JP2004164303A - Self-propelled machine for monitoring - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled machine for monitoring with which a monitoring system with as few blind spots as possible can be easily and inexpensively constructed. <P>SOLUTION: The self-propelled machine for monitoring is provided with a body 10, a driving mechanism 53 which drives the body 10 by a remote control, a camera 20 which is attached with the body and operated by remote control, a detecting sensor (an odor sensor 40) which detects abnormal status of a monitored place, and a power supply which supplies electric power to the driving mechanism, the camera, the detection sensor, and an electrical transmission means. An image photographed by the camera 20 and the detected signal of the detection sensor are transmitted by the electrical transmission means. Various abnormal statuses, such as fires, breakins, grasping of the movement status of mechanical equipment, management of temperature/moisture, detection of corrosion, detection of gas leakage, detection of radiation leakage can be monitored, by preparing not only the camera but also the detection sensor which detects the abnormal status. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to a monitoring self-propelled machine capable of detecting an abnormal situation in a building such as a warehouse. More particularly, the present invention relates to a monitoring self-propelled machine capable of monitoring a fire, presence or absence of an intruder, decay of stored items, operation status of devices, and the like by remote control.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a monitoring system in a store or warehouse using a camera has been known. This monitoring system is a system in which, for example, a camera is fixed on a camera platform or the like so that the camera can be swung freely, this camera platform is mounted on a ceiling or the like, and monitoring is performed by changing the direction of the camera and photographing. A known document that discloses a system similar to this is Patent Document 1.
[0003]
[Patent Document 1]
JP 2001-6094 A
[0004]
[Problems to be solved by the invention]
However, there is a problem that it is difficult to easily and inexpensively construct a monitoring system having no blind spots with the conventional monitoring system.
[0005]
Usually, many display shelves and storage shelves are installed in stores and warehouses, and there are many blind spots. Therefore, in order to configure a monitoring system without blind spots using cameras fixed at predetermined positions, a large number of cameras must be arranged, which leads to an increase in installation costs. Also, to display the images of these many cameras, (1) use many monitors, (2) switch the images of each camera and display them on one monitor, and (3) display the images of a plurality of cameras in one. For example, it is necessary to divide and display the images on one monitor, and it is difficult to make the image display means simple and inexpensive.
[0006]
Accordingly, a main object of the present invention is to provide a monitoring self-propelled machine that can easily and inexpensively construct a monitoring system with a minimum blind spot.
[0007]
It is another object of the present invention to provide a monitoring self-propelled machine capable of monitoring from a remote place remote from a monitoring area.
[0008]
[Means for Solving the Problems]
The present invention achieves the above object by making a monitoring device that detects an abnormal state a self-propelled type, and enabling the self-propelled machine to be controlled from a remote location.
[0009]
That is, the monitoring self-propelled machine according to the present invention includes a main body, a driving mechanism for running the main body by remote control, a camera mounted on the main body and operated by remote control, and a detection device for detecting an abnormal state of a monitored part. It is characterized by comprising a sensor, an electric transmission means for transmitting an image picked up by a camera and a detection signal of the detection sensor, and a power supply for supplying electric power to the drive mechanism, the camera, the detection sensor and the electric transmission means.
[0010]
By using a self-propelled machine including a detection sensor for detecting an abnormal state and a camera, the device itself can freely move within the monitored area, and the detection sensor can approach the monitored object. Therefore, for example, it is also possible to individually monitor abnormalities in mechanical equipment in a building, which has been difficult to detect with a fixed sensor, and to specify abnormal equipment. In addition, since images of various positions in the monitoring area can be obtained by using the self-propelled aircraft, a monitoring system without a blind spot can be easily constructed. In particular, the location desired by the operator can be monitored without using a plurality of cameras by running the self-propelled machine or changing the direction of the camera.
[0011]
In addition, since the self-propelled vehicle has a transmission means for transmitting the image of the camera and the detection signal of the detection sensor, monitoring can be performed even in a remote place away from the monitoring area where the self-propelled device is provided. In particular, not only cameras, but also detection sensors that detect abnormal conditions, such as fire, intrusion, grasp of the operational status of machinery and equipment, temperature and humidity management, rot detection, gas leak detection, radiation leak detection, etc. Can be monitored for abnormal conditions.
[0012]
Hereinafter, the device of the present invention will be described in more detail.
The traveling method of the main body includes a track type that travels along a track and a trackless type that can travel in an arbitrary direction without using a track.
