JP2022160241A - Monitor system - Google Patents

Abstract

To solve a problem that in a case of inspecting equipment installed in a building of a factory with a mobile, a flying object having landed on the floor surface of the building sometimes cannot take off normally.SOLUTION: A monitor system comprises a mobile which automatically travels in a factory and a control device which controls the mobile, the mobile monitoring the operation situation of equipment installed in the factory with operation situation visualization means. The system is capable of monitoring the operation situation of the equipment without landing on a floor surface.SELECTED DRAWING: Figure 1

Description

The present invention relates to a monitoring system using mobile objects (including flying objects, so-called drones), and particularly provides a system used for monitoring driving equipment installed in factory buildings.

In recent years, multicopters capable of wireless control, self-driving, or self-sustaining flight have come to be used in various situations under the name of "drone." Drones equipped with propellers can overlook the bottom from a high position, so they are often used after being equipped with a camera and having a shooting function. It also has a high movement speed, so it can travel a considerable distance in a short time.

As an example of the use of such a mobile body, a case of use in the situation of "monitoring an object" has been proposed. Patent Literature 1 discloses an in-warehouse package monitoring system that utilizes a drone in a warehouse where pallets on which packages are placed are stored. In the package monitoring system disclosed in Patent Document 1, the loading state of packages is monitored while moving in a large warehouse.

By the way, drones equipped with propellers are found to be useful in that they can hover and move at low speeds, and as a result, they often take flight forms such as multicopters. Multicopters can move forward, backward, left, right, up and down by adjusting the number of rotations of the propeller. Therefore, if even one of the propellers is disturbed, flight becomes impossible and the aircraft crashes. Or fly in an unexpected direction.

A crash of a drone not only results in the loss of the drone, but may also cause damage if it collides with a person, building, or the like. Therefore, an invention is also disclosed from the viewpoint of preventing damage to the surroundings even if the flight system of the drone breaks down and the drone crashes.

In Patent Document 2, a strong metal wire is stretched, and two side distances are set directly under the wire so that the drone can fly accurately while maintaining a certain distance from the wire in the horizontal and vertical directions. Using a sensor based on the principle of triangulation, by attaching a metal rod with a safety hook located on the top of the wire during drone flight, the hook will catch on the wire when the drone falls, preventing the drone from falling. A possible invention is disclosed.

Further, in Patent Document 3, a guideline stretched along the flight trajectory of the drone and a guide means for causing the drone to fly along the guideline are provided, and the guide means can freely move in the horizontal and vertical directions. A safe flight system for a drone is disclosed, characterized by having a pivoting pivot joint.

JP 2018-43815 A Japanese Patent No. 6436468 Japanese Patent No. 6143311

A factory building has a large area, and in many cases, various driving equipment is arranged inside. Therefore, it takes a lot of time and effort, and even more costly, for a person to inspect each facility while walking. Therefore, it is a natural request to use a moving body for inspection of motor equipment.

An aircraft such as a multicopter is equipped with a gyro sensor to control its flight attitude. If the gyro sensor lands on reinforced concrete, the zero point becomes distorted, and in many cases the takeoff cannot be performed normally. On the other hand, the floor of the factory building where heavy equipment is arranged has reinforcing bars under the floor surface for reinforcement. Therefore, it is necessary to use a mobile object such as a four-wheeled self-propelled vehicle and an flying object such as a drone to inspect various facilities.

In addition, when monitoring factory equipment with a mobile unit, safety is ensured so that even if the system of the mobile unit malfunctions, it will not collide with surrounding equipment or people, or move in an unexpected direction. There is a need to.

SUMMARY OF THE INVENTION The present invention has been conceived in view of the above problems, and provides a system for monitoring equipment arranged in a factory building from the ground or from the air.

More specifically, the monitoring system according to the present invention includes:
A moving body that automatically moves in the factory,
Having a control device for controlling the moving body,
The moving body is characterized by monitoring the operating conditions of the equipment installed in the building by means of operating condition visualization means.

Further, in the monitoring system according to the present invention, among the moving objects provided in the factory, the flying objects in particular are connected to flying object crash safety means (for example, wires, telescopic poles, etc.). and

Since the monitoring system according to the present invention has the operating state visualization means for visualizing the operating state of the facility, the moving body can confirm the operating state of the facility from the floor surface or from the air.

