JP2018111340A - Monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring device that is able to monitor a facility safely and securely by using a flying movable body.SOLUTION: A monitoring device 10 comprises a traveling movable body 20, a flying movable body 30, and a flexible wiring part 50 formed from a plurality of conductors mechanically and electrically connecting them. The traveling movable body comprises: a traveling control part that drives and controls the traveling part; a processing part; a power source part; and an indicator easily visible from above. The flying movable body comprises: a flying control part that controls a driving part; an imaging part for monitoring; a tracking device; and a power supply part that supplies power to the driving part, the flying control part, the imaging part, and the tracking device. The power supply part is connected to a power source part via the wiring part. In order to ensure long time for which flying is allowed, power is supplied from the power source part. A range in which three-dimensional flying around the traveling movable body is limited by a length of the wiring part. The flying control part detects a position relative to the traveling movable body on the basis of a detection signal from the indicator detected by the tracking device and controls the driving part so as to track the indicator of the travel movable body within the range of the length of the wiring part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a monitoring device for performing monitoring in a range up to a certain height over a wide range such as a chemical plant, a steel mill, a huge warehouse, a commercial facility, and the like.

In general, in large facilities such as chemical plants, steelworks, huge warehouses, commercial facilities, etc., from the viewpoint of facility management, inspection, and security, there are regular observers day and night to monitor the facilities. We patrol to see if there is an abnormal situation in the plant or monitor the intrusion of a suspicious person.
Such a monitoring work may be difficult to see at night or the like when the location to be monitored is at a high position and is difficult to see from the ground. In addition, there are places where it is difficult for humans to enter the place to be monitored, and it is sometimes difficult to perform monitoring completely.
Furthermore, it may be dangerous in some cases with respect to the part to be monitored, and it is desirable to perform unattended monitoring.

On the other hand, in recent years, so-called drones that can be remotely controlled have become widespread. And monitoring work using this drone attracts attention, and in some cases, it is being put into practical use in inspection of structures such as bridges.
Therefore, if such drone can be used to monitor in a vast facility, the time required for monitoring can be reduced, and a place where people are difficult to access can be monitored safely and reliably. And labor costs can be reduced.

However, there are several problems when using drones to monitor large facilities.
First, during the monitoring process, a situation may occur where the drone becomes unmanageable. Due to such inability to fly, the drone may fly in a place where the drone should not fly, or the drone may crash, and in some cases, part of the facility may be damaged or destroyed. Therefore, it is difficult to use a drone for monitoring facilities such as plant facilities.

Further, in order to ensure the flight performance and maneuverability of the drone, it is desirable to make the power supply battery as small as possible. However, there is a problem that the drone's flightable time is shortened due to the miniaturization of the power supply battery.
At present, in the case of a drone having a flight performance suitable for monitoring such facilities, the flight time is limited to about several tens of minutes. For this reason, in order to monitor the plant facilities and the like, it is necessary to land the drone every tens of minutes and replace the power supply battery. Therefore, the use of such a drone is not practical in, for example, a plant facility that requires one hour or more in one monitoring operation.

  In view of the above, an object of the present invention is to provide a monitoring apparatus that can perform a facility monitoring operation safely and reliably using a flying mobile body.

  According to the first configuration of the present invention, the object is to provide a flexible structure comprising a traveling vehicle, a flying vehicle, and a plurality of conductors that mechanically and electrically connect the traveling vehicle and the flying vehicle. The traveling mobile body is a traveling unit for traveling on the ground, a traveling control unit for driving and controlling the traveling unit, a processing unit, a power supply unit, and an easily visible from above. A driving unit that rotationally drives a rotor or the like, a flight control unit that controls the driving unit, an imaging unit for monitoring, a tracking device, a driving unit, and a flight control unit A power supply unit for supplying power to the imaging unit and the tracking device, and the power supply unit is connected to the power supply unit of the traveling mobile body via the wiring unit, so as to ensure a long flight time. 3D centered on the traveling moving body depending on the length of the wiring section The flight range is limited, and the flight control unit detects the position of the traveling moving body based on the detection signal of the sign detected by the tracking device, and tracks the traveling mobile object within the length of the wiring unit. Thus, it is achieved by a monitoring device, characterized by controlling the drive.

According to the above configuration, the traveling mobile body travels on the ground of the area to be monitored, and the flying mobile body flies over the area to be monitored. At that time, the flying mobile body tracks the sign of the traveling mobile body. To detect the movement and follow the movement of the traveling moving body. As a result, the imaging unit of the flying mobile body images the sky above the area to be monitored, and the imaging data is transmitted to the processing unit of the traveling mobile body via the wiring unit and processed. Monitoring by images is performed.
Therefore, for example, in a facility to be monitored such as a plant, it is possible to surely monitor a part that involves danger or a part that cannot be approached by humans, and the imaging unit performs imaging using infrared rays. By doing so, it is possible to reliably perform monitoring even at a place where it is difficult for a human to perform direct visual recognition at night or the like.

  Here, the flying mobile body has a power supply that can be mounted on a conventional flying mobile body by supplying power from the power supply section of the traveling mobile body via the wiring section to the drive unit, the flight control unit, the imaging unit, and the tracking device. Compared with the section, the operable time is significantly increased. Therefore, for example, the monitoring work by the present monitoring apparatus in a large facility is continuously performed over a long period of time without being interrupted by battery replacement or charging work of the power supply unit on the way, and work efficiency is improved. The working time can be greatly shortened while greatly improving.

  Furthermore, since the flying mobile body is mechanically connected to the traveling mobile body via the wiring section, even if the flying mobile body becomes uncontrollable, it will fly in any direction as it is. The flight range is regulated by the length of the wiring portion without being continued. Therefore, it is surely excluded that the flying mobile body that has become uncontrollable enters the flight prohibited area or damages part of the facility to be monitored due to a crash or the like.

  Further, if the image data captured by the image capturing unit is transmitted to the processing unit of the traveling mobile unit via the wiring unit, the image data is processed in real time by the processing unit of the traveling mobile unit, for example, on the monitor screen. It is possible to display. Therefore, it is possible to confirm the monitoring image in real time on the traveling mobile body side.

  According to the second configuration of the present invention, the object is to provide a flexible structure comprising a traveling vehicle, a flying vehicle, and a plurality of conductors that mechanically and electrically connect the traveling vehicle and the flying vehicle. The traveling mobile body is a traveling unit for traveling on the ground, a traveling control unit for driving and controlling the traveling unit, a processing unit, a power supply unit, and an easily visible from above. A travel control unit of the travel mobile unit controls driving of the travel unit based on preset travel route data, and the flight mobile unit drives the rotor and the like to rotate. A flight control unit that controls the imaging unit, a monitoring imaging unit, a tracking device, a drive unit, a flight control unit, an imaging unit, and a power feeding unit that feeds power to the tracking device. By connecting to the power source of the traveling mobile body via In order to maintain the power supply unit, the length of the wiring unit limits the three-dimensional flight range centered on the traveling moving body, and the flight control unit detects the detection signal of the sign detected by the tracking device. This is achieved by a monitoring device characterized in that the position of the traveling mobile body is detected based on this and the drive section is controlled to track the traveling mobile body within the range of the length of the wiring section.