[0013]
Rails and strips can be used for the track used in the track type.
A metal rail or a plastic rail can be used as the rail. The cross-sectional shape of the rail is preferably an I type or a T type. When a rail is used, a configuration in which the main body travels on the rail and a configuration in which the main body travels while suspended from the rail can be considered. In either case, the direction control mechanism can be configured by providing the drive mechanism with a roller that fits on the rail, and the main body can run along the track.
[0014]
As the belt-like body, one capable of forming a difference in physical quantity between a portion where the belt-like body exists and a portion where the belt-like body does not exist is preferable. For example, a magnetic tape, a reflective tape, a belt-like paint, or the like can be used. When a magnetic tape is used, a magnetic detection sensor for detecting the magnetic field of the magnetic tape is used as a band recognition means, and the self-propelled machine travels along the magnetic tape based on the recognition information. When a reflective tape or paint is used, a self-propelled machine is caused to travel along a track using a line tracer as a belt-shaped body recognizing means. In general, a line tracer includes a light emitting element and a light receiving element, and utilizes that a large amount of light is absorbed in a black portion and a large amount of light is reflected in a white portion. That is, the light of the light emitting element is applied to the vicinity of the orbit, the intensity of the reflection from the orbit is detected by the light receiving element, and the self-propelled vehicle travels along the orbit based on the detection result.
[0015]
In a track-type self-propelled machine, it is preferable to provide a charging terminal on the main body side and a charging station along the track. When the secondary battery is used as a power source and the battery is exhausted, the self-propelled machine can be moved to a position near the charging station, and the charging terminal can be connected to the charging station to charge the secondary battery.
[0016]
In the case of a track type, it is preferable to provide a position display section of the self-propelled machine along the track. In this case, it is preferable that the self-propelled machine is provided with a reading means for the position information display unit, and the read position information is also transmitted by the electric transmission means. The current position of the self-propelled machine can be detected by the position display unit and its reading and transmission, and it is also possible to know where in the monitored area the self-propelled machine is located.
[0017]
Specific examples of the position display means include a bar code and a light shielding plate provided at a predetermined position along the track. When a barcode is used, position information along the track is written in the barcode, and the position information can be read by using a barcode reader as reading means. When a light-shielding plate is used, a light-emitting element and a light-receiving element that are arranged with the light-shielding plate interposed therebetween are used as reading means. When the self-propelled machine is traveling in a place where there is no light blocking plate, light from the light emitting element reaches the light emitting element without any obstacle and is detected. On the other hand, when the self-propelled machine passes through a location where the light-shielding plate is provided, light from the light-emitting element is blocked by the light-shielding plate, and light does not reach the light-receiving element. By changing the size of the light-shielding plate or forming a plurality of through holes in the light-shielding plate and appropriately changing the size and interval of the through-holes, it is possible to detect the light shielding time and the light shielding time interval as position information. it can.
[0018]
On the other hand, as a trackless type, a configuration in which tracks and wheels are provided in a drive mechanism is conceivable. In consideration of overcoming obstacles, the caterpillar positions the front drive wheel above the other drive wheels rather than arranging the drive wheels in a straight line, so that the caterpillar belt is arranged in a V-shape. It is preferable to configure.
[0019]
It is preferable that the trackless self-propelled machine includes a direction indicator indicating the front of the main body. In a trackless self-propelled aircraft, an operator operates the self-propelled aircraft and travels in an arbitrary direction, relying on images captured by a camera. On the other hand, since the camera is usually configured to swing freely, the shooting direction is irrelevant to the traveling direction of the self-propelled machine. For this reason, the operator may have an illusion that the image displayed on the monitor is ahead of the self-propelled machine, and may lose sight of the front of the self-propelled machine. As a result, it is conceivable that the self-propelled aircraft may collide with an obstacle, or the current position of the self-propelled aircraft may be lost in some cases. Therefore, if a direction indicator that indicates the front of the main unit is provided, it is easy to confirm that the camera is facing the front of the self-propelled machine when this display is reflected, and it is easy to lose sight of the front of the self-propelled machine. Can be prevented. The shape and size of the direction indicator are not particularly limited as long as the direction indicator is within the field of view when the camera is directed forward of the main body. For example, it is conceivable to provide a projection such as a rod-shaped body in front of the self-propelled machine, or to provide a lamp such as an LED.
[0020]
Regardless of the track-type or track-free type self-propelled machine, the camera to be used is preferably a small camera that can be mounted on the main body. For example, a camera using a CCD or C-MOS is suitable.