In addition, in the monitoring system according to the present invention, since the mobile objects, especially the flying objects, are connected to the crash safety means in the building, even if the flight system fails, they are not connected to the wire, which is the flying object crash safety means. so you can avoid flying in unexpected directions or crashing.

In addition, if there are obstacles in the self-propelled path of a mobile object that is self-propelled on the floor, the image camera and sensors installed in the mobile object will prevent contact with surrounding facilities and people and prevent it from moving in an unexpected direction. to avoid collisions.

In addition, if a connecting wire winding device is installed between the moving body and the wire, and a self-propelled carrier capable of self-propelled on the wire is attached, the flying body can be connected to the connecting wire. , the aircraft can obtain the necessary degree of freedom of flight even when it is connected to the wire.

It is a figure which shows the structure of the monitoring system which concerns on this invention. It is a figure which shows the structure of an aircraft. It is a figure which shows the conceptual example of the hologram image at the time of seeing a rectangular parallelepiped installation from diagonally above. It is a figure which illustrates the structure of a sandmark instrument. It is a figure which shows the conceptual example of a ripple mark. FIG. 10 is a diagram showing movement of an aircraft in a surveillance system; It is a figure which shows the processing flow of a control apparatus. FIG. 11 is a flowchart showing processing when a monitoring result image is received; It is a figure which shows the structure of another monitoring system. FIG. 10 is a diagram showing movements of an air vehicle and a self-propelled carrier in another monitoring system; It is a figure which shows the structure of an automatic driving vehicle. FIG. 4 is a diagram showing a state in which the automatic driving vehicle extends the visual field securing means; 1 is a conceptual diagram showing how an automatic driving vehicle monitors facilities; FIG.

A monitoring system according to the present invention will be described below with reference to the drawings. It should be noted that the following description illustrates the embodiments of the present invention, and the present invention is not limited to the following description. The following description can be modified without departing from the spirit of the invention.

(Embodiment 1)
FIG. 1 shows the configuration of a monitoring system 1 according to this embodiment. In addition, in the present embodiment, the moving body 12 is described as the flying body 12 . The monitoring system 1 of this embodiment is composed of a base 10 , an aircraft 12 , a control device 14 and a driving situation visualization means 16 . The flying object 12 is not particularly limited as long as it has a hovering function. A multicopter is usually used, and a quadcopter can be preferably used. The aircraft 12 is equipped with equipment necessary for flight, a communication device 12a, and a driving situation visualization means 16. FIG. Further, the flying object 12 may be of an autonomous type, and the autonomous flying object 12 is effective indoors because the zero point of the gyro sensor is less likely to go wrong.

The flying object 12 preferably flies while being controlled by a control device 14, which will be described later. This is because indoor flight control by humans is desirable because position confirmation by GPS is not possible. (Of course, this does not exclude unmanned and autonomous flight of the aircraft 12 inside the building). Therefore, it is desirable to provide a driving camera 12b that can look down from the front to the bottom.

The base 10 is a place where the flying object 12 returns to its base, and has at least a charging facility 10a for the flying object 12 and an environment where the gyro sensor is not affected.

The control device 14 controls the flying object 12, sorts out and compares the monitoring result images Sb collected by the flying object 12, and finally indicates the presence or absence of a failure in the monitored equipment and a sign of failure. The control device 14 is also provided with an operation device 14a (hereinafter referred to as "controller 14a"), a viewing screen 14b and a communication device 14c when the operator 5 (see FIG. 6) drives the aircraft 12. FIG.

The flying object 12 is illustrated in FIG. 2(a) is a plan view from above, FIG. 2(b) is a side view, and FIG. 2(c) is a front view. The aircraft 12 has a communication device 12a, a driving camera 12b, a drive section 12c including a propeller 12ca and a motor 12cb, a housing 12d, and a support leg 12e.

A controller for controlling flight, a gyro sensor, a battery, and the like are built in the housing 12d. The driving camera 12b is preferably arranged below the housing 12d because it is almost unnecessary to check the upper direction. Further, below the housing 12d, a driving situation imaging means 16, which will be described later, is arranged.

The operating condition imaging means 16 visualizes the operating condition of the equipment, and particularly grasps the vibration condition of the equipment. There are no restrictions as long as the equipment can visualize vibrations. Equipment used in a factory always accompanies vibration when in operation. And under certain operating conditions, the equipment skin is in some resonance.