According to the above configuration, the traveling mobile object travels on the ground in the area to be monitored by traveling on the travel route set in advance, and the flying mobile object flies over the area to be monitored. The moving body detects the sign of the traveling moving body with the position detector, and follows the movement of the traveling moving body.
As a result, as in the first configuration of the present invention described above, the imaging unit of the flying mobile body performs image monitoring of the area to be monitored by imaging the sky above the area to be monitored. When the flying mobile body is supplied with power from the power supply unit of the traveling mobile body, a long flightable time is ensured, and a monitoring operation for a long time can be continuously performed.
Furthermore, since the flying mobile body is mechanically connected to the traveling mobile body via the wiring section, even if the flying mobile body becomes uncontrollable, the flying mobile body is inadvertently located somewhere. It doesn't fly away or crash and destroy some of the facilities that should be monitored.

  According to the third aspect of the present invention, the object is to provide a flexible structure comprising a traveling vehicle, a flying vehicle, and a plurality of conductors that mechanically and electrically connect the traveling vehicle and the flying vehicle. A traveling unit for traveling on the ground, a traveling control unit for driving and controlling the traveling unit, a power supply unit, and a sign that is easily visible from above. The flying mobile body includes a drive unit that rotationally drives the rotor and the like, a flight control unit that controls the drive unit, an imaging unit for monitoring, a tracking device, a position detection unit, a drive unit, and flight control. A power supply unit that supplies power to the power supply unit of the traveling mobile body through the wiring unit, and thus a long flightable time. Power is supplied from the power supply unit to secure the vehicle, and the traveling moving body is determined by the length of the wiring unit. The three-dimensional flight range that is the center is limited, the flight control unit of the flight mobile unit controls the drive unit based on the flight path data set in advance, and the position detection unit of the flight mobile unit uses the GPS One geodetic data is detected and sent to the processing unit of the traveling mobile unit via the wiring unit, and the traveling mobile unit includes a second position detecting unit that detects second geodetic data by GPS, The traveling control unit of the traveling mobile unit compares the first geodetic data and the second geodetic data and controls the traveling unit to drive the flying mobile unit within the range of the length of the wiring unit. This is achieved by a monitoring device characterized in that it follows.

According to the above configuration, the flying mobile body flies over the area to be monitored by flying the flight path set in advance, and the traveling mobile body travels on the ground in the area to be monitored. The mobile body follows the movement of the flying mobile body by comparing the second geodetic data detected by the second position detection unit with the first geodetic data of the flying mobile body.
Thereby, similarly to the first configuration of the present invention described above, the imaging unit of the flying mobile body images the sky above the area to be monitored, thereby performing three-dimensional monitoring of the area to be monitored. At that time, when the flying mobile body is supplied with power from the power supply unit of the traveling mobile body, a long flightable time is ensured, and a monitoring operation for a long time can be continuously performed.
Furthermore, since the flying mobile body is mechanically connected to the traveling mobile body via the wiring section, even if the flying mobile body becomes uncontrollable, the flying mobile body is inadvertently located somewhere. It won't fly away or crash and destroy some of the facilities that should be monitored.

  According to the fourth configuration of the present invention, the object is to provide a flexible structure including a traveling mobile body, a flying mobile body, and a plurality of conductors that mechanically and electrically connect the traveling mobile body and the flying mobile body. Wiring section, and the traveling mobile body includes a traveling section for traveling on the ground, a traveling control section for driving and controlling the traveling section, a processing section, and a power supply section. The flying mobile unit is a drive unit that rotationally drives a rotor and the like, a flight control unit that controls the drive unit, an imaging unit for monitoring, a tracking device, a position detection unit, a drive unit, a flight control unit, and an imaging unit In order to ensure a long flight time by connecting the power supply unit to the power supply unit of the traveling mobile body via the wiring unit, Power is supplied from the power supply unit, and the three-dimensional centering on the traveling moving body is determined by the length of the wiring unit The flight range is limited, and the position detection unit of the flying mobile unit detects the first geodetic data by GPS and sends it to the processing unit of the traveling mobile unit. The traveling mobile unit receives the second geodetic data by GPS. And a flight control unit of the flying mobile body controls the drive unit based on the flight path data set in advance, and the first geodetic data and the second geodetic data. Comparing the geodetic data, detecting the relative position with respect to the traveling vehicle on the flight route, and following the flight route data when the flying vehicle is ahead of the traveling vehicle over a predetermined distance on the flight route The driving unit is controlled so as to interrupt the movement, and the traveling control unit of the traveling moving body controls the driving of the traveling moving unit based on the traveling route data set in advance, and the second geodetic data and the first Compare geodetic data Then, the relative position with respect to the flying mobile object on the travel route is detected, and the movement along the travel route data is interrupted when the travel mobile object is ahead of the flying mobile object over a predetermined distance on the travel route. As described above, the present invention is achieved by the monitoring device characterized in that the traveling unit is driven and controlled.

  According to the above configuration, the traveling vehicle should travel on the ground in the area to be monitored by traveling on the travel route set in advance, and should be monitored by flying on the flight route set in advance by the flying mobile body As the flying vehicle and the flying vehicle exchange GPS geodetic data and detect the relative position of each other, the flying vehicle or the traveling vehicle exceeds the predetermined distance. By stopping the movement along the flight route or the traveling route and staying at that position when preceding, the mutual distance can be reduced.

  In the monitoring device according to the present invention, preferably, the traveling mobile body includes a driving device, and when the operator operates the driving device, traveling route data is input from the driving device to the traveling control unit. According to this configuration, the traveling mobile body appropriately travels on the ground in the facility to be monitored by the operator operating the driving device, and the flying mobile body follows the movement of the traveling mobile body, By flying over the facility to be monitored, the facility can be monitored in three dimensions. At that time, since the operator can also monitor the facilities to be visually monitored, in addition to the automatic monitoring by the traveling mobile body and the flying mobile body, the visual monitoring by the operator is also performed, so that a more complete monitoring work can be performed. Can be performed.

  The monitoring apparatus according to the present invention is preferably configured separately from the traveling mobile body, and includes a remote monitoring unit that transmits traveling route data input by an operator's operation, and the traveling mobile body is a remote monitoring unit. A receiving device that receives the traveling data signal transmitted from the vehicle and sends it to the traveling control unit. According to this configuration, when the operator operates the remote monitoring unit, a travel data signal is transmitted from the remote monitoring unit to the travel control unit of the travel mobile unit, whereby the travel control unit of the travel mobile unit performs this travel operation. By driving and controlling the traveling unit based on the data signal, the traveling mobile body travels on the ground in the facility to be monitored by the operation of the operator, and the flying mobile body follows the movement of the traveling mobile body for monitoring. By flying over the facility to be operated, the facility can be monitored in three dimensions.