[0021]
Images captured by the camera are transmitted as image data by electronic transmission means, and can be confirmed on a monitor even at a location remote from the monitoring area. By storing these images in a storage medium such as a VTR, a DVD, or a hard disk, the images can be checked any number of times.
[0022]
Preferably, the self-propelled vehicle is provided with a light for illuminating the field of view of the camera. As a result, a clear image can be obtained even in a dark monitoring area. In that case, it is desirable to provide a rotation mechanism for rotating the camera and the light horizontally in synchronization. With this rotation mechanism, the field of view of the camera can be moved in any direction, and inspection can be performed at any location. In particular, by synchronizing the rotation of the camera and the light, the field of view of the camera can be reliably illuminated by the light.
[0023]
It is also desirable to have a swing mechanism for swinging the camera and the light up and down in synchronization. By swinging the camera not only in the horizontal direction but also in the vertical direction, monitoring over a wider area can be easily performed. In particular, by synchronizing the swing of the camera and the light, the field of view of the camera can be reliably illuminated by the light.
[0024]
Various sensors that detect a physical quantity, a chemical substance, or a chemical change according to a monitoring target can be used as the detection sensor. For example, at least one selected from the group consisting of an acoustic sensor, an acceleration sensor, an odor sensor, a gas sensor, a temperature sensor, a humidity sensor, an infrared sensor, an electromagnetic field sensor, and a radioactivity sensor is preferable.
[0025]
A microphone is an example of the acoustic sensor. The microphone detects the sound in the monitoring area, and can monitor an intruder and monitor an operation state by operating sounds of devices. When detecting the operation sound of the devices, for example, spectrum analysis may be used. That is, the acoustic sensor detects not only an abnormal sound when the device operates abnormally, but also a background sound when the device operates normally. Therefore, the sound in the monitoring area is monitored, and when the device is operating normally, the frequency distribution and level of the background sound are recorded. Then, by comparing with the background sound, an abnormal sound can be detected from a change such as a sudden rise in the level of the specific frequency, and an abnormal operation of the device can be recognized.
[0026]
As a specific detection target using an acceleration sensor, an earthquake or explosion can be monitored by detecting vibration or impact. As a specific example of the acceleration sensor, a semiconductor acceleration sensor such as a piezoresistive sensor or a capacitance sensor is used.
[0027]
The odor sensor and the gas sensor can detect putrefaction of stored items and gas leaks of toxic gas or flammable gas. Examples of the odor sensor include an oxide odor sensor, a QCM (Quartz Crystal Microbalance) odor sensor, and a conductive polymer odor sensor. For example, tin oxide (SnO) ₂ A) Ammonia smell can be detected by a system substrate type thick film semiconductor sensor, and spoilage of foods and the like can be monitored. There are various types of gas sensors, such as a semiconductor type, a solid electrolyte type, and a catalytic combustion type, and there are an exhaust gas sensor, an alcohol sensor, an LP gas sensor, a city gas sensor, and the like.
[0028]
The infrared sensor can detect, for example, a fire or intrusion of a suspicious person. The infrared sensor includes a thermal sensor and a quantum sensor. In particular, thermal sensors such as a thermoelectromotive effect sensor, a pyroelectric effect sensor, and a thermocouple effect sensor are suitable.
[0029]
The temperature sensor and the humidity sensor can be used for temperature management and humidity management in a warehouse or the like. The temperature sensor includes a thermistor, a pyroelectric temperature sensor, a surface acoustic wave temperature sensor, a photovoltaic temperature sensor, a photoconductive temperature sensor, and the like. As the humidity sensor, a sensor utilizing the fact that the resistance and the capacitance of the sensor material change according to the humidity is preferable. More specifically, examples include an electrolyte-based, polymer-based, and ceramics-based humidity sensor.
[0030]
The electromagnetic field sensor can check whether power is imposed at a power station, substation, electric power facility, or the like. Specifically, a hall magnetic sensor, a magnetoresistive sensor, and the like can be given. In particular, Bi ₁₂ SiO ₂₀ Crystal (BSO crystal) or Bi ₄ Ge ₃ O ₁₂ A sensor that optically measures an electric field using the Pockels effect of a crystal (BGO crystal) or the like is preferable.
[0031]
The radiation line can monitor for leaks in the monitored area. Specifically, a Geiger counter or the like can be used.