Therefore, the skin of the installation is in a constant natural vibration state. On the other hand, when a failure occurs somewhere in the equipment, a transformation occurs in this natural vibration state. The change appears by conversion of the vibration state on the outer surface of the equipment. Therefore, by visualizing the vibration of the outer plate of the equipment and comparing it with the case of normal operation, it can be understood that an abnormality has occurred in the equipment. Such a change often becomes a sign of equipment stoppage.

As specific examples of the driving situation visualization means 16, holograms, laser Dopplers, strobes, ripple marks, water marks, and combinations thereof can be preferably used.

In optical holography, a laser beam is split into two by a half mirror, one of which is irradiated onto an object as object light and the other as reference light, and the object light and reference light are simultaneously recorded. Although the laser beams were originally in phase, one of them is reflected by an object, so the phase changes, and when combined with the original reference beam, interference fringes are generated. A hologram is a record of these interference fringes.

When the object is vibrating, if the distance between the hologram surface and the object is sufficiently large relative to the size of the hologram, and the vibration direction of the incident light and reflected light of the laser and the object are the same, the isoamplitude line is observed. can do.

Therefore, by obtaining a hologram of the equipment surface, it is possible to visualize the vibration state of the equipment.

The principle of laser Doppler is the same as that of creating a hologram in holography.

Both hologram and laser Doppler can be used not only for flat surfaces but also for curved, inclined and vertical surfaces. FIG. 3 shows a conceptual example of a hologram image when the rectangular parallelepiped facility 50 is viewed obliquely from above. Rotating bodies and flow tubes are arranged inside, and vibrations are propagated to the whole when in operation. Assuming that a hologram image such as that shown in FIG. 3A is obtained when the equipment is operating normally, its vibration state changes when the equipment 50 breaks down. For example, it is a state like FIG.3(b). A failure or change in the facility 50 is detected by comparing the two images.

When the driving situation imaging means 16 is a hologram or a laser Doppler, the aircraft 12 is equipped with these camera 16b.

A strobe irradiates a vibrating object with a light that blinks at regular intervals, and the reflected light is observed. By slightly shifting the frequency of the strobe from the natural vibration of the equipment 50, it is possible to observe and visualize the slow change in the vibration state. When a strobe is used, the driving situation imaging means 16 is a strobe light 16a and a video camera 16c (same as 16b in FIG. 2).

Ripples and ripples can be used for equipment 50 having a flat top surface. FIG. 4(a) shows a ripple mark device 18 for generating ripple marks. FIG. 4(b) is a sectional view taken along the line AA of FIG. 4(a). The sand pattern 18 is a container 18a with a rim and a thin film 18b spread over the middle of the container 18a, and powder 18e is sprinkled on the thin film 18b. The thin film 18b is fixed by an inner frame 18c on the edge of the container 18a.

The thin film 18b is preferably thin and has a small mass. This is because they transmit vibrations well. The powder 18e preferably has a grain size of about several hundred μm. If it is too fine, it will not spread due to vibration.

There may be a transparent lid (not shown) over the rim. Ripple 18 is mounted so that its edge is fixed to the upper surface of facility 50 by retainer 18d.

The sandstone 18 draws a pattern corresponding to the vibration when the facility 50 is operated. The flying object 12 photographs the pattern and compares it with the pattern when there is no abnormality. FIG. 5 exemplifies the ripple marks. This is a state in which the sandmarker 18 is fixed on the equipment 50 . It is assumed that FIG. 5(a) shows the normal operating state and FIG. 5(b) shows the abnormal operating state. Such differences in ripple marks are detected as differences in images. An ID 50 a of the equipment 50 is clearly indicated on the equipment 50 .

A watermarker (not particularly shown) is a vat-shaped container filled with water and fixed to the upper surface of the equipment 50 . When the equipment 50 operates, water ripples are generated by its vibration. The water pattern is photographed and compared with the pattern when there was no abnormality.

In the case of creating ripple marks and water ripples, the driving situation visualization means 16 is a sand ripple generator 18, a ripple ripple generator, and a camera for photographing the ripples and ripples. The photographing camera may also be used as the driving camera 12b, or may be mounted on the aircraft 12 separately. On the other hand, the sandmarker 18 or watermarker is attached to the facility 50 to be monitored. In addition, when using sand ripples and water ripples, the strobe light 16a may be used at the same time.