  When the flying vehicle of the monitoring device according to the present invention includes the first thermal sensor, the temperature of the facility to be monitored is detected by the first thermal sensor during the flight of the flying vehicle. Thermal anomalies in the range to be monitored by flight can be detected immediately.

  If the flying vehicle is equipped with the first odor sensor, the first odor sensor detects the odor of the facility to be monitored during the flight of the flying vehicle, so it should be monitored by the flight of the flying vehicle. Odor abnormalities due to gas leaks in the range can be detected immediately.

  When the traveling mobile body includes the second thermal sensor and the detection signal of the second thermal sensor is transmitted to the processing unit and processed, the second thermal sensor monitors during traveling of the traveling mobile body. By detecting the temperature of the facility to be transmitted and transmitting the detection signal to the processing unit, the processing unit of the traveling mobile unit can immediately detect a thermal abnormality in the range to be monitored by the traveling of the traveling mobile unit. .

  When the traveling mobile body includes the second odor sensor and the detection signal of the second odor sensor is transmitted to the processing unit and processed, the second odor sensor monitors during traveling of the traveling mobile body. By detecting the odor of the facility to be transmitted and transmitting the detection signal to the processing unit, the processing unit of the traveling mobile body immediately detects odor abnormality such as gas leakage in the range to be monitored by the traveling mobile body traveling can do.

  If the traveling mobile unit is provided with a microphone and the detection signal of the microphone is transmitted to the processing unit and processed, the microphone detects the sound of the facility to be monitored while the traveling mobile unit is traveling, and the detection signal Is transmitted to the processing unit, the processing unit of the traveling mobile unit can immediately detect an abnormal sound such as an explosion in a range to be monitored by the traveling of the traveling mobile unit.

  The traveling moving body includes a winding device for winding the wiring portion and a tension sensor for detecting the tension of the wiring portion, and the winding device determines the winding amount of the wiring portion based on the detection signal from the tension sensor. If the adjustment is made, when the distance between the traveling moving body and the flying moving body is shortened and the wiring section is slack, the tension of the wiring section is lowered. Therefore, the winding device performs wiring based on the detection signal from the tension sensor. Wind up the part to reduce the slack of the wiring part. As a result, the wiring portion is not entangled and the flight of the flying mobile body is not hindered. Further, when the flying mobile body is separated from the traveling mobile body and the tension of the wiring portion becomes high, the winding device unwinds the wiring portion based on the detection signal from the tension sensor and reduces the tension of the wiring portion. Cutting of the wiring part due to tension is prevented.

  The traveling mobile unit has a landing space for the flying mobile unit, and the flight control unit of the flying mobile unit controls the drive unit based on the detection signal of the sign from the position detecting unit, and When the flying mobile body is configured to land on the landing space, the flying mobile body is landed on the landing space of the traveling mobile body after, for example, the monitoring work is completed or when a malfunction occurs in the flying mobile body. Thereafter, the traveling mobile body and the flying mobile body move together as a result of traveling only by the traveling mobile body, and are brought to a storage or maintenance place, for example.

  The tracking device of the flying vehicle is a position detection camera, and the control unit of the flying vehicle detects the position of the sign of the traveling vehicle by image recognition based on the image signal detected by the position detection camera. When configured, the tracking device can detect the relative position of the sign of the traveling vehicle by image recognition from the image signal of the sign of the traveling object captured by the position detection camera.

  When the tracking device of the flying mobile body can no longer detect the sign of the traveling mobile body, if the winding device of the traveling mobile body winds up the wiring portion to a predetermined length, the flying mobile body can move the traveling mobile body. When it becomes impossible to follow, the winding device of the traveling mobile body winds the wiring portion up to a predetermined length, so that the flying mobile body is forcibly drawn near the traveling mobile body, and the position detection unit of the flying mobile body Since the traveling mobile body is relatively positioned within the detectable range, the position detector of the flying mobile body can detect the sign of the traveling mobile body.

  ADVANTAGE OF THE INVENTION According to this invention, the monitoring apparatus which enabled it to perform the monitoring operation | work of a facility safely and reliably using a flying mobile body can be provided.

It is the schematic which shows the whole structure of one Embodiment of the monitoring apparatus by this invention. FIG. 2 is a block diagram showing a configuration of a traveling mobile body in the monitoring device of FIG. 2A and 2B are side views, FIG. 2B is a plan view, and FIG. 2C is a bottom view. It is a block diagram which shows the structure of the flight mobile body in the monitoring apparatus of FIG. It is a block diagram which shows the structure of the remote monitoring part in the monitoring apparatus of FIG. It is explanatory drawing which shows the mutual position at the time of operation | movement in the 3rd mode in the monitoring apparatus of FIG.

Hereinafter, the present invention will be described in detail based on the embodiments shown in the drawings.
FIG. 1 shows the overall configuration of an embodiment of a monitoring apparatus according to the present invention.
In FIG. 1, a monitoring device 10 includes a traveling mobile body 20, a flying mobile body 30 configured separately from the traveling mobile body 20, and a wiring unit 50 that connects the traveling mobile body 20 and the flying mobile body 30. , Is composed of.

  As shown in FIGS. 2 and 3, the traveling mobile unit 20 includes a box-shaped main body 21, a traveling unit 22 provided at a lower portion of the main body 21, a traveling control unit 23 that drives and controls the traveling unit 22, and monitoring. It comprises a processing unit 24 for data processing, a transmission / reception unit 25, a storage unit 26, a large-capacity power supply unit 27, a sensor unit 28, and a wiring unit winding control device 29.

  As shown in FIGS. 3A and 3B, the main body 21 has a flat upper surface 21 a and is provided with a marker 21 b for recognition from the flying vehicle 30. Thus, the flying moving body 30 can detect the position of the traveling moving body 20 with the sign 21b as a target, and can land on the upper surface 21a.

As shown in FIGS. 2 and 3C, the traveling unit 22 includes four wheels 22a and drive motors 22b attached to the wheels 22a. As a result, each drive motor 22b is driven and controlled by the travel control unit 23, so that each wheel 22a is rotationally driven, and the travel moving body 20 travels in a predetermined direction by moving forward and backward or turning left and right.
The traveling unit 22 is not limited to the wheels 22a, and may be configured by other driving means such as an endless track.

Based on the travel route data 23a, the travel control unit 23 controls the drive motors 22b of the travel unit 22 to drive the wheels 22a independently to perform travel such as forward, backward, and left / right turning. Let it be done.
The travel data 23 a is directly input, or is set in advance and stored in the storage unit 26, or is acquired by being received from the outside via the transmission / reception unit 25 and input to the travel control unit 23.

