JP5238104B2 - Traveling device using permanent magnets - Google Patents

Description

    The present invention relates to a reliable, safe, inexpensive, and easy-to-use mobile monitoring device installed in a facility.

Various monitoring systems have already been developed and used from the viewpoint of safety, security or management as basic technologies that support modern society.
In the monitoring system, it is first important to grasp the status of the facility currently being monitored as information, and the collected information is analyzed to determine whether there is an abnormality. There is a need for an overall system that takes the following measures according to the degree.
Firstly, a monitoring device has been developed for grasping on the basis of information about what state the facilities currently being monitored are as subsystems constituting the overall system.
In this monitoring system, a system that monitors based on observation results obtained by going directly to the site is more effective than a system that monitors based on observation results from a fixed point. Also, in this monitoring system, it is required to accurately grasp the constantly changing state in relation to human life and safety in order to grasp the state of the facility as information. On the other hand, in fields where the mode of change is slow and does not change rapidly, for example, in fields that require changes in the natural environment, geology, or topography, it is required to be reliable, accurate, and inexpensive. Is done. The contents of the system vary greatly depending on which of these is selected.

If you choose the former, you can spend as much money or money as you need. If you select the latter expenses and funds will be able to choose a system that does not put rather. Conventionally, in the invention that seems to have chosen the latter, there are many that have invested more expensive funds than necessary, and there are many that seem to have become a bottleneck when this is actually introduced. Specifically, the following examples can be given.

For the monitoring in the tunnel, it consists of a guide rail in which a number of exciting coils are arranged at intervals in the length direction, and a traveling body suspended freely by wheels on the guide rail, and is attached to the traveling body A traveling body using a magnet-type synchronous linear motor that causes the traveling body to travel by synchronizing the attracting and repulsion between the generated permanent magnet and the linear coil in the traveling direction (Patent Document 1, Japanese Patent Laid-Open No. 5-322777, Patent 2932833) No.), a movement monitoring device that travels the magnetic synchronous linear motor traveling body 5, and there is an invention provided with a surveillance camera that is separated from the traveling body main body and placed in a case (Japanese Patent Laid-Open No. 9-118224). Gazette, patent 3449072). If a system using these linear motors is adopted, it is inevitable that the facility cost and the operation cost will be high.
An overhead traveling mechanism using a magnetic crawler configured by attaching magnet pieces has been developed as a robot for performing a work at a high place or the like (Non-patent Document 3 Journal of the Robotics Society of Japan Vol. 10, No. 5, pp 606- 608, 1992). Further, magnet type overhead traveling lifter device (Patent Document 3 JP-A 9-266932 Patent Gazette) comprising a traveling lifter travels along said roof member and the ceiling member, be between the robot body and the magnetic adsorption wheel, it is possible to exert a certain degree of suspension function, the running tool robot get vehicle height change hardly robot when performing overhead traveling (Patent Document 4 JP-a 10-324105, Japanese Patent 2869863), the travel consisting of a ceiling surface or a wall surface Move to an arbitrary position on the running surface by applying a driving force to the wheel in a state where a suction force is applied between the surface and the body, and the wheel projected from the body is in contact with the running surface. A traveling device using magnetic force such as a movement detector having directivity (Patent Document 5 Japanese Patent Application Laid-Open No. 2004-86745) is also used for the moving mechanism configured to Are known. These are also not convenient, and it seems that the result of the introduction is the final result.

An invention of an imaging device by moving the imaging device in a straight tube has been proposed (Patent Document 6).
JP, 2005-210682, A). The information obtained by moving the imaging device by placing the imaging device in a straight tube is limited, and it seems that the reliable and long-term operation of the imaging device and system is not guaranteed. Moreover, the transportation system itself utilizes a pipe is where the well-known (Patent Document 7 Japanese Patent 5-132140, JP Patent 2979273, JP Patent Document 8 JP 59-217525).

