columnar member 56 while the second columnar member 56 rotates once. 50 is configured to rotate 1/2 (that is, the angular velocity ratio between the second columnar member 56 and the pulley 50 is 2: 1). However, when the fixed shaft 46 and the second columnar member 56 have different diameters, the length of the cable 42 fed out from one of the second columnar member 56 and the pulley 50 and the cable 42 wound around the other. It is necessary to optimize the angular velocity ratio between the second columnar member 56 and the pulley 50 so as to balance the length of the second columnar member 56 and the pulley 50.

  Here, in the example shown in FIG. 3A, it is assumed that the diameter of the second columnar member 56 and the diameter of the fixed shaft 46 are in a 1: x relationship, and the fixed shaft 46 is rotatable. In this case, considering the rotation angle with the counterclockwise direction being positive in the drawing, the pulley 50 rotates 0 times and the fixed shaft 46 rotates-(1 / x) when the second columnar member 56 rotates once. It will be. When the rotation amount of (1 / x) is added to each as an offset value in order to rotate the entire system, the fixed shaft 46 rotates 0 times, the pulley 50 rotates (1 / x), and the second columnar member 56 1+ (1 / x) rotation. That is, the second columnar member 56 can be rotated by an amount corresponding to (1 / x) rounds in order to wind the cable 42 that is fed out by rotating the second columnar member 56 once around the outer periphery of the fixed shaft 46.

  Next, the case where the diameter of the second columnar member 56 and the diameter of the fixed shaft 46 are in a relationship of 1: x will be specifically described with reference to FIG. FIG. 4 shows a case where x = 2, and the following description will be made in the same manner as in the case of x = 1 shown in FIG.

  As shown in FIG. 4A, it is assumed that the second columnar member 56 and the fixed shaft 46 are juxtaposed, and the pulley 50 is disposed between them, and the fixed shaft 46 is a rotatable shaft body. Assume that In this case, when the cable 42 wound around the second columnar member 56 is to be wound around the fixed shaft 46 side, the fixed shaft 46 is rotated clockwise as indicated by an arrow in the drawing, and the first The second columnar member 56 needs to be rotated counterclockwise. At this time, the rotation amount of the second columnar member 56 is x times the rotation amount of the fixed shaft 46, that is, twice, so that when the second columnar member makes one rotation, the fixed shaft 46 as described above. Means that the rotation is -1/2 (pulley 50 is 0 rotation).

  4B, the fixed shaft 46 is folded back toward the second columnar member 56 at the position where the pulley 50 is provided, and the fixed shaft 46, the second columnar member 56, Are superimposed so as to be concentric. In that case, in order to wind up the cable 42 wound around the second columnar member 56 to the fixed shaft 46 side as described in FIG. 4A, in FIGS. As indicated by arrows, triangles, and quadrilateral symbols in the figure, as the fixed shaft 46 is sequentially rotated, it is necessary to rotate the columnar member 56 in the opposite direction by x times, that is, twice the angle. FIGS. 4C to 4I show a state in which the fixed shaft 46 is rotated by 30 ° in the clockwise direction and the second columnar member 56 is rotated by 60 ° in the counterclockwise direction. Figure

  4 (c) to (i) show an example in which the cable 42 fed out from the second columnar member 56 is wound around the fixed shaft 46 on the assumption that the fixed shaft 46 is rotatable. Actually, as described above, the fixed shaft 46 is not rotatable. Therefore, in order to wind the cable 42 fed out from the second columnar member 56 to the fixed shaft 46 side while fixing the fixed shaft 46, as shown in FIGS. 4 (j) to (p), the second columnar shape is used. The member 56 is rotated in the feeding direction of the cable 42 (counterclockwise in the illustrated example), and the pulley 50 is rotated in the same direction as the second columnar member 56, whereby the second columnar member is rotated with respect to the fixed shaft 46. It is necessary to wind the cable 42 drawn out from 56. 4 (j) to 4 (p) show a state where the second columnar member 56 is rotated 90 ° counterclockwise and the pulley 50 is rotated 30 ° counterclockwise with the fixed shaft 46 fixed. And correspond to FIGS. 3C to 3I, respectively. That is, in FIGS. 4J to 4P, the rotation amount of 1 / x (= 1/2) of the rotation amount of the second columnar member 56 is set in the states shown in FIGS. 4C to 4I, respectively. It is added as an offset value.