  Flight monitoring data 39a (described later) is input from the flying moving body 30 to the processing unit 24 via the data line 52 of the wiring unit 50, and detection signals S1, S2, and S3 are received from the sensor unit 28 as described later. The monitoring data 24 f (described later) is generated from these and registered in the storage unit 26 or transmitted to the outside via the transmission / reception unit 25.

  The transmission / reception unit 25 transmits the monitoring data 24f generated by the processing unit 24 by wireless communication with a remote monitoring unit 60 provided outside, and is set in advance from the remote monitoring unit 60 as necessary. The travel route data 25 a or the flight route data 25 b is received and registered in the storage unit 26, or transmitted to the flight control unit 33 of the flying mobile body 30 through the data line 52 of the travel control unit 23 or the wiring unit 50.

  The storage unit 26 includes travel route data 23a received from an external management unit, flight monitoring data 39a (described later) transmitted from the flying vehicle 30, and detection signals S1, S2, and S3 from the sensor unit 28. Store sequentially. The flight monitoring data 39a and the detection signals S1, S2, and S3 from the sensor unit 28 are read out and processed by the processing unit 24.

  The large-capacity power supply unit 27 includes a power battery 27a and a transformer converter 27b. As the power battery 27a, a storage battery or a rechargeable secondary battery such as a lithium battery can be used, and a plurality of, for example, 100 power batteries that are normally mounted on the flying vehicle 30 are connected in parallel. . As such a power supply battery, for example, a lithium secondary battery of 14.8 V and 10000 mAH standard is used. Moreover, the power supply to each part in the traveling mobile body 20 may be directly supplied from the power supply battery 27a without passing through the following transformer converter 27b.

  The transformer converter 27b has a known configuration for boosting the voltage of the power supply battery 27a, and boosts the voltage 14.8V of the normally used power supply battery 27a to about 400V, for example. And the power supply line 51 of the wiring unit 50. By this boosting, it is possible to supply large electric power to the flying vehicle 30 even with a small current.

The sensor unit 28 includes three sensors, for example, a thermal sensor 28a, an odor sensor 28b, and a microphone 28c as a sound sensor in the illustrated case.
The thermal sensor 28 a is composed of, for example, an infrared sensor, and the detection signal S <b> 1 is sent to the processing unit 24. Accordingly, the processing unit 24 determines a thermal abnormality around the traveling mobile body 20 based on the detection signal S1 from the thermal sensor 28a, and generates a thermal abnormality occurrence signal 24a when it is determined as a thermal abnormality. .
The odor sensor 28b has a known configuration, detects ambient odor, and the detection signal S2 is similarly sent to the processing unit 24. As a result, the processing unit 24 determines an odor abnormality (for example, gas leakage) around the traveling mobile body 20 based on the detection signal S2 from the odor sensor 28b, and if the odor abnormality is determined, the odor abnormality occurs. A signal 24b is generated.
The microphone 28c has a known configuration, detects ambient sounds, and a detection signal S3 is sent to the processing unit 24. Thus, the processing unit 24 determines a sound abnormality (for example, explosion sound) around the traveling mobile body 20 based on the detection signal S3 from the microphone 28c. A signal 24c is generated.

  The wiring part winding control device 29 is configured as a so-called electric reel 29 a and is provided in a portion where the wiring part 50 is drawn into the main body 21 of the traveling mobile body 20. The wiring part winding control device 29 is provided with a tension sensor 29b for detecting the tension of the wiring part 50 on the electric reel 29a, and when the tension detected by the tension sensor 29b exceeds a predetermined upper limit value, The electric reel 29a is rotationally driven to operate to feed out the wiring portion 50. When the tension becomes zero, the electric reel 29a is rotationally driven to operate to wind up the wiring portion 50. Further, when receiving the winding command 24g from the processing unit 24, the wiring unit winding control device 29 operates to rotate the electric reel 29a and wind the wiring unit 50 to a predetermined length.

The flying vehicle 30 is a flying robot having a known configuration, and as shown in FIG. 4, a flying means 31 such as a rotor or a propeller for flying, and a drive motor or the like that rotationally drives the flying means 31. And a flight control unit 33 that controls the drive unit 32. In the illustrated case, four flying means 31 and four driving units 32 are provided.
Here, the flying moving body 30 has a relatively small body 34 having a height and width of about several tens of centimeters and a height of about several centimeters, for example. The flying means 31, the drive unit 32, and the flight control unit described above. 33 is mounted in the airframe 34.
The flight control unit 33 has a function of performing so-called autonomous flight while flying stably by driving the corresponding flight means 31 by each drive unit 32 based on the flight path data 33a. And fly in the monitoring area specified by the flight path data 33a.

The above configuration is almost the same as a so-called drone that has been used in the past, but the flying vehicle 30 in the present embodiment is not equipped with a power battery, and the power line of the wiring unit 50 as described later. Power is supplied from the large-capacity power supply unit 27 of the traveling mobile body 20 to the drive unit 32 and the flight control unit 33 via a power supply unit 40 described later.
As a result, it is not necessary to mount a power supply battery having a weight of, for example, about 1 kg, so that the flying vehicle 30 has a lighter total weight and improved maneuverability.

  Further, the flying vehicle 30 includes an imaging unit 35 that performs imaging of a facility to be monitored, a tracking device 36, a position detection unit 37, a sensor unit 38, a processing unit 39, and a power feeding unit 40. It is equipped with. Similarly, the imaging unit 35, the tracking device 36, the position detection unit 37, the sensor unit 38, and the processing unit 39 are also supplied with power from the power supply line 51 of the wiring unit 50 via the power supply unit 40.

  The imaging unit 35 captures a high-resolution still image of a facility or the like to be monitored at a predetermined height position during the flight of the flying vehicle 30. The imaging direction of the imaging unit 35 is changed to a predetermined direction by the direction changing unit provided in the imaging unit 35 itself, or the flying mobile body 30 itself is in a state where the imaging unit 35 is fixed to the body 34 of the flying mobile body 30. Can be changed in an arbitrary direction by changing the attitude of the vehicle by the flight control unit 33. Then, the imaging unit 35 sends imaging data 35 a of the captured high-resolution still image to the processing unit 39.

  The tracking device 36 is composed of a tracking camera attached downward to the body 34, and captures a moving image with the tracking camera while the flying vehicle 30 is flying. This tracking camera captures moving images at a low resolution and a high frame rate in order to reduce the amount of data as moving images. The moving image data 36 a captured by the tracking device 36 is sent to the processing unit 39.

The position detection unit 37 detects longitude, latitude, and height data by a GPS sensor, for example.
The height data is obtained, for example, by detecting the height from the ground using a pressure sensor or an ultrasonic sensor. Thereby, the position detection unit 37 detects the current three-dimensional geodetic data (first geodetic data) 37a of the flying vehicle 30 at predetermined time intervals, for example, and sends it to the processing unit 39.