The movement of the flying object in the monitoring system 1 having the above configuration will be described with reference to FIG. The following description is based on the premise that a person (worker 5) controls the movement of the aircraft 12 via the control device 14. FIG. In addition, a compressor 52 is taken as an example of the facility 50 to be monitored. The size is, for example, a rectangular parallelepiped with a width of 1500 mm, a depth of 900 mm and a height of 1700 mm, and the upper surface is flat. However, the equipment 50 to be monitored is not limited to these.

Also, when there are a plurality of compressors 52, an ID 50a that can identify each compressor 52 is assigned. A method of identifying the ID 50a is not particularly limited. Here, each compressor 52 is assigned a number, and the flying object 12 is configured so that each compressor 52 can be identified by its ID 50a when the compressor 52 is photographed by a photographing camera.

When the driving situation visualization means 16 uses sand ripples or water ripples, the sand ripples 18 or water ripples are arranged on the upper surface of the compressor 52 . Moreover, when using the strobe light 16a, it is desirable to draw a pattern on the upper surface of the compressor 52. FIG. This is because the movement of the pattern makes it easier to see the vibration. Also, it is assumed that the reference image Ss during normal driving has been captured in advance. The reference image Ss may be a moving image.

After taking off from the base 10, the flying object 12 first gains altitude to a height free from obstacles (F1). Then, it flies to the facility 50 (compressor 52) to be monitored (F2). When it reaches the compressor 52, it moves further to a position suitable for using the driving situation visualization means 16 (F3). The movement at this time may include a change in altitude. In FIG. 6, it turns during descent.

A suitable position for using the driving situation imaging means 16 may be diagonally above the compressor 52 in the case of, for example, a hologram or laser Doppler. When using the strobe light 16a, sand ripples, and water ripples, it is desirable to be positioned almost directly above the compressor 52. Then monitoring is started. Image data obtained by monitoring is stored in the aircraft 12 as a monitoring result image Sb. Alternatively, it is transmitted to the control device 14 .

When the monitoring of one compressor 52 is completed, the next compressor 52 is monitored (F4). Then, when the monitoring of the compressor 52 to be monitored is completed (F5), the aircraft gains altitude again (F6) and returns to the base 10 (F7). In the above explanation, it is assumed that the flying object 12 is controlled by a person (operator 5). You can get the action.

FIG. 7 shows a processing flow of the control device 14. As shown in FIG. Note that the following processing will be described for a case where the control device 14 controls one aircraft 12 . When the process starts (step S100), the control device 14 makes an end determination (step S102). When ending (Y branch of step S102), the control device 14 is stopped (step S104). Note that the termination determination may be based on an emergency stop in addition to the termination instruction by the operator 5 .

When continuing the process (N branch of step S102), it waits until the monitoring time (step S106). Monitoring may be performed at regular intervals. Also, it is assumed that the monitoring time has been input in advance.

When the monitoring time comes (Y branch of step S106), the monitoring start time is notified (step S108). By this notification, the operator 5 drives the aircraft 12 with the controller 14a. While the operator 5 is driving the aircraft 12, the following steps are repeated.

First, it is determined whether monitoring is finished (step S110). The operator 5 makes a decision to end the monitoring. Basically, the return of the aircraft 12 is a condition for monitoring termination. If the monitoring ends (Y branch of step S110), the process returns to end determination (step S102).

If monitoring is to be continued (N branch of step S110), it is determined whether there is an input or reception to the control device 14 (step S112). Input from the operator 5 also waits until there is a transmission signal from the flying object 12 (N branch of step S112).

If there is an input or transmission from the flying object 12 (Y branch of step S112), it is determined whether or not it is input by the operator 5 (step S114). If the input was made by the operator 5 (Y branch of step S114), the input is transmitted to the aircraft 12 (step S116), and the flow returns to step S110.

If the input is not from the operator 5 (N branch of step S114), it is determined that the signal is transmitted from the aircraft 12, and the signal is received (step S118). Then, the received data is recorded (step S120), and the flow is returned to step S110. The received data includes the monitoring result image Sb. Further, the received data may include data other than the monitoring result image Sb.