[0032]
When remotely controlling the self-propelled machine of the present invention, it is preferable to use a host that wirelessly controls the main body and the camera and a client that connects to the host via an information network and controls the main body and the camera.
[0033]
The self-propelled machine according to the present invention is configured to be operated wirelessly by a command from the host. On the other hand, this host is connected to the client via the information network. Therefore, the self-propelled machine can be operated via the host by giving an instruction from the client. Normally, the host is located close to the monitoring area where wireless communication with the main unit is possible, but since the location of the client is not limited, it can be away from the monitoring area, especially from a remote place where wireless communication with the main unit is difficult. A self-propelled machine can be operated for monitoring. The information network includes the Internet and a wireless LAN.
[0034]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described.
(Remote operation system of self-propelled machine of the present invention)
First, a system for remotely controlling a self-propelled machine according to the present invention will be described with reference to FIG. This system includes a self-propelled machine 100, an operation controller 210, a video receiver 220, a host 300, and a client 400.
[0035]
Although details of the self-propelled vehicle 100 will be described later, the self-propelled vehicle 100 includes a camera and a detection sensor, captures an image of a monitored area with the camera, and detects an abnormal state in the monitored area with the detection sensor. Then, the self-propelled machine 100 travels along a specific route along the rail 500 or travels in an arbitrary direction by tracks or tires. The operation of the self-propelled machine 100 is performed by a command from the host 300 or the client 400. The host 300 is connected to the operation controller 210 and the video receiver 220. The operation controller 210 performs two-way wireless communication with the self-propelled vehicle 100 to transmit a control signal of the self-propelled vehicle 100 based on a command from the host 300, Or receive it. In response to a command from the host 300, the traveling / stopping of the self-propelled machine 100, the horizontal rotation and vertical swing of the camera, and the zoom and focus of the camera can be controlled. In response to a command from the host 300, the camera shoots a predetermined position in the monitored area, and transmits the image signal wirelessly in one direction. Video receiver 220 receives an image signal transmitted from self-propelled machine 100 and outputs this image signal to host 300. Further, the host 300 and the client 400 are connected to the Internet 600, and the self-propelled machine 100 can be controlled by instructing the host 300 via the Internet 600 from the client 400. FIG. 1 shows a state where the host 300 is connected to the Internet 600 via the web server 350.
[0036]
Details of the self-propelled aircraft 100 in such a system will be described below. There are three types of self-propelled machines: rail type, caterpillar type, and tire type.
[0037]
<Suspended rail type self-propelled machine>
(overall structure)
FIG. 2 is a front view of a self-propelled machine traveling in a state of being suspended along a rail, and FIG. 3 is a side view thereof. The self-propelled machine 100 includes a main body 10, a camera 20, a light 30, an odor sensor 40 (detection sensor), and a suspension support 50, and runs along a rail 500.
[0038]
(Body)
The main body 10 has a pan motor, a tilt motor, a battery, and a control board built in a box-shaped case made of a metal plate, and a control signal antenna 11 also serving as a video signal antenna protrudes outside the case.
[0039]
The pan motor is a motor that rotates the camera 20 in the horizontal direction. A rotating shaft that rotates the camera 20 in the horizontal direction vertically passes through the upper part of the main body and the lower part of the suspension support. Thus, the camera 20 is rotated in the horizontal direction by rotating the main body itself with respect to the suspension support 50. The tilt motor is a motor for causing the camera 20 to make a circular motion in the vertical direction. The rotation axis of the circular motion protrudes horizontally from the main body case and is connected to the camera. As a result, the camera 20 is caused to make a circular motion in the vertical direction with respect to the main body 10.
[0040]
The battery supplies all the power necessary for running the main body 10, controlling the rotation / arc movement and zooming of the camera 20, turning on the light 30, controlling the odor sensor, and transmitting and receiving image signals and control signals. This battery uses a rechargeable secondary battery, and can be charged by positioning the self-propelled machine at a charging station described later.
[0041]
The control board electrically connects the camera 20, the light 30, the pan motor, the tilt motor, the driving motor for running, the battery and both antennas, and runs / stops the self-propelled machine, the rotation / arc movement of the camera 20, the camera 20 And a circuit for transmitting and receiving various signals such as zoom and focus signals and control signals. The board also includes an electric transmission unit that outputs a signal of an image captured by the camera 20 and a detection signal by a detection sensor.