  In the example shown in FIG. 4, the diameter of the fixed shaft 46 is x times the diameter of the second columnar member 56, that is, twice, so that the second columnar member 56 rotates once with the fixed shaft 46 fixed. In the meantime, by rotating the pulley 50 around the fixed shaft 46 and the second columnar member 56 1 / (1 + x), that is, 1/3 rotation, the cable 42 fed out from the second columnar member 56 is fixed to the fixed shaft. Can be wrapped around. When the second columnar member 56 makes one rotation from the state shown in FIG. 4 (j), the state shown in FIG. 4 (n) is obtained, and it can be seen that the pulley 50 is rotated 1/3.

  Based on this principle, when the value of the ratio of the diameter of the second columnar member 56 and the diameter of the fixed shaft 46 is an arbitrary value x including 1, the second shaft 56 can be rotated without rotating the fixed shaft 46. By interlocking with the columnar member 56, the pulley 50 is rotated at an angular velocity that is 1 / (1 + x) of the angular velocity of the second columnar member, whereby the cable 42 fed out from the second columnar member 56 is fixed to the fixed shaft. 46 can be wound around.

  Here, assuming that the diameter of the second columnar member 56 is determined based on the bending limit of the cable 42, x ≧ 1, and the rotation of the second columnar member 56 is the maximum value when x = 1. (1+ (1/1) = 2), and twisting of the cable 42 in the relay portion 42b can be most effectively suppressed. On the contrary, when x is infinite, the pulley 50 approaches the limit as much as possible, and the second columnar member 56 can perform only one rotation. Therefore, as in the present embodiment, the second columnar member 56 and the fixed shaft 46 have the same diameter, and the angular velocity ratio of the second columnar member 56 and the pulley 50 is 2: 1. It is considered optimal from the viewpoint of suppressing twisting of the sheet.

The length of the cable 42 wound around the second columnar member 56 and the fixed shaft 46 is preferably set to a length that allows the entire amount of the cable 42 wound around the first columnar member 54 to be drawn out and wound up. Specifically, in a state where the cable 42 is accommodated in the base unit 20 as much as possible, the diameter of the first columnar member 54 is d1, the diameter of the second columnar member 56 is d2, and the first columnar member 54 When the length of the wound portion is L1, the length L2 of the portion of the relay portion 42b of the cable 42 that is wound around the second columnar member 56 is expressed by the following equation (1).
L2 ≧ (d2 / d1) × L1 (1)

  For example, when a 4 m cable is wound around the first columnar member 54 having a diameter of 25 cm and the diameters of the second columnar member 56 and the fixed shaft 46 are 2.5 cm, L1 = 4 m, d1 = 25 cm, d2 = 2. Since the length is 5 cm, the length L2 of the portion wound around the fixed shaft 46 in the relay portion 42b is 40 cm or more from the above equation (1).

  Here, since the fixed shaft 46 does not rotate, the cable 42 is fixed to the fixed shaft 46 from the end connected to the control device 26 of the cable 42 even when the cable 42 is fed out and wound up from the first columnar member 54. In the portion up to the fixing portion 42c, no twisting or twisting occurs, and the durability of the cable 42 is not impaired.

  Further, when the cable 42 is fed out and wound from the first columnar member 54, the relay portion 42b of the cable 42 is fed out and wound between the fixed shaft 46 and the second columnar member 56. However, twisting or twisting does not occur in this portion, and damage to the cable 42 is suppressed.