In the case of illustration, the sensor unit 38 includes two sensors, for example, a thermal sensor 38a and an odor sensor 38b.
The thermal sensor 38a is composed of, for example, an infrared sensor, and the detection signal S4 is sent to the processing unit 39.

  The odor sensor 38b has a known configuration, detects ambient odors, and a detection signal S5 is similarly sent to the processing unit 39. Here, the odor sensor 38b is preferably arranged above the flying means 31 of the flying vehicle 30. This is because, on the lower side of the flying means 31, the flow velocity of the downward air flow generated by the flying means 31 is fast, and therefore, the upper side where the flow velocity of the air current is slow can detect odor more accurately.

The processing unit 39 uses the imaging data 35a from the imaging unit 35, the moving image data 36a from the tracking device 36, the geodetic data 37a from the position detection unit 37, and the detection signals S4 and S5 from the sensor unit 38 as follows. To process.
That is, the processing unit 39 compresses the imaged data 35a by image compression processing, and collects the geodetic data 37a from the position detecting unit 37 and the detection signals S4 and S5 from the sensor unit 38 and the compressed imaged data 35a. The flight monitoring data 39a is sent to the processing unit 24 of the traveling mobile body 20 via the data line 52 of the wiring unit 50.
Further, the processing unit 39 performs image analysis on the moving image data 36 based on the moving image data 36a from the tracking device 36, detects the sign 21b of the traveling mobile body 20, and tracks such that the sign 21b is located at the center of the screen. Flight path data 33 b is generated and sent to the flight control unit 33.
Based on the tracking flight path data 33b, the flight control unit 33 of the flight mobile unit 30 controls the drive unit 32 so that the flight mobile unit 30 is always positioned above the sign 21b of the traveling mobile unit 20. Will fly like that.

Therefore, when the processing unit 24 of the traveling mobile body 20 determines a thermal abnormality around the flying mobile body 30 based on the detection signal S4 from the sensor unit 38 in the flight monitoring data 39, and determines that it is a thermal abnormality. In this case, the abnormal heat generation signal 24d is generated, the abnormal odor around the flying vehicle 30 is determined based on the detection signal S5, and the abnormal odor generation signal 24e is generated when the abnormal odor is determined.
Then, the processing unit 24 of the traveling mobile unit 20 transmits and receives the above-described heat abnormality occurrence signals 24a and 24d, odor abnormality occurrence signals 24b and 24e, and sound abnormality occurrence signal 24c together with the imaging data 35a as monitoring data 24f. To the remote monitoring unit 60 by wireless communication.

The wiring part 50 is comprised from the light and strong wire marketed for robot control, for example, the wire which consists of a several strand wire of resin coating, and has a length of several tens of meters. The wire has a mechanical strength that can sufficiently counter the flight of the flying vehicle 30 and is flexible so as not to hinder the flight of the flying vehicle 30 in a slack state. Yes.
The wiring unit 50 is composed of a plurality of pairs of wires. One pair is used as the power supply line 51 and the other pair is used as the data line 52. Note that the wiring unit 50 may include a further pair of data lines. In this case, the flight path data can be transmitted to the flying mobile body 30 from the flying mobile body 20 side.

The remote monitoring unit 60 is arranged in the facility to be monitored or adjacent to such a facility, and performs wireless communication with the transmission / reception unit 25 of the traveling mobile body 20 by, for example, the Wi-Fi method. A unit 61, a storage unit 62, a control unit 63, a display unit 64, and an input unit 65 are included.
The control unit 63 of the remote monitoring unit 60 stores the monitoring data 24f received from the traveling mobile body 20 by the transmission / reception unit 61 in the storage unit 62 and displays the imaging data 35a included in the monitoring data 24f on the display unit 64. Display on the screen. Thereby, it is possible to monitor a facility or the like where a high-resolution still screen based on the imaging data 35a displayed on the display screen of the display unit 64 should be visually monitored.
Further, the control unit 63 of the remote monitoring unit 60 is based on the abnormality occurrence signals 24a to 24e included in the monitoring data 24f received by the transmission / reception unit 61, so that the thermal abnormality, odor abnormality, and sound indicated by the abnormality occurrence signals 24a to 24e are displayed. The type of abnormality is displayed on the display screen of the display unit 64, and a warning sound indicating the occurrence of abnormality is emitted from warning means (not shown) such as a speaker.

Further, the remote monitoring unit 60 inputs the travel route data 23 a for the travel vehicle 20 or the flight route data 33 a for the flight vehicle 30 through the input unit 65 and stores the data in the storage unit 62. Thereby, the control unit 63 of the remote monitoring unit 60 can set the travel route data 23a or the flight route data 33a in advance, and reads the travel route data 23a or the flight route data 33a from the storage unit 62, The data is transmitted from the transmission / reception unit 61 to the transmission / reception unit 25 of the traveling mobile body 20 by wireless communication.
In this way, the transmission / reception unit 25 of the traveling mobile unit 20 receives the traveling route data 23a or the flight route data 33a and stores the data in the storage unit 26 of the traveling mobile unit 20 or the data line of the wiring unit 50. It is sent to the flight control unit 33 of the flying vehicle 30 via 52.
In response to this, the travel control unit 23 of the travel mobile body 20 reads the travel route data 23a from the storage unit 26 and controls the travel unit 22 to drive. Thereby, the traveling mobile body 20 travels along a travel route set in advance.
Further, the flight control unit 33 of the flying vehicle 30 flies along a flight path set in advance based on the flight path data 33a.

The monitoring apparatus 10 according to the present embodiment is configured as described above and operates as follows.
The monitoring device 10 has the following three operation modes, that is, a first mode in which the traveling mobile body 20 moves in a traveling route set in advance, and the flying mobile body 30 follows the traveling route of the traveling mobile body 20, flight movement. The second mode in which the body 30 moves on the flight path set in advance, the traveling mobile body 20 follows the flight path of the flying mobile body 30, and the travel in which both the traveling mobile body 20 and the flying mobile body 30 are set in advance. In addition to moving the route or the flight route, the traveling mobile body 20 and the flying mobile body 30 exchange position information (GPS geodetic data) with each other to detect the mutual position, and hold the mutual distance below a predetermined distance. Operates in three modes.

First, the first mode will be described.
In the traveling mobile body 20, the travel route data 23 a is received in advance from the remote monitoring unit 60 and registered in the storage unit 26. Prior to the start of the monitoring work, the travel control unit 23 receives the travel route data from the storage unit 26. 23a is read out, and driving of the traveling unit 22 is controlled based on the traveling route data 23a. Thereby, the traveling mobile body 20 travels on the traveling route set in advance by the traveling unit 22.