[0042]
The control signal antenna 11 receives a control signal transmitted based on a command from a host or a client, and transmits a detection signal of the odor sensor and a signal of positional information of the main body. The video transmitting antenna wirelessly transmits a signal of an image captured by the camera.
[0043]
(camera)
The camera 20 captures an image of the inside of the monitoring area. In this example, the camera 20 is a combination of a CCD element and a lens. The zoom and focus of the camera 20 can be controlled based on a command from the host. The image captured by the camera 20 is wirelessly output as an image signal via a transmission unit.
[0044]
(Light)
The light 30 is used to obtain a clear image by illuminating even when the monitoring area is dark. The light 30 is integrated below the camera 20, and is operated in synchronization with the horizontal rotation and vertical arc movement of the camera 20. Therefore, the shooting direction of the camera 20 can be reliably illuminated.
[0045]
(Odor sensor)
The odor sensor 40 is a sensor for detecting putrefaction odor and detecting putrefaction of a stored item. Usually, when foods decay, they emit an ammonia odor. In this example, decay is detected by detecting the smell of ammonia. The sensor 40 includes tin oxide (SnO) ₂ ) A substrate type thick film semiconductor sensor was used. The sensor 40 was fixed to the side of the frame of the suspension supporter 50. Of course, by replacing the odor sensor 40 with another sensor or adding another sensor in addition to the odor sensor 40, an abnormal state other than the odor can be detected.
[0046]
(Suspension support)
The suspension support portion 50 is a member for holding the main body 10 slidably while suspended from the rail 500. It has a frame 51, a rotary connection part 52, a drive mechanism 53, a direction control mechanism 54 and a position information detecting means 55.
[0047]
The frame 51 is a metal plate having a substantially concave cross section in which an upper surface 51A, a vertical surface 51B, and a lower surface 51C are integrated. A rotation connecting portion 52 described below is provided below the upper surface 51A, and the main body is rotatably connected below the lower surface 51C. A charging contact 51D is provided on the upper surface 51A.
[0048]
The rotation connecting portion 52 is a metal block having a substantially concave cross section, and is rotatably mounted on the lower surface of the frame 51. In the present example, a pair of rotary connecting portions 52 are attached to the frame 51 side by side in the traveling direction of the main body 10. The rotation of each of the rotation connecting portions 52 allows the main body 10 to run smoothly even at a bent portion of the rail 500. A drive mechanism 53 and a direction control mechanism 54 are provided in the rotation connection section 52.
[0049]
The drive mechanism 53 includes a drive roller 53A and a drive motor 53B integrated with the rotation connection portion 52. The drive roller 53A has a horizontal rotation shaft disposed so as to be bridged over the rotary connection part 52, and rotates the main body 10 on the rail 500 by the driving force of the drive motor 53B to contact the main body 10 with the rail 500. Drive along. Although only the rear end surface of the motor 53B is shown in the drawing, a drive bevel gear is attached to the rotation shaft of the motor 53B on the front end side, and this drive bevel gear meshes with a driven bevel gear attached to the rotation shaft of the drive roller 53A. The driving roller 53A is rotated. The rotation axis of the motor 53B is arranged perpendicular to the plane of the drawing, and the rotation axis of the drive roller 53A is arranged in the left-right direction in the figure. In addition, although the drive motor 53B is provided in the front rotation connection part 52, the same drive motor is not provided in the rear rotation connection part.
[0050]
The direction control mechanism 54 regulates the traveling direction so that the main body 10 does not fall off the rail 500, and has a vertical guide roller 54A and a horizontal guide roller 54B. A pair of vertical guide rollers 54A is disposed before and after the rotary connecting portion 52, and a pair of horizontal guide rollers 54B are provided inside the rotary connecting portion 52 and below the driving roller 53A.
[0051]
The position information detecting means 55 detects where the self-propelled machine 100 is located along the rail. In this example, the light emitting and receiving unit is used. The light emitting and receiving unit 55A is provided on an upper portion of the lower surface of the frame, and includes a light emitting element and a light receiving element arranged at an interval from each other. Normally, the light from the light emitting element reaches the light receiving element, and when passing through the position of a light shielding plate 55B described later, the light shielding is performed by disposing the light shielding plate 55B between the light emitting element and the light receiving element. . The information is used as the position information of the self-propelled machine 100 because the cutoff is performed.