Next, processing when receiving the monitoring result image Sb will be described. The following processes may proceed even while the operator 5 is operating the aircraft 12 (from step S110 to step S120). Also, it may be performed after the flying object 12 returns to the ground. It also shows the flow in the form of subroutines.

Referring to FIG. 8, when the monitoring result image Sb is received (step S150), which compressor 52 is identified by the ID 50a shown in the monitoring result image Sb (step S152). Next, the reference image Ss of the compressor 52 is obtained (step S154). Then, it is determined whether or not the reference image Ss and the monitoring result image Sb are the same (step S156).

The method of comparison is not particularly limited. For example, pixels in a specific region are compared with each other, and the differences in pixel values are integrated. If the difference is equal to or less than a certain value, it is determined that the reference image Ss and the monitoring result image Sb are the same.

If it can be determined that the reference image Ss and the monitoring result image Sb are the same (Y branch of step S156), a notification of "no abnormality" is given (step S158). On the other hand, if it is determined that the reference image Ss and the monitoring result image Sb are different (N branch of step S156), "there is a sign" is notified (step S160). Then, the ID 50a of the compressor 52, the comparison result, etc. are recorded (step S162), and the process is returned to the main routine (step S164). In addition, when processing a plurality of monitoring result images Sb in succession, the processing is repeated.

As described above, the monitoring system 1 according to the present invention visualizes the operating state of the equipment 50 arranged in the building of the factory, and compares it with the image when there is no abnormality, thereby detecting failures or signs of equipment 50. It can be carried out.

(Embodiment 2)
FIG. 9 shows the configuration of a monitoring system 2 according to this embodiment. Also in this embodiment, the moving body 12 is described as the flying body 12 . In the monitoring system 2 according to this embodiment, in the monitoring system 1 described in the first embodiment, a mechanism is added for the aircraft 12 to fly safely inside the building. Also, the same reference numerals are assigned to the same components as those shown in the first embodiment, and the description thereof is omitted.

In the monitoring system 2 according to the present embodiment, in addition to the base 10, the aircraft 12, the control device 15, and the driving situation visualization means 16, the self-propelled carrier 30 having the connection wire winding device 32 and the self-propelled carrier 30 are operated. It has a wire 40 stretched inside the building for.

As in the first embodiment, the aircraft 12 is equipped with equipment necessary for flight, a communication device, and a driving situation visualization means 16 . Further, in the aircraft 12 according to the present embodiment, a hook 12f is attached to the upper surface of the casing 12d of the aircraft 12. As shown in FIG. The hook 12f is for coupling with a connecting line 34, which will be described later. Further, the control device 15 can control not only the movement of the flying object 12 but also the movement of the self-propelled carrier 30 .

The wire 40 is stretched so as to pass over the facility 50 to be monitored and the base 10 in the building. The self-propelled carrier 30 is provided with a motor-driven drive pulley 30d and a driven pulley 30r, and the wire 40 is sandwiched between the drive pulley 30d and the driven pulley 30r. Therefore, the self-propelled carrier 30 can move on the wire 40 when the drive pulley 30d rotates. Also, a communication device 30c may be mounted.

The self-propelled carrier 30 also has a coupling wire winding device 32 . The connection wire winding device 32 has a winding motor 32a and a reel 32r on which the connection wire 34 is wound. The connecting line 34 should only be able to withstand tension enough to hoist the flying object 12 . Further, the self-propelled carrier 30 is equipped with a battery (not shown) for operating the drive pulley 30d, the winding motor 32a, the communication device 30c, and the like.

Self-propelled carrier 30 is placed on wire 40 . The flying object 12 is connected with the connecting line 34 and the hook 12f. Therefore, it can be said that the aircraft 12 is connected to the wire 40 .

Next, operation of the monitoring system 2 according to this embodiment will be described with reference to FIG. The self-propelled carrier 30 is stopped above the base 10 . A connecting wire 34 drawn out from a connecting wire winder 32 of the self-propelled carrier 30 is attached to a hook 12 f on the upper surface of the aircraft 12 .