On the other hand, in the flying mobile body 30, the moving image data 36 a captured by the tracking device 36 is sent to the processing unit 39, and the processing unit 39 performs image analysis on the moving image data 36 a and signs the traveling moving body 20. 21b is detected, and tracking flight path data 33b is generated and sent to the flight control unit 33 so that the sign 21b is located at the center of the screen.
Accordingly, the flight control unit 33 controls each drive unit 32 based on the tracking flight path data 33b so that the marker 21b of the traveling mobile body 20 is positioned at the center of the screen of the tracking device 36. Therefore, the flying moving body 30 flies so as to be positioned immediately above the traveling moving body 20. Thus, when the traveling mobile body 20 moves along the travel route set in advance, the flying mobile body 30 follows the traveling of the traveling mobile body 20 by performing the tracking operation described above. To fly.

In this way, while the traveling moving body 20 and the flying moving body 30 move, in the flying moving body 30, the imaging data 35 a imaged by the imaging unit 35 is compressed by the processing unit 39, and the position detecting unit 37 And the detection signals S4 and S5 from the sensor unit 38 are sent as flight monitoring data 39a to the processing unit 39 of the traveling vehicle 20 via the data line 52 of the wiring unit 50.
In the traveling vehicle 20, the processing unit 24 processes the detection signals S4 and S5 in the flight monitoring data 39a together with the detection signals S1, S2 and S3 from the sensor unit 28, and when an abnormality occurs, The generation signals 25a to 24e are generated and transmitted together with the imaging data 35a as monitoring data 24f from the transmission / reception unit 25 to the remote monitoring unit 60 by wireless communication.
As a result, in the remote monitoring unit 60, the control unit 63 displays the imaging data 35a included in the monitoring data 24f on the display screen of the display unit 64, and the monitoring person images while viewing the screen display of the imaging data 35a. A facility or the like to be monitored can be monitored by visually observing a high-resolution still image based on the data 35a.
When an abnormality occurs, the control unit 63 displays the types of heat abnormality, odor abnormality, and sound abnormality indicated by the abnormality occurrence signals 25a to 25e on the display screen of the display unit 64, and warning means such as a speaker ( A warning sound or the like indicating the occurrence of an abnormality is emitted from (not shown). Thereby, the occurrence of abnormality is more reliably grasped by the monitoring staff.

Here, if the flying mobile body 30 is largely deviated in the horizontal direction with respect to the traveling mobile body 20, the tracking device 36 cannot capture the sign 21b of the traveling mobile body 20 in the screen. In such a case, the processing unit 39 generates a tracking impossible signal 39 b and sends it to the control unit 24 of the traveling mobile body 20 via the data line 52 of the wiring unit 50.
In response to this, the control unit 24 of the traveling mobile body 20 sends a winding command 24g to the wiring unit winding control device 29, and the wiring unit winding control device 29 drives the electric reel 29a to rotate. The wiring part 50 is wound up to a predetermined length.
When the wiring unit 50 is wound up to a predetermined length, the flying vehicle 30 approaches the traveling vehicle 20 in the horizontal direction, and the traveling vehicle 20 is displayed in the screen of the tracking device 36 of the flying vehicle 30. The sign 21b is captured, and tracking by the image recognition of the sign 21b of the traveling vehicle 20 by the tracking device 36 becomes possible.

Next, the second mode will be described.
In the second mode, the traveling mobile body 20 further includes a position detection unit 41 similar to the position detection unit 37 in the flying mobile body 30. The position detection unit 41 detects the second geodetic data 41 a composed of longitude and latitude by a GPS sensor, for example, and sends it to the processing unit 24.

  In the flying vehicle 30, the flight path data 33 a is received from the remote monitoring unit 60 in advance through the transmission / reception unit 25 and the processing unit 24 of the traveling vehicle 20 and through the data line 52 of the wiring unit 50. The drive unit 32 is controlled based on the flight path data 33a. As a result, the flying vehicle 30 flies along the flight path set in advance by the flying means 31. At this time, in the flying mobile body 30, the first geodetic data 37 a detected by the position detection unit 37 is sent to the processing unit 24 of the traveling mobile body 20 via the data line 52 of the wiring unit 50.

  On the other hand, in the traveling mobile body 20, the processing unit 24 includes the first geodetic data 37 a input from the flying mobile body 30 via the wiring unit 50 and the second geodetic data 41 a from the position detection unit 41. And tracking tracking route data 24h is generated and sent to the traveling control unit 23 so that the longitude and latitude of the second geodetic data 41a are close to the longitude and latitude of the first geodetic data 37a. To do. Thereby, the traveling control unit 23 controls the driving of the traveling unit 22 based on the tracking traveling route data 24h, and the traveling mobile body 20 travels so as to be positioned immediately below the flying mobile body 30.

  Accordingly, when the flying mobile body 30 moves along the flight path set in advance, the traveling mobile body 20 follows the flight of the flying mobile body 30 by performing the tracking operation described above. Will fly. In this case as well, in the same manner as in the first mode, the monitoring data 24f is transmitted from the traveling mobile unit 20 to the remote monitoring unit 60, thereby monitoring the facility to be monitored. Also in this case, when the flying moving body 30 is largely displaced in the horizontal direction with respect to the traveling moving body 20, the wiring portion winding control device 29 winds the wiring portion 50 to a predetermined length, thereby recovering the tracking. Is done.

Next, the third mode will be described.
In the third mode, the traveling mobile body 20 further includes a position detection unit 41 similar to the position detection unit 37 in the flying mobile body 30 as in the case of the second mode described above. The position detection unit 41 detects the second geodetic data 41 a composed of longitude and latitude by a GPS sensor, for example, and sends it to the processing unit 24. Thereby, the processing unit 24 sends the second geodetic data 41a to the processing unit 39 of the flying vehicle 30 via the data line 52 of the wiring unit 50 or by wireless transmission (not shown) every predetermined time.
On the other hand, the processing unit 39 of the flying vehicle 30 does not show the geodetic data (first geodetic data) 37a from the position detection unit 37 via the data line 52 of the wiring unit 50 or not shown every predetermined time. The data is transmitted to the processing unit 24 of the traveling vehicle 20 by wireless transmission.
In the traveling mobile body 20, the travel route data 23 a is received in advance from the remote monitoring unit 60 and registered in the storage unit 26. Prior to the start of the monitoring work, the travel control unit 23 receives the travel route data from the storage unit 26. 23a is read out, and the traveling unit 22 is driven and controlled based on the traveling route data 23a. Thereby, the traveling mobile body 20 travels on the traveling route set in advance by the traveling unit 22.

  In the flying vehicle 30, the flight path data 33 a is received from the remote monitoring unit 60 in advance through the transmission / reception unit 25 and the processing unit 24 of the traveling vehicle 20 and through the data line 52 of the wiring unit 50. The drive unit 32 is controlled based on the flight path data 33a. As a result, the flying vehicle 30 flies along the flight path set in advance by the flying means 31.