[0052]
(rail)
On the other hand, the rail 500 is a long metal piece having an I-shaped cross section. The rail 500 has a horizontal sliding surface 510 and a horizontal mounting surface 520 integrated with a vertical connecting surface 530. The driving roller 53A is in contact with the horizontal sliding surface 510, and the horizontal mounting surface 520 is bolted to a rail support bracket. Fixed to 700. The rail support bracket 700 is an L-shaped bracket that is disposed at a predetermined interval in the rail longitudinal direction. One end is fixed to a ceiling or the like of a monitoring area, and the other end is a free end on which the rail 500 is mounted. . The vertical guide roller 54A in the direction control mechanism sandwiches the horizontal sliding surface 510 from the left and right, and the horizontal guide roller 54B is disposed below the horizontal sliding surface 510 on the left and right of the vertical connecting surface 530.
[0053]
A charging station 550 is provided along the rail. The charging station 550 is provided at a predetermined position along the rail, and charges the battery by being connected to the charging contact 51D of the self-propelled machine. The charging station 550 includes, for example, a converter connected to a commercial AC power supply and converting AC to DC, and a current collecting plate 551. When the self-propelled machine stops at the position where the charging station 550 is provided on the rail, the charging contact 51 </ b> D just contacts the current collecting plate 551. Then, the DC converted by the converter is supplied to the battery to perform charging.
[0054]
Further, in this example, a light shielding plate 55B serving as a position information display means of the self-propelled machine is provided on the rail 500 at predetermined intervals. The light-shielding plate 55B is an L-shaped metal plate, and is fixed below the rail mounting horizontal plane with bolts. When the self-propelled machine travels along the rail, the light shielding plate 55B blocks light output from the light emitting element to the light receiving element.
[0055]
(Operation of self-propelled machine)
Such a self-propelled machine 100 can be instructed by the host 300 to zoom / focus the camera 20, rotate / stop the rotation mechanism of the camera 20, rotate / stop the circular motion of the camera 20, turn on / off the light 30, Performs drive / stop, rotation speed adjustment (speed change), and rotation direction change (forward / backward) of the drive motor. The command from the host 300 is sent to the operation controller 210 by wire, and sent from the controller 210 to the control signal antenna 11 by radio.
[0056]
On the other hand, the image of the camera is wirelessly transmitted from the video signal antenna as an image signal, received by the video receiver 220 and transmitted to the host 300 by wire. The host 300 displays the transmitted image signal on a monitor, and the operator monitors while viewing the displayed image.
[0057]
When the odor sensor 40 detects ammonia, a detection signal is wirelessly transmitted from the control signal antenna 11 and transmitted from the operation controller 210 to the host 300 to display on the monitor that rot has occurred.
[0058]
Further, when the light-shielding plate 55B is located between the light emitting and receiving portions 55A as the self-propelled vehicle 100 travels, the control signal antenna 11 wirelessly transmits a signal indicating that the light has been cut off, and Send to host 300. The host 300 grasps where the self-propelled machine 100 is currently running on the rail based on the signal of the position information and displays it on the monitor.
[0059]
The above description is for the case where the host 300 controls the self-propelled machine 100. However, monitoring can be performed from a client via the Internet 600. That is, the client connects to the host 300 via the Internet 600 and sends a command to the host 300, thereby controlling the self-propelled machine 100 via the operation controller 210 and providing the client 400 with the image of the camera 20 and the odor sensor 40. The detection result can be displayed.
[0060]
<Ground rail type self-propelled machine>
Next, a self-propelled machine according to the present invention that travels on a rail will be described with reference to FIGS. 4 is a front view of the self-propelled aircraft, FIG. 5 is a side view thereof, and FIG. 6 is a plan view thereof.
[0061]
The self-propelled machine 100 has a configuration in which a suspended rail-type self-propelled machine is almost upside down. It has a traveling platform 70 instead of the suspension support 50, and holds the main body 10 on a rail. That is, the traveling platform 70 is fitted on the rail 500, and the main body 10 is rotatably supported on the traveling platform 70. The configurations of the main body 10, the camera 20, the light 30, and the like are the same as those of the suspension type rail-type self-propelled machine.
[0062]
The main configuration of the traveling platform 70 is the same as that of the suspension support 50. That is, the traveling platform has a support surface 71, the main body 10 is rotatably supported on the upper portion of the support surface, and the rotation connecting portion 52 is mounted on the lower portion. A pair of rotary connecting portions 52 are provided before and after the support surface, and a drive motor 53B is mounted on the front rotary connecting portion 52. The driving roller 53A, the vertical guide roller 54A, and the horizontal guide roller 54B are provided on each rotary connecting portion 52, and the point that each roller 54A, 54B is fitted to the I-type rail 500 is a suspension rail type. Same as a self-propelled machine.