  Here, as a winding device in which the cable is not twisted or twisted even if it is unwound and wound, a device in which a sliding contact is provided in a part of the cable has been conventionally used (for example, Japanese Utility Model Publication 62-62). (See 19321). When such a sliding contact type winding device is applied to the information collecting device according to this embodiment, an electrical signal such as image data transmitted through the cable due to noise generated when the contact slides. May cause problems. In the winding device according to the present embodiment, a physically and electrically continuous cable having no sliding contact is used, so that there is no possibility of causing an electrical signal failure unlike the sliding contact type winding device.

2-1. When Considering Changes in Winding Diameter As described with reference to FIGS. 3 and 4, the second columnar member 56 depends on the ratio of the diameter of the second columnar member 56 and the diameter of the fixed shaft 46. The ratio value of the angular velocity of the pulley 50 and the angular velocity of the pulley 50 changes. Here, in the description using FIG. 3 and FIG. 4, even if the cable 42 moves between the second columnar member 56 and the fixed shaft 46, the cable 42 between the second columnar member 56 and the fixed shaft 46. It was assumed that the winding diameter of the wire did not change or that the change in the winding diameter was within a negligible range. Specifically, when the cable 42 is wound in a winding form while sequentially moving the cable 42 in the axial direction of the second columnar member 56 and the fixed shaft 46 so that the cables 42 do not overlap, When the change in the winding diameter is sufficiently small with respect to the diameter of the columnar member 56 or the fixed shaft 46, the change in the winding diameter can be ignored. However, the cable 42 moves between the second columnar member 56 and the fixed shaft 46 depending on the size and shape of the second columnar member 56 and the fixed shaft 46, the length and shape of the cable 42, the winding form, and the like. Accordingly, the winding diameter of the cable 42 at the second columnar member 56 and the fixed shaft 46 may change, or the change in the winding diameter may change to a level that cannot be ignored. Here, “winding diameter” refers to the diameter of the cable 42 wound around the second columnar member 56 or the fixed shaft 46.

  The case where these winding diameters change is considered by applying the description using FIG. 3 and FIG. 4 described above, and the winding diameter of the cable 42 in the second columnar member 56 and the winding diameter of the cable 42 in the fixed shaft 46. However, at the time when the relationship is 1: y, the pulley 50 is rotated at an angular velocity of 1 / (1 + y) of the angular velocity of the second columnar member, so that the cable fed out from the second columnar member 56 It can be seen that 42 can be wound around the fixed shaft 46. When the winding diameter changes, the value of y changes. When the cable 42 is not wound around the second columnar member 56 or the fixed shaft 46, the diameter of the second columnar member 56 or the fixed shaft 46 is regarded as the winding diameter.

  Such control of the rotation speed of the pulley 50 can be realized, for example, as follows. First, the pulley 50 and the second columnar member 56 are rotated by independent motors. Each motor can set the rotational speed to an arbitrary angular speed by the control device. Then, the winding diameter of the cable 42 at the second columnar member 56 and the winding diameter of the cable 42 at the fixed shaft 46 are measured by a measuring instrument (winding diameter deriving device), and the pulley is driven by the control device based on the measurement result. The angular velocity of 50 is controlled to 1 / (1 + y) of the angular velocity of the second columnar member 56. Specifically, as shown in FIG. 5, the relationship between the angular velocity of the pulley 50 (denoted as θ1 in the drawing) and the angular velocity of the second columnar member 56 (denoted as θ2 in the drawing) is θ1 = {1 / The rotation is controlled so that (1 + y)} × θ2. The measurement of the winding diameter may be performed using any measuring device, but it is preferably by mechanical sensing, particularly by an optical measuring method.

3. Configuration of Inventory Management System According to One Embodiment of the Present Invention FIG. 6 is an external perspective view of a storage shelf that stores articles, and shows an application state of the inventory management system according to the present invention. The storage shelf 100 shown in the figure is a so-called open rack, and is provided with four horizontal shelves in the vertical vertical direction, and the front surface is open. The top shelf of the storage shelf 100 has nine articles ABC102a, the second shelf from the top has seven articles DEF102b, two in two, the third shelf from the top has six articles GHI102c, In the bottom row, one article ABC102a, two articles DEF102b, and three articles GHI102c are arranged. That is, in the storage shelf 100, the article ABC102a, the article DEF102b, and the article GHI102c are arranged in a wall shape in the vertical vertical direction and the horizontal horizontal direction. Hereinafter, the article ABC 102a, the article DEF 102b, and the article GHI 102c are collectively referred to as the article 102. The article 102 can be, for example, a medicine stored in a box.