Further, the processing unit 24 of the traveling mobile unit 20 compares the second geodetic data 41a detected by the position detection unit 41 with the first geodetic data 37a sent from the flying mobile unit 30 every predetermined time. The relative position of the traveling vehicle 20 with respect to the flying vehicle 30 is detected, and the position P1a of the traveling vehicle 20 on the traveling route P1 from the position 1 to the position 2 as shown in FIG. By projecting the position P2a of the flying mobile body 30 on the flight path P2 onto the travel path P1 (P2a ′), the mutual distance D1 between the traveling mobile body 20 and the flying mobile body 30 is calculated.
Similarly, the processing unit 39 of the flying mobile unit 30 uses the first geodetic data 37a detected by the position detection unit 37 in the same manner as the second geodetic data 41a sent from the traveling mobile unit 20 every predetermined time. In comparison, the relative position of the flying vehicle 30 with respect to the traveling vehicle 20 is detected, and as shown in FIG. 6, the vehicle travels on the travel route P1 with respect to the position P2a of the flying vehicle 30 on the flight route P2. By projecting the position P1a of the moving body 20 onto the flight path P2, the mutual distance D2 between the flying moving body 30 and the traveling moving body 20 is calculated.
The mutual distances D1 and D2 are respectively positive directions with respect to the traveling direction, and in the negative case, the traveling mobile body 20 or the flying mobile body 30 is ahead of the opponent, and in the positive case, This means that the opponent is ahead (in the case of FIG. 6, the mutual distance D1 is a negative value and D2 is a positive value).
When the mutual distance D1 or D2 exceeds the negative predetermined distance in advance, that is, when D1 or D2 becomes smaller than the negative predetermined value, the preceding traveling mobile body 20 or the flying mobile body 30 The processing unit 24 controls the travel control unit 23 or the processing unit 39 controls the flight control unit 33 so as to stop the movement along the route P1 or the flight route P2.

Therefore, when the traveling mobile body 20 moves on the travel route set in advance and the flying mobile body 30 moves along the flight route set in advance, the traveling mobile body 20 and the flying mobile body 30 are predetermined to each other. It will move to stay within the range of distance. In this case as well, in the same manner as in the first and second modes, the monitoring data 24f is transmitted from the traveling mobile unit 20 to the remote monitoring unit 60, so that the facility to be monitored can be monitored.
Even in the third mode, when the flying mobile body 30 is largely displaced in the horizontal direction with respect to the traveling mobile body 20, the wiring unit winding control device 29 winds the wiring unit 50 to a predetermined length, Tracking recovery is performed.

In any of the first to third modes described above, if the flying mobile body 30 tries to move far away from the traveling mobile body 20 due to a failure in the tracking operation, malfunction of the flight control of the flying mobile body 30, etc., the flight Since the moving body 30 is mechanically connected to the traveling mobile body 20 via the wiring portion 50, the flight range of the flying mobile body 30 is within the range of the length of the wiring portion 50 with the traveling mobile body 20 as the center. Therefore, there is no possibility that the flying mobile body 30 will inadvertently fly somewhere and damage or destroy a part of the facility or the like to be monitored due to a collision or a crash.
Further, in the first to third modes described above, when the tracking device 36 of the flying moving body 30 cannot catch the sign 21b of the traveling moving body 20 even after the tracking recovery, that is, the processing of the flying moving body 30 is first performed. If the sign 21b of the traveling moving body 20 is not captured by the imaging data 35a even after a predetermined time has elapsed since the section 39 transmits the tracking impossible signal 39b, the processing section 39 of the flying moving body 30 An emergency landing signal 39c is transmitted to the control unit 33, and the flying vehicle 30 is landed. At that time, the flying vehicle 30 may return to the place where it took off based on the geodetic data 37 a detected by the position detector 37 and land.

The present invention can be implemented in various forms without departing from the spirit of the present invention.
For example, in the above-described embodiment, the traveling moving body 20 travels on the ground with four wheels, and when turning left and right, the traveling mobile body 20 is caused to travel by separately controlling the rotational speeds of the left and right wheels. However, the present invention is not limited to this, and it is obvious that a so-called steering function may be provided to steer the front or rear wheels to the left and right.

  In the above-described embodiment, the traveling mobile body 20 is configured to travel on the ground with wheels, but may include traveling means other than wheels such as an endless track, and like a hovercraft, You may make it move from the ground.

  In the embodiment described above, the imaging unit 35 of the flying vehicle 20 is configured to capture a high-resolution still image. However, the present invention is not limited thereto, and a moving image may be captured.

In the above-described embodiment, the traveling mobile body 20 travels based on the travel route data 23a received from the remote monitoring unit 60. However, the present invention is not limited to this, and the traveling mobile body 20 includes an input unit. The travel route data 23a may be input by the input unit.
In the embodiment described above, the traveling mobile body 20 travels according to the travel route data 23a set in advance. However, the present invention is not limited to this, and the traveling mobile body 20 is provided with an operation unit so that the driver However, the traveling moving body 20 may be caused to travel by operating the operation unit. In this case, it is not necessary to generate the travel route data 23a in advance, and it is also possible to monitor facilities and the like that the driver should visually monitor.

  In the above-described embodiment, the flight monitoring data 39a created by the processing unit 39 of the flying mobile unit 30 is transmitted to the traveling mobile unit 20 via the data line 52 of the wiring unit 50. However, the flight monitoring data 39a may be registered in a storage unit provided in the flying vehicle 30 and may be collected after the flight of the flying vehicle 20 is completed, or by wireless transmission in real time or every predetermined time. It may be transmitted to the traveling vehicle 20 or the remote monitoring unit 60.

DESCRIPTION OF SYMBOLS 10 Monitoring apparatus 20 Traveling mobile body 21 Main body 21b Marking 22 Traveling part 23 Traveling control part 24 Processing part 25 Transmission / reception part 26 Storage part 27 Large capacity power supply part 28 Sensor part 29 Wiring part winding control apparatus 30 Flying mobile body 31 Flying means 32 Drive unit 33 Flight control unit 34 Airframe 35 Imaging unit 36 Tracking device 37 Position detection unit 37
38 sensor unit 39 processing unit 40 power supply unit 50 wiring unit 51 power line 52 data line 60 remote monitoring unit 61 transmission / reception unit 62 storage unit 63 control unit 64 display unit 65 input unit

Claims (15)