[0063]
In such a ground rail type self-propelled machine, the monitoring by the image of the monitoring area and the monitoring of the abnormal state by the detection sensor can be performed in the same manner as the suspended rail type self-propelled machine.
[0064]
4 to 6, illustration of the detection sensor is omitted. The detection sensor may be provided at an appropriate position such as on the traveling platform or the side surface of the main body.
[0065]
<Caterpillar type self-propelled machine>
Next, the caterpillar type self-propelled machine will be described with reference to FIGS. 7 is a front view, FIG. 8 is a side view thereof, FIG. 9 is a plan view thereof, and FIG. 10 is a bottom view thereof.
[0066]
Comparing this self-propelled machine with a ground-type rail-type self-propelled machine, it has almost the same configuration except that the traveling platform 70 has been changed to a caterpillar truck 80. A camera 20 and a light 30 which can be freely rotated and moved up and down are provided, and the taken image is transmitted wirelessly, and the driving control of the caterpillar and the control of the rotation / swing of the camera 20 and the light 30 are also performed wirelessly.
[0067]
The caterpillar truck 80 is provided with a pair of drive motors 81. One motor drives the caterpillar on the right side of the truck, and the other motor drives the caterpillar on the left side of the truck. Each caterpillar has a plurality of driving wheels 82 and a caterpillar belt 83 wrapped around the outer periphery thereof, and drives the main body 10 by rotating the driving wheels 82 and running the caterpillar belt 83. In this example, the rotational power of each motor 81 is transmitted to the rear drive wheel 82B via the belt 84 to drive the caterpillar.
[0068]
The foremost drive wheel 82A in this caterpillar is arranged above the other drive wheels, and is configured so that the self-propelled machine can easily get over an obstacle. The caterpillar belt 83 is pressed from above by a pressing roller 85 slightly behind the forefront driving wheel 82A so that the caterpillar belt 83 is arranged substantially in a V-shape.
[0069]
Further, in this self-propelled machine, the support plate 86 is extended to the rear of the caterpillar truck 80, and guide rollers for avoiding a steep fall are arranged at the end of the support plate. The guide roller 87 for avoiding overturn prevents the self-propelled machine from falling backward when the front of the self-propelled machine is lifted from behind after traveling on a steep slope. It is for doing.
[0070]
Also in this example, illustration of the detection sensor is omitted. The detection sensor may be provided at an appropriate position such as on the traveling platform or the side surface of the main body.
[0071]
This self-propelled machine can move to an arbitrary position in the monitored area by traveling on a caterpillar without using a rail. Also, some obstacles on the traveling route can be overcome. Then, an abnormal state of the monitoring area can be monitored based on the image of the camera and the detection result of the detection sensor.
[0072]
In this example, a rotation mechanism for rotating the camera in the horizontal direction is provided, but the caterpillar-type self-propelled machine can turn the self-propelled machine on the spot by rotating the right and left caterpillars in reverse, The rotation mechanism may be omitted and the camera may be rotated by turning the self-propelled machine itself.
[0073]
<Tire type self-propelled machine>
Next, a tire-type self-propelled machine will be described with reference to FIGS. 10 is a front view of the self-propelled aircraft, FIG. 12 is a side view thereof, and FIG. 13 is a plan view thereof.
[0074]
This self-propelled machine has a configuration in which a caterpillar car 80 of a caterpillar type self-propelled machine is changed to a traveling car 90. The traveling vehicle 90 includes a pair of front wheels 91 and a pair of rear wheels 92, and drives the main body by driving at least one of the front and rear wheels 91 and 92 by a drive motor (not shown). This self-propelled machine also has a camera 20 and a light 30 that can be rotated horizontally and vertically, and wirelessly transmits the captured image, and also wirelessly controls the driving of the tires and the rotation and vertical movement of the camera 20 and the light 30. Do with.
[0075]
Also in this example, illustration of the detection sensor is omitted. The detection sensor may be provided at an appropriate position such as on the traveling platform or the side surface of the main body.
[0076]
This self-propelled machine can move to an arbitrary position in the monitored area by traveling on the front and rear wheels 91 and 92 without using a rail. Also, some obstacles on the traveling route can be overcome. Then, an abnormal state of the monitoring area can be monitored based on the image of the camera 20 and the detection result of the detection sensor.