As described above, it is known to construct a system by actively incorporating a magnetic force or a magnet into a moving means when performing a visual task.
Conventionally known systems require a large and complex mechanism, and are not reliable, safe, inexpensive and easy to use from the user's standpoint. Technology development from a practical point of view is required.
Japanese Patent Laid-Open No. 5-322777, Japanese Patent No. 2932833 JP-A-9-118224, Patent 3449072 Japanese Patent Application Laid-Open No. 9-266932, Japanese Patent No. 2869863 Japanese Patent Laid-Open No. 10-324105 JP 2004-86745 A Japanese Patent Laid-Open No. 2005-210682 Japanese Patent Laid-Open No. 5-132140, Japanese Patent No. 2979273 JP 59-217525 A The Robotics Society of Japan Vol. 10, no. 5, pp 606-608, 1992)

    An object of the present invention is to provide a new monitoring business apparatus that uses video recording means such as a digital camera, which is reliable, safe, inexpensive, and easy to use.

(1) The inventors of the present invention have found out the problems of conventional technology development, and have earnestly worked on the above-mentioned problems, studied the following, and solved the problems.
(A) It was considered effective to analyze and monitor information with a camera as a video recording means. Although it is cheap to rely on information gathering by sensors such as infrared sensors to notify the fire suddenly in order to grasp the situation, although it can be known that there are people, it can not grasp the movement of people, The information obtained is limited to specific information, which is not preferable from the viewpoint of comprehensively grasping the whole.
(B) It is effective to grasp the current situation in which a camera or the like is selected as the video recording means. For this purpose, it is necessary to transport the camera safely and inexpensively. From the viewpoint of safe and inexpensive transportation, the use of a traveling body or the like by a magnet type synchronous linear motor becomes expensive and impossible.
(C) When the camera is moved safely and inexpensively, it is not a good idea to move the camera body directly because it may happen to the camera.
(D) It is most effective if the video recording means and the video recording means are provided with fixing means for the video recording means and the video recording means can be moved by moving the fixing means. When the fixing means is moved directly, the traveling means is installed on the fixing means, and the traveling means is appropriately controlled and moved. Although not technically impossible, it is not reliable, safe, inexpensive and easy to use.
(E) The problem can be solved by installing a moving means that can move in synchronization with the fixing means and moving the moving means by a specific means.
(F) Based on the above investigation, “when moving, the magnet installed opposite to the magnetic pole of the magnet installed on the fixing means” is installed on the moving means, and the moving means is If it is moved along a specific endless track, the fixing means and the video recording means connected to the fixing means can be moved at the same time. Since it is an endless track, by providing it in the monitoring area, it is possible to circulate the monitoring area and obtain a video record in the monitoring area.
If the highest priority is given to the monitoring device accurately grasping information, it is necessary to collect plane information. Then, it can be understood that it is not sufficient to simply reciprocate linearly, and it is effective to move along an endless line installed on a plane.
(G) When moving along an endless track, it may be possible to travel on a track such as a rail, but the track is used in contact with outside air and the entire monitoring device is moved. If this happens, maintenance will be required.