The control device 15 is on standby until the monitoring time comes. When the monitoring time comes, the start of monitoring is notified. By this notification, the worker 5 operates the self-propelled carrier 30 and the flying object 12 with the controller 15a. The connection wire winding device 32 of the self-propelled carrier 30 is biased toward the winding side. Therefore, when the flying object 12 ascends, the connecting wire 34 is wound up, and when the flying object 12 descends, the connecting wire 34 is paid out.

First, the worker 5 raises the flying object 12 to the self-propelled carrier 30 . Next, the flying object 12 and the self-propelled carrier 30 are moved along the wire 40 to above the facility 50 to be monitored. Then, when the self-propelled carrier 30 moves above the facility 50 , the operator 5 lowers the flying body 12 above the facility 50 .

Since the connecting wire 34 is always biased toward the take-up side, the connecting wire 34 will not loosen. Therefore, it is possible to prevent the connection line 34 from entangling the propeller 12ca of the aircraft 12 . In addition, the connecting line 34 is designed to be stopped at a certain length, so that the aircraft 12 does not crash to the floor of the building.

Also, even if the flying object 12 loses attitude control for some reason, it will not fly away outside the radius of the connecting line 34 . Of course, the operator 5 operates the controller 15 a so that the connecting wire winding device 32 forcibly winds the connecting wire 34 and positions the aircraft 12 directly below the self-propelled carrier 30 .

The flying object 12 images the vibration of the facility 50 as in the case of the first embodiment. For vibration imaging, the method described in the first embodiment can be preferably used. After the monitoring of one facility 50 is completed, the flying object 12 moves to the next facility 50. - 特許庁During this movement, the self-propelled carrier 30 itself also moves together. This can be done by setting the self-propelled carrier 30 to move together when the flying object 12 moves in the direction of the wire 40 .

After all the facilities 50 have been monitored, the aircraft 12 is raised to the self-propelled carrier 30 and moved above the base 10. - 特許庁After that, the aircraft 12 is lowered to the base 10 again. The comparison between the monitoring result image Sb and the reference image Ss and the display of the determination of "no abnormality" or "prediction present" are the same as in the first embodiment. Also, the processing of the control device 15 may be the same as the processing of the control device 14 of the first embodiment.

As described above, the monitoring system 2 according to the present invention can monitor the operating state of the facility 50 through imaging of vibration.

(Embodiment 3)
FIG. 11 shows the configuration of a monitoring system 3 according to this embodiment. In the monitoring system 3 according to this embodiment, in the monitoring system 1 and the monitoring system 2 described in the first and second embodiments, the flying object 12 is changed to automatically travel on the floor surface. A mechanism has been added for safe automatic driving inside the building. Further, the same reference numerals are assigned to the same components as those shown in Embodiments 1 and 2, and descriptions thereof are omitted.

In Embodiments 1 and 2, the moving body 12 was described as an example of the flying body 12, but in this embodiment, it is described as an automatic driving vehicle 12 on the ground. It should be noted that the configurations and technical ideas described in Embodiment 1 that can be applied to this embodiment can be applied even if they are not described.

Referring to FIG. 11, FIG. 11(a) shows a side view of an automatic traveling vehicle 12, a base 10, and a charging facility 10a. FIG. 11B is a front view of the automatic traveling vehicle 12. FIG. The automatic traveling vehicle 12 has a substantially rectangular parallelepiped pedestal 62 on the upper surface of a vehicle body 60 having wheels 60 a , and a turntable 64 on the top surface of the pedestal 62 . The turntable 64 can rotate 360 degrees in the horizontal direction, and the turntable 64 is provided with the driving situation visualization means 16 on the base 64a. The base 64a is rotatable 90 degrees in the vertical direction.

As specific examples of the driving situation imaging means 16, holograms, laser Dopplers, strobes, and combinations thereof can be preferably used. For example, a combination of a strobe light 16a and a video camera 16c may be used, or a camera 16b (same as 16c) for capturing a hologram and a laser Doppler while using the strobe light 16a as a normal light.

Further, the automatic driving vehicle 12 is provided with a visual field securing means 66 for monitoring the facility 50 (see FIG. 3) from obliquely above. In order for the automatic driving vehicle 12 to provide the driving situation visualization means 16 obliquely above the facility 50, an arm such as a crane for lifting the driving situation visualization means 16 may be provided, or the automatic driving vehicle 12 may A drone having the driving situation imaging means 16 as shown in 1 is mounted, and the drone can be flown to secure a diagonally upper view of the facility 50 during monitoring.