  An article name and identification information corresponding to the article are printed on one of the packaging box surfaces of the article ABC 102a, the article DEF 102b, and the article GHI 102c. In the storage shelf 100, each article is arranged such that the surface on which the article name and identification information are printed is the front face. FIG. 6 shows an example in which a barcode is used as the identification information of the article 102. The identification information is not limited to the barcode, and other one-dimensional code, two-dimensional code, or the like may be used.

  In the inventory management system according to the present embodiment, the above-described information collection device is used. When the inventory of the articles 102 stored in the storage shelf 100 shown in FIG. 6 is managed by the inventory management system according to the present embodiment, the information collection device 10 shown in FIG. Shooting is performed so that the entire front surface of the storage shelf 100 is photographed.

  An example of setting and operation of the information collecting apparatus 10 will be described. First, the information collecting apparatus 10 is set in a standby state, the information collecting unit 70 is arranged on the base unit 20, and the base unit 20 is moved together with the information collecting unit 70 to the left end toward the front surface of the storage shelf 100. Hereinafter, “left” and “right” in the storage shelf 100 mean directions toward the storage shelf 100 as shown in FIG.

  Next, the information collection unit 70 is separated from the base unit 20 and flies vertically upward, and a still image of the storage shelf 100 is taken while moving the information collection unit 70 horizontally from the left end of the uppermost stage. At the same time, the base unit 20 is also moved in the right direction.

  When the information collection unit 70 and the base unit 20 reach the right end, the storage shelf 100 is photographed while being lowered to the height of the next lower shelf and moving horizontally from the right end of the shelf to the left. When it reaches the left end, it is further lowered to a lower level, and shooting is performed in the same manner. This operation is performed from one end of the lowermost stage to the other end until still image capturing is completed. When the movement of the information collecting unit 70 and the base unit 20 and the photographing of the still image are completed, the information collecting unit 70 returns to the base unit 20 and the base unit 20 returns to the leftmost standby position together with the information collecting unit 70.

  At each level of the storage shelf 100, one or a plurality of still images are taken so that image data of the entire still image of each level can be obtained while being moved horizontally. The number of still images taken is set based on the width and height of the shelf and the angle of view of the information collecting member 76 provided on the main body 72 of the information collecting unit 70.

  The image data acquired by the information collection member 76 of the information collection unit 70 is transmitted to the base unit 20 via the cable 42 and further transmitted from the base unit 20 to the server 80. The server 80 may be so-called on-premises or provided on the cloud.

  The server 80 synthesizes a full-width image for each stage of the storage shelf 100 from the image data. The server 80 acquires the identification information of the article at each stage from the synthesized image, totals the number of articles for each type of the storage shelf 100, and stores it in the database in the server 80. In the present embodiment, the number of articles ABC102a, the number of articles DEF102b, and the number of articles GHI102c are counted as nine. The aggregation of articles may be performed not only for the entire storage shelf 100 but also for each stage of the storage shelf 100. Further, the identification and tabulation of the article 102 may be performed using character information attached to the surface of the article 102 in addition to the identification information of the image data.

  Note that the synthesis of the image data may be performed by the image data processing unit provided in the information collecting apparatus 10 instead of the server 80. In this case, the image data processing unit may be provided in either the information collection unit 70 or the base unit 20. However, providing the base unit 20 can reduce the weight of the information collecting unit 70. When the image data processing unit is provided in the information collecting apparatus 10, the combined image data is transmitted from the base unit 20 to the server 80.

  In the above-described method, by moving the base unit 20 as well, the information collecting unit 70 can be moved to a range that cannot be reached even if the cable 42 is extended to the limit with the base unit 20 fixed, and is stored in a wide range. Inventory management of the finished goods can be performed. Note that the base unit 20 does not need to be moved if the storage range of the articles is a range in which the information collecting unit 70 can be moved even when the base unit 20 is fixed.