(H) If the moving means moves in the endless transport pipe provided in the monitoring area and moves in the endless transport pipe by the driving fluid press-fitted and supplied into the endless transport pipe, the moving means becomes It is possible to steadily move within the transport pipe installed in the monitoring area. Moving through the endless transport pipe by the driving fluid that is press-fitted and supplied into the endless transport pipe is a normal fluid transport, so installation and operation control are more technically necessary than conventional methods. Rather, it can be done inexpensively.
(N) As a result of the above, the fixing means is arranged so as to be movable in a moving pipe provided adjacent to and parallel to an endless transport pipe provided in the monitoring area, and a magnet is incorporated. In addition, the moving means can move in an endless transport pipe provided in a monitoring area, and a magnet having a magnetic pole opposite to the magnet is built oppositely, and is press-fitted into the endless transport pipe. Corresponding to the moving means that moves in the endless transport pipe by the driving fluid, the fixing means also moves along the moving pipe by the action of the magnet and the magnetic pole opposite to the magnet, and the image in the monitoring area is recorded by the video recording means. Records can be monitored.
(L) In the above apparatus, the fixing means is also moved by the action of the magnet and the magnetic pole opposite to the magnet corresponding to the moving means that moves in the endless transport pipe by the driving fluid press-fitted and supplied into the endless transport pipe. When the speed of the moving means changes suddenly during the accompanying movement in the pipe, it becomes difficult for the fixing means to move accompanying the moving pipe in response to the rapid change of the moving means, and the accompanying movement becomes impossible. Things happen. This is due to the relationship between the magnet and the magnetic pole opposite to the magnet being deviated from each other due to the magnetic force.
(W) Therefore, a magnetic pole opposite to the magnetic pole is provided at both ends of either the magnet built in the fixing means and the magnetic pole opposite to the magnet built in the moving means. by, at the deviation likely state as trying to move a magnet, the two ends of one magnetic pole, by further separately installed magnet of opposite pole from the pole, the magnets repel prevents departing It is effective to do so.
(W) Since both the magnetic pole of the fixing means and the magnetic pole of the moving means are housed in the yoke, the magnetic force can be concentrated, which is an effective means.
(F) The moving means is formed as a box-like body in which both ends are closed by a plate-like body and a wheel is arranged at a portion in contact with the endless transport pipe, and is press-fitted and supplied into the endless transport pipe. The driving fluid is maintained in an airtight state in the endless transport pipe so that it moves by passing the plate-like body, and both ends of the fixing means are closed by the plate-like body. Is formed as a box-shaped body, and can move in the moving tube corresponding to the moving means moving in the endless transport tube,
The moving means and the fixing means can be moved smoothly.
(Yo) When the moving means is at the home position (at the start of operation), the following is performed (FIG. 5).
The moving means confirms that it has been stopped at the home position during the previous use, starts the drive mechanism according to the start operation, opens the drive fluid supply valve IV0 19, opens the drive fluid supply valve IV1 13, and opens the drive fluid. close the supply valve IV2 14, close the shut ter 11 behind the moving means simultaneously, open the shut ter 12 in front. As a result, the driving fluid 5 pushes the moving means 3.
Next, the mobile unit 3 passes through the shut ter 12 in front, the check the passage of the mobile unit by the sensor 10 very placed near the Shatter 12, open the drive fluid supply valve 14, the drive fluid supply valve close 13, close the shut ter 12 behind the moving means simultaneously, open the shut ter 11 in front. As a result, the driving fluid 5 pushes the moving means 3.
This is repeated.