Here, as a simpler method, a rotatable mirror 66b provided at the tip of the extension rod 66a is shown as the visual field ensuring means 66. As shown in FIG. The delivery rod 66a can be extended and contracted upward. A mirror adjuster 66c is provided at the tip of the extension rod 66a, and the mirror 66b is connected to the mirror adjuster 66c by an axis on which the mirror adjuster 66c can rotate.

Incidentally, it is desirable that the mirror 66b is provided for each of the light and camera. In addition, it is desirable that the mirror adjuster 66c can also adjust the angle of the left and right mirrors and the tilt angle with respect to the front direction.

FIG. 12 is a diagram showing the extension rod 66a. FIG. 12(a) is a front view, and FIG. 12(b) is a side view. With the extension rod 66a extended, the mirror adjuster 66c can rotate the mirror 66b. In addition, the driving situation visualization means 16 faces upward as the extension rod 66a extends. That is, a bird's-eye view image of the equipment 50 is obtained by looking at the mirror 66b at a high position. By doing so, the field of view can be raised up to the position of the mirror 66b.

FIG. 13 shows how the automatic driving vehicle 12 monitors the facility 50 . Referring to FIG. 13( a ), when the automated driving vehicle 12 monitors the equipment 50 obliquely from above, the extension rod 66 a is extended, the angle of the mirror 66 b is adjusted by the mirror adjuster 66 c , and the equipment 50 is observed obliquely from above. Observe from the perspective of At this time, the lighting and photographing mirrors 66b can be adjusted in angle and tilt angle with respect to the front, so that it is possible to obtain a favorable field of view in which the top plate and side plates of the equipment 50 are reflected at the position where the automatic traveling vehicle 12 is stopped. can be done. In addition, as shown in FIG. 13B, only the side surface of the facility 50 may be photographed.

As described above, the monitoring system 3 according to the present invention can monitor the operating state of the facility 50 through imaging of vibration.

INDUSTRIAL APPLICABILITY A monitoring system according to the present invention can be suitably used when monitoring the operating state of equipment arranged in a factory building.

1 monitoring system 2 monitoring system 5 worker 10 base 10a charging facility 12 moving body (flying body, self-driving car)
12a communication device 12b driving camera 12f hook 12ca propeller 12cb motor 12c drive unit 12d housing 12e support leg 14 control device 15 control device 14a operation device 14a controller 15a controller 14b visual field screen 14c communication device 16 driving situation imaging means 16a strobe light 16c Moving image camera 16b Filming machine 18 Sand pattern device 18a Container 18b Thin film 18c Inner frame 18e Powder 18d Fixing device 30 Self-propelled carrier 30d Drive pulley 30r Driven pulley 30c Communication device 32 Connection wire winding device 32a Winding motor 32r Reel 34 Connection Line 40 Wire 50 Facility 50a ID
52 Compressor Ss Reference image Sb Monitoring result image

Claims (7)

A moving body that automatically moves in the factory,
Having a control device for controlling the moving body,
A monitoring system in a factory, wherein the moving body monitors the operating status of equipment installed in the factory by operating status visualization means. the moving body is an aircraft,
Having a base installed in the factory and stopping the aircraft,
2. The monitoring system according to claim 1, wherein the flying object monitors the operating conditions of the equipment installed in the factory from the air by means of operating condition visualization means. The moving body is an automatic driving vehicle that automatically travels on the ground,
Having a base installed in the factory and stopping the automatic driving vehicle,
2. The monitoring system according to claim 1, wherein the automatic driving vehicle monitors the operating conditions of the equipment installed in the factory by means of operating condition visualization means. 4. The monitoring system according to any one of claims 1 to 3, wherein said driving situation imaging means is means for imaging vibration of said equipment. 3. The surveillance system according to claim 2, wherein the aircraft is connected to aircraft crash safety means provided in the factory. The flying object crash safety means is provided with a self-propelled carrier having a coupling wire winding device,
3. The surveillance system according to claim 2, wherein the flying object is connected to the connecting wire winding device. The moving body observes the vibration of the compressor placed in the factory with interference fringes,
4. The monitoring system according to any one of claims 1 to 3, wherein the controller predicts failure of the compressor by comparing the interference fringes with a reference interference fringe.

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