A traveling mobile body, a flying mobile body, and a flexible wiring portion including a plurality of conductors that mechanically and electrically connect the traveling mobile body and the flying mobile body,
The traveling mobile body includes a traveling unit for traveling on the ground, a traveling control unit that drives and controls the traveling unit, a processing unit, a power supply unit, and a sign that is easily visible from above.
The flight moving body includes a drive unit that rotationally drives a rotor, a flight control unit that controls the drive unit, an imaging unit for monitoring, a tracking device, the drive unit, a flight control unit, an imaging unit, and a tracking unit. A power feeding unit that feeds power to the apparatus, and the power feeding unit is connected to the power source unit of the traveling mobile body via the wiring unit to ensure a long flight time. The three-dimensional flightable range centered on the traveling mobile body is limited by the length of the wiring part, while being fed from the part,
The flight control unit detects a position with respect to the traveling moving body based on a detection signal of the sign detected by the tracking device, and tracks the sign of the traveling moving body within the length of the wiring unit. So as to control the drive unit,
A monitoring device characterized by that. A traveling mobile body, a flying mobile body, and a flexible wiring portion including a plurality of conductors that mechanically and electrically connect the traveling mobile body and the flying mobile body,
The traveling mobile body includes a traveling unit for traveling on the ground, a traveling control unit that drives and controls the traveling unit, a processing unit, a power supply unit, and a sign that is easily visible from above.
The traveling control unit of the traveling mobile unit controls the driving of the traveling unit based on the traveling route data set in advance,
The flight moving body includes a drive unit that rotationally drives a rotor, a flight control unit that controls the drive unit, an imaging unit for monitoring, a tracking device, the drive unit, a flight control unit, an imaging unit, and a tracking unit. A power feeding unit that feeds power to the apparatus, and the power feeding unit is connected to the power source unit of the traveling mobile body via the wiring unit to ensure a long flight time. The three-dimensional flightable range centered on the traveling mobile body is limited by the length of the wiring part, while being fed from the part,
The flight control unit detects a position with respect to the traveling moving body based on a detection signal of the sign detected by the tracking device, and tracks the sign of the traveling moving body within the length of the wiring unit. So as to control the drive unit,
A monitoring device characterized by that. A traveling mobile body, a flying mobile body, and a flexible wiring portion including a plurality of conductors that mechanically and electrically connect the traveling mobile body and the flying mobile body,
The traveling mobile body includes a traveling unit for traveling on the ground, a traveling control unit that drives and controls the traveling unit, a processing unit, a power supply unit, and a sign that is easily visible from above.
The flight moving body is a drive unit that rotationally drives a rotor and the like, a flight control unit that controls the drive unit, an imaging unit for monitoring, a tracking device, a position detection unit, the drive unit, and a flight control unit , An imaging unit, a position detection unit, and a power feeding unit that feeds power to the tracking device, and the power feeding unit is connected to the power source unit of the traveling moving body via the wiring unit, thereby allowing long flight. Power is supplied from the power supply unit to ensure the possible time, and the three-dimensional flight range centered on the traveling mobile body is limited by the length of the wiring unit,
The flight control unit of the flying mobile body controls the driving unit based on flight path data set in advance,
The position detection unit of the flying mobile body detects first geodetic data by GPS and sends it to the processing unit of the traveling mobile body via the wiring unit,
The traveling mobile body includes a second position detection unit that detects second geodetic data by GPS,
The travel control unit of the travel mobile unit compares the first geodetic data and the second geodetic data, and controls the travel unit to drive the flight within the length of the wiring unit. To follow the flight movement of the body,
A monitoring device characterized by that. A traveling mobile body, a flying mobile body, and a flexible wiring portion including a plurality of conductors that mechanically and electrically connect the traveling mobile body and the flying mobile body,
The traveling mobile body includes a traveling unit for traveling on the ground, a traveling control unit that drives and controls the traveling unit, a processing unit, a power supply unit, and a sign that is easily visible from above.
The traveling control unit of the traveling mobile unit controls the driving of the traveling unit based on the traveling route data set in advance,
The flight moving body is a drive unit that rotationally drives a rotor and the like, a flight control unit that controls the drive unit, an imaging unit for monitoring, a tracking device, a position detection unit, the drive unit, and a flight control unit , An imaging unit, a position detection unit, and a power feeding unit that feeds power to the tracking device, and the power feeding unit is connected to the power source unit of the traveling mobile body via the wiring unit, thereby allowing long flight. Power is supplied from the power supply unit to ensure the possible time, and the three-dimensional flight range centered on the traveling mobile body is limited by the length of the wiring unit,
The position detection unit of the flying mobile body detects first geodetic data by GPS and sends it to the processing unit of the traveling mobile body,
The traveling mobile body includes a second position detection unit that detects second geodetic data by GPS,
The flight control unit of the flying mobile body controls the drive unit based on the flight path data set in advance, and compares the first geodetic data and the second geodetic data, Detecting a relative position with respect to the traveling mobile body, and when the flying mobile body is ahead of the traveling mobile body over a predetermined distance on the flight path, the driving so as to interrupt the movement along the flight path data Control the part
The travel control unit of the travel mobile unit controls the travel travel unit based on the travel route data set in advance, and compares the second geodetic data with the first geodetic data to determine the travel route. Detecting the relative position with respect to the flying vehicle above, and when the traveling vehicle is ahead of the flying vehicle over a predetermined distance on the traveling route, so as to interrupt the movement along the traveling route data, Driving and controlling the traveling unit;
A monitoring device characterized by that.   The travel traveling body includes a driving device, and when an operator operates the driving device, travel route data is input from the driving device to the travel control unit. The monitoring device described in 1. It is configured separately from the traveling mobile body, and includes a remote monitoring unit that transmits traveling route data input by an operator's operation,
The monitoring apparatus according to claim 1, wherein the traveling mobile body includes a receiving device that receives a traveling data signal transmitted from the remote monitoring unit and transmits the traveling data signal to the traveling control unit.   The monitoring apparatus according to claim 1, wherein the flying vehicle includes a first thermal sensor.   The monitoring apparatus according to claim 1, wherein the flying vehicle includes a first odor sensor. The traveling vehicle includes a second thermal sensor;
9. The monitoring apparatus according to claim 1, wherein a detection signal of the second thermal sensor is transmitted to the processing unit and processed. The traveling vehicle includes a second odor sensor;
The monitoring apparatus according to claim 1, wherein a detection signal of the second odor sensor is transmitted to the processing unit and processed. The traveling mobile body includes a microphone,
The monitoring device according to claim 1, wherein a detection signal of the microphone is transmitted to the processing unit and processed. The traveling moving body includes a winding device for winding the wiring portion, and a tension sensor for detecting the tension of the wiring portion,
The monitoring device according to claim 1, wherein the winding device adjusts a winding amount of the wiring portion based on a detection signal from the tension sensor. The traveling vehicle comprises a landing space for the flying vehicle;
The flight control unit of the flying mobile body controls the drive unit based on the detection signal of the sign from the position detection unit to land the flying mobile body on the landing space of the traveling mobile body. The monitoring device according to claim 1, characterized in that it is characterized by the following. The tracking device of the flying vehicle is a position detection camera,
The control unit of the flying moving body detects a relative position of the sign of the traveling moving body by image recognition based on an image signal detected by the position detection camera. The monitoring apparatus in any one. The tracking device of the flying mobile body, when the sign of the traveling mobile body can no longer be detected, the winding device of the traveling mobile body winds up the wiring portion to a predetermined length. 15. The monitoring device according to any one of.

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