According to the present invention, the video recording means includes a fixing means for the video recording means and a moving means for moving the fixing means. The moving means has a magnetic pole opposite to the magnetic pole installed on the fixing means. It is installed in opposition and moves in cooperation with the fixing means, the moving means is moved by the driving fluid supplied into the endless transport pipe, the position of the moving means is detected by a sensor, Based on the information, the driving fluid is supplied by opening and closing two shutters provided in the endless transport pipe and opening and closing two valves of the supplied driving fluid.
Identification of the position of the moving means accompanying the movement of the moving means, identification of the driving fluid supply valve involved and identification of the driving fluid shutter involved, and opening and closing of the driving fluid supply valve involved and sending the result to the sequencer and driving involved Control of opening and closing of the fluid shutter is performed using a CPU.
The video recording means and the CPU are connected by a LAN, and the video is sent to the CPU and displayed on the video monitor according to the instruction of the CPU.
A reliable, safe, inexpensive and easy-to-use mobile monitoring device installed in a facility that sends instructions to the video recording means to the CPU can be obtained.

The monitoring device of the present invention is as follows.
FIG. 1 is an overall view of a monitoring apparatus according to the present invention.
The monitoring apparatus includes a video recording unit 1 , a fixing unit 2 connected to the video recording unit 1 , and a moving unit 3 that moves the fixing unit 2 connected to the video recording unit 1 .
The video recording means 1 and the fixing means 2 are fixed so that they are not separated from each other. The video recording unit 1 may be fixed to a box or plate and connected and fixed to the fixing unit 2 via the box or plate. It is necessary to prevent the fixing means 2 from being separated from each other, and it is necessary to connect the two by a firm fixing means 2 such as a screw or a screw.
The fixing means 2 is disposed so as to be movable in a moving tube 15 provided adjacent to and parallel to an endless transport tube 4 provided in a monitoring area, and a magnet 6 is incorporated therein. .
The moving means 3 can move in an endless transport pipe 4 provided in a monitoring area, and a magnet 7 having a magnetic pole opposite to the magnetic pole of the magnet 6 is built oppositely.
Corresponding to the moving means 3 that moves in the endless transport pipe 4 by the drive fluid 5 that is press-fitted and supplied into the endless transport pipe 4, the fixing means is obtained by the action of the magnet 6 and the magnet 7 having a magnetic pole opposite to the magnet. 2 also moves along the moving tube 15.
The video recording means 1 also moves in accordance with the movement of the fixing means 2 and records the video in the monitoring area by recording the video in the monitoring area.

The moving means 3 is provided with a magnet 7, and the fixing means 7 is provided with a magnet 6.
These two magnets are opposed to each other with different magnetic poles (S pole and N pole). As a result, both attract each other, and when the moving means 3 moves in the endless transport pipe 4 due to the attractive force of the magnetic poles, the fixing means 2 also moves together.
The two magnets must attract each other with a strong magnetic force, and the fixing means must be moved together with the video recording means. For this magnet, use a neodymium magnet composed of neodymium, iron, boron, etc. Is necessary .
In the experiment, a neodymium magnet having a length of 40 mm, a width of 20 mm, and a thickness of about 5 mm was used in opposition. It has been confirmed that the distance between the magnets can be sufficiently used even when the weight is about 5 kg including the video recording means by arranging the magnets at a distance of about 5 mm.

FIGS. 2A and 2B are views for explaining a state in which more magnetic poles are arranged than one magnetic pole.
The fixing means 2 of the video recording means on which the magnetic pole is installed and the magnetic pole opposite to the magnetic pole installed on the fixing means are installed opposite to each other, and the moving means 3 that moves in cooperation with the fixing means Only one of the magnetic poles is provided with a magnetic pole opposite to the magnetic pole placed opposite to each other (fixing means 2 in FIG. 2 (a), moving means 3 in FIG. 2 (b)). When installed in this manner, the fixing means 2 and the moving means 3 do not shift the magnetic poles arranged opposite to each other, so that the fixing means 2 stably moves in cooperation with the moving means 3.
In the experiment, a neodymium magnet having a length of 40 mm, a width of 20 mm, and a thickness of about 5 mm was used in opposition. The distance between the magnets is calculated to be about 0.6 (N) when the magnet is not installed with the opposite magnetic pole when it is fully used even if it is spaced about 5 mm apart. When a magnet is arranged, it can be calculated as 10.3 (N). As can be seen from this result, it can be seen that it is possible to make it difficult to shift by installing magnets having opposite magnetic poles. Assuming that the thickness is 10 mm and other conditions are the same as described above, the shifting force can be increased to 10.3 (N), and when magnets are arranged on both, it can be increased to 21.0 (N). This by the result whether we seen placing a magnet of opposite pole as Ri, it is understood that it is possible to hardly not a.

FIG. 3 is a view showing that the magnet is housed in the yoke 8.
Both the fixing means of the video recording means on which the magnetic pole is installed and the magnetic pole installed opposite to the magnetic pole installed on the fixing means are accommodated in the yoke 8. If it does in this way, the trouble by magnetic force can be prevented, the direction by magnetic force is decided, and magnetic force acts effectively.