  Further, for example, when a large number of storage shelves 100 are arranged in a warehouse, the passage between the storage shelves 100 is set so that the base unit 20 moves, and the information collecting unit 70 that moves in accordance with the base unit 20 moves. It sets so that the above-mentioned imaging | photography may be performed about each storage shelf 100. FIG. In this case, the counting of the number of articles by type may be performed for each storage shelf 100 or for each stage of the storage shelf 100 as well as the whole.

  The inventory management system according to the present embodiment is preferably operated in a time zone in which a person does not enter the vicinity of the storage shelf 100 in order to suppress the occurrence of malfunction due to contact between the information collecting apparatus and the person.

  In addition to the above-described method for combining the still images of each stage of the storage shelf 100, there are the following methods as a method for counting the articles. When the information collecting unit 70 of the information collecting apparatus 10 is moved from one end of the storage shelf 100 to the other end, the image data acquired by the information collecting member 76 is sequentially transferred to the server 80, and the server 80 stores the storage shelf 100. Are scanned from one end to the other end of each stage, and the identification information of the article 102 is detected. Thereby, the types and number of articles 102 in each stage can be totaled.

  Further, the information collecting apparatus 10 may be configured to acquire image data on the floor surface. In this case, even if there is an obstacle on the floor and the base unit 20 is not set to operate so as to avoid the obstacle, the control unit 26 of the base unit 20 acquires the obstacle. The obstacle can be detected from the image data thus obtained, and the base unit 20 can be moved so as to avoid the obstacle.

  FIG. 7 is a schematic configuration diagram of another information collection apparatus applicable to the inventory management system according to the present invention, and shows an application state of the inventory management system according to the present invention. In the inventory management system according to the present embodiment, an information collection device having a flightable information collection unit as shown in FIG. 2 is used. However, as the information collecting device, for example, as shown in FIG. 7, the two columnar bodies 110 arranged in the vertical direction facing the front surface of the storage shelf and the columnar body 110 are connected to the columnar body 110. A horizontal rod 112 that can be moved up and down, an information collection unit 70 that is connected to the horizontal rod 112 and is movable in the horizontal direction with respect to the horizontal rod 112, and a base unit that is connected to the information collection unit 70 and the cable 42 It is also possible to use the information collecting apparatus 10 comprising 20.

  The column 110 is threaded on the surface, and a motor is provided on the bottom. As the column 110 is rotated by the motor, the horizontal rod 112 moves up and down. Further, the surface of the horizontal rod 112 is also threaded, and the main body 72 moves in the horizontal direction with respect to the horizontal rod 112 by rotating a motor provided inside the main body 72.

  The base unit 20 incorporates an information collecting member, a driving battery, and the like, and image data acquired by the information collecting member is transmitted to the server by wireless communication. Even when such an information collecting apparatus 10 is used, the inventory management system according to the present invention can be implemented.

  In this embodiment, although the example using the apparatus which drive | works a floor surface as the base unit 20 was shown, this invention is not limited to this. Specifically, the base unit 20 can be various moving devices that move on the water, the ceiling, or the like.

  In the present embodiment, an example in which a photographing apparatus such as a camera is used as the information collecting member 76 has been mainly described, but the present invention is not limited to this. Specifically, an apparatus for collecting various information such as an infrared sensor, a microphone, and a human sensor can be used as the information collecting member 76.

  In the present embodiment, the example in which the information collection device 10 is used for inventory management such as inventory is shown, but the present invention is not limited to this. Specifically, the information collection device 10 can be applied to home care or the like by using the information collected by the information collection member 76 in order to watch over the care recipient.

  In the present embodiment, an example in which the winding device 40 is applied to the information collecting device 10 has been described. However, the present invention is not limited to this, and the winding device 40 can be used alone or in another device. May be used. In the present embodiment, the winding device 40 is provided on the base unit 20 side. However, the present invention is not limited to this and may be provided on the information collection unit 70 side.