[0077]
【The invention's effect】
As described above, according to the surveillance self-propelled machine of the present invention, an image at an arbitrary position in a surveillance area can be captured without using a large number of cameras by running a main body equipped with a camera itself. . Then, this image can be confirmed at a remote place, and the detection result of the detection sensor can be grasped to detect an abnormal state of the monitoring area. Therefore, it is possible to perform monitoring according to the monitoring purpose, such as fire in a warehouse or a store, intrusion of a suspicious person, abnormal operation of installed equipment, and the like.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of a monitoring system using a self-propelled machine according to the present invention.
FIG. 2 is a front view of a suspension rail type self-propelled machine of the present invention.
FIG. 3 is a right side view of the self-propelled machine of FIG.
FIG. 4 is a front view of a ground rail type self-propelled machine of the present invention.
FIG. 5 is a right side view of the self-propelled machine of FIG.
FIG. 6 is a plan view of the self-propelled machine of FIG.
FIG. 7 is a front view of the caterpillar type self-propelled machine of the present invention.
FIG. 8 is a side view of the self-propelled machine of FIG.
FIG. 9 is a plan view of the self-propelled machine of FIG.
FIG. 10 is a bottom view of the self-propelled machine of FIG.
FIG. 11 is a front view of the tire-type self-propelled machine of the present invention.
FIG. 12 is a side view of the self-propelled machine of FIG.
FIG. 13 is a plan view of the self-propelled machine of FIG.
[Explanation of symbols]
10 body
11 Control signal antenna
20 cameras
30 lights
40 Odor sensor
50 Suspension support
51 frames
51A Top surface
51B vertical surface
51C bottom
51D charging contact
52 Rotation connection
53 drive mechanism
53A drive roller
53B drive motor
54 Direction control mechanism
54A Vertical guide roller
54B horizontal guide roller
55 Position information detecting means
55A light emitting and receiving unit
55B shading plate
70 Running platform
71 Support surface
80 caterpillar truck
81 Drive motor
82 drive wheels
83 caterpillar belt
84 belt
85 Holding roller
86 support plate
87 Guide Roller to Avoid Falling
90 traveling trolley
91 Front wheel
92 rear wheel
100 self-propelled machine
210 Operation controller
220 video receiver
300 hosts
350 web server
400 clients
500 rails
510 horizontal sliding surface
520 horizontal mounting surface
530 vertical connection surface
550 charging station
551 current collector plate
600 Internet
700 rail support bracket

Claims (10)

Body and
A drive mechanism for moving the main body by remote control,
A camera attached to the main body and operated by remote control,
A detection sensor for detecting an abnormal state of the monitoring location;
An electric transmission means for transmitting an image captured by the camera and a detection signal of the detection sensor,
A monitoring self-propelled machine comprising a power supply for supplying power to the driving mechanism, a camera, a detection sensor, and an electric transmission means. 2. The sensor according to claim 1, wherein the detection sensor is at least one selected from the group consisting of an acoustic sensor, an acceleration sensor, an odor sensor, a gas sensor, a temperature sensor, a humidity sensor, an infrared sensor, an electromagnetic field sensor, and a radioactivity sensor. The monitoring self-propelled aircraft described in 1. A track installed in the monitoring location,
The self-propelled monitoring machine according to claim 1, further comprising a direction control mechanism for holding the main body along the track. The track is a rail provided in the monitoring point,
The monitoring self-propelled machine according to claim 3, wherein the direction control mechanism is a guide roller fitted on the rail. The track is a band provided in the monitoring location,
The self-propelled motor for monitoring according to claim 3, wherein the direction control mechanism includes a band-shaped body recognizing unit that detects a difference between a physical quantity of a part with the band and a physical quantity of a part without the band. Providing a position information display section of the self-propelled machine along the track, the self-propelled machine includes a reading means of the position information display section,
The self-propelled motor vehicle for monitoring according to claim 3, wherein the transmission unit also transmits the position information of the self-propelled vehicle by the display unit. The monitoring self-propelled machine according to claim 3, further comprising a charging terminal connected to a charging station provided on the track. The monitoring self-propelled machine according to claim 1, wherein the drive mechanism comprises a caterpillar. The monitoring self-propelled motor according to claim 1, wherein the driving mechanism includes wheels. A host that wirelessly controls the main body and the camera,
The monitoring self-propelled machine according to claim 1, further comprising a client connected to a host via an information network to control the main body and the camera.

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