FIG. 4 is a diagram showing that the wheels are arranged so that the moving means and the fixing means can move easily.
The moving means 3 can be moved in the endless transport pipe by a driving fluid 5 which is press-fitted and supplied into the endless transport pipe 4 at both ends, and is moved by the plate-like body 16 which can maintain the inside of the endless transport pipe in an airtight state. Is a box-like body 23 which is closed.
In order for the moving means 3 to move in the endless transport pipe by the driving fluid 5 that is press-fitted and supplied into the endless transport pipe 4 at both ends, the moving means 3 moves inside the endless transport pipe 4 in the drive fluid 5. It is necessary to receive enough power to make it easy to move. For this purpose, it is necessary to form a box-like body whose both ends are closed by a plate-like body 16 capable of maintaining the inside of the endless transport pipe in an airtight state.
In addition to being extruded in an airtight state, it is necessary to move so as to slide through the endless transport tube in the pressed state. For this purpose, it is effective to apply a fine powder or an oily substance so that the moving means 3 can move easily.
In order for the fixing means 2 to move so as to easily move when moving in the moving tube 15 , it is also effective to take a measure to make it slippery in order for the moving means 3 to slide in the endless transport tube 4. It is most effective to provide wheels 17. It is effective to install the wheels vertically and horizontally in order to prevent rolling.
Similarly, it is effective to provide the wheels 17 for the fixing means 2 to move in the moving tube 15.

FIG. 5 is a diagram showing operation of the moving means by confirming the position of the moving means when the moving means 3 moves in the endless transport pipe, opening and closing the drive fluid supply valve, and opening and closing the shutter.
When moving, the moving means 3 is operated as follows.
(1) Start the moving means from the home position.
Instruct to start operation.
The compressor 18 is activated, the driving fluid is supplied, and the driving fluid supply valve (IV0) 19 is opened.
The departure of the home position is confirmed by the sensors S2 and S1 (the previous stop position. The passage is confirmed by the sensor S2, and the position is confirmed by not passing by the sensor S1).
The drive fluid supply valve IV2 14 is closed, the supply valve IV1 13 is opened, and the drive fluid is supplied into the endless transport tube.
Close the shut ter 1 11, opening the shut ter 2 12.
The moving means 3 is pushed by the driving fluid 5, and the moving means 3 moves forward.
(2) When the moving means 3 passes through the shutter 2, the sensor 10 installed immediately after the shutter 2 detects that the moving means 3 has passed through the shutter 2.
The drive fluid supply valve IV2 14 is opened, and the drive fluid supply valve IV1 13 is closed.
Close shutter 2 and open shutter 1.
The driving fluid is supplied into the endless transport pipe via a supply valve IV2 14 provided immediately after the closed driving fluid shutter 2, and the moving means 3 is pushed forward by the driving fluid.

(2) When the moving means 3 passes through the shutter 2 The sensor 10 installed immediately after the shutter 2 detects that the moving means 3 has passed through the shutter 2.
The drive fluid supply valve IV2 14 is opened, and the drive fluid supply valve IV1 13 is closed.
Close shutter 2 and open shutter 1.
The driving fluid is supplied into the endless transport pipe via a supply valve IV2 14 provided immediately after the closed driving fluid shutter 2, and the moving means 3 is pushed forward by the driving fluid.

(3) When the moving means passes through the shutter 1, it is detected that the moving means has passed through the shutter 1 based on a passing signal from the sensor 9 installed immediately after the shutter .
The driving fluid supply valve IV1 13 is opened and the driving fluid supply valve IV2 14 is closed.
Shutter 1 11 is closed and shutter 2 12 is opened.
The driving fluid is supplied into the endless transport pipe 4 from the front of the closed driving fluid shutter 1 through the supply valve IV113, and the moving means 3 is pushed by the driving fluid and the moving means moves.

    