  The present invention can be suitably used in general photographing of articles and general inventory management of articles.

DESCRIPTION OF SYMBOLS 10 Information collection device 20 Base unit 22 Wheel 24 Battery 26 Control device 40 Winding device 42 Cable 42a Cable part 42b Cable relay part 42c Cable part 44 Feeding hole 46 Fixed shaft 48 Arm 50 Pulley (protruding member, rotating member) )
52 wheel shaft member 54 first columnar member 56 second columnar member 70 information collecting unit 72 main body 74 rotor blade 76 information collecting member 80 server 100 storage shelf 102 article 102a article ABC
102b Article DEF
102c Article GHI
110 Column body 112 Horizontal fence

Claims (14)

An information collecting unit that is movable at least in the horizontal and vertical directions and includes an information collecting member;
A base unit capable of following the information collection unit;
The information collection unit and the base unit are electrically connected by a cable,
An information collecting apparatus characterized in that information on the article can be collected by the information collecting member while moving the information collecting unit along the article to be collected.   The information collecting apparatus according to claim 1, wherein the information collecting unit is capable of flying and capable of three-dimensional movement.   The information collecting apparatus according to claim 1, wherein the information collecting unit is configured by a drone.   4. The information collecting apparatus according to claim 1, wherein data acquired by the information collecting member can be transferred to the base unit via the cable. 5.   5. The information collecting apparatus according to claim 1, wherein the base unit includes a power source, and supplies power to the information collecting unit via the cable.   The said base unit is provided with the control apparatus, It is a self-propelled unit which can be self-propelled based on control of the said control apparatus, The any one of Claim 1 to 5 characterized by the above-mentioned. The information collection device described.   The information collecting device according to any one of claims 1 to 5, wherein the base unit includes a winding device capable of winding and unwinding the cable. A fixed shaft fixed so as not to rotate, and
A wheel shaft member rotatable with respect to the fixed shaft;
An intermediate winding mechanism that operates in conjunction with the wheel shaft member;
The wheel shaft member includes a first columnar member and a second columnar member having a shorter outer circumference than the first columnar member,
The cable is fixed at the first fixing portion on the first columnar member side and the second fixing portion on the fixed shaft side, and in the relay portion provided between the first and second fixing portions, the cable The cable can be wound and unwound with respect to the second columnar member and the fixed shaft,
When the intermediate winding mechanism operates in conjunction with the rotation of the first columnar member, the cable fed out from one of the second columnar member and the fixed shaft is wound around the other. Winding device. The intermediate winding mechanism has a rotating member that is rotatable around the fixed shaft in conjunction with the wheel shaft member,
The cable is hung around the rotating member in the relay section;
When the rotating member rotates in conjunction with the winding and unwinding of the cable in the first columnar member, the cable is unrolled from one of the second columnar member and the fixed shaft, and the other The winding device according to claim 8, wherein the winding device is wound around.   The rotating member rotates once in the same direction as the wheel shaft member on the condition that the second columnar member and the fixed shaft have the same diameter and the wheel shaft member rotates twice. The winding device according to 9.   On the condition that the diameter of the second columnar member and the diameter of the fixed shaft are in a 1: x relationship and the wheel shaft member rotates (1 + x), the rotating member is in the same direction as the wheel shaft member. The winding device according to claim 9, wherein the winding device rotates once.   The rotating member rotates in the same direction as the rotation direction of the wheel shaft member, and the winding diameter of the cable wound around the second columnar member and the winding diameter of the cable wound around the fixed shaft. 10. The winding device according to claim 9, wherein the angular velocity of the rotating member is 1 / (1 + y) of the angular velocity of the wheel shaft member at a time when and are in a 1: y relationship. A winding diameter deriving device for deriving the winding diameter;
The rotation member and a control device capable of controlling the rotation speed of the second columnar member so that the angular velocity of the rotation member changes following the change in the winding diameter. The winding device according to claim 12.   The winding device according to any one of claims 8 to 13, wherein the rotating member is supported by an arm that is rotatable in conjunction with the wheel shaft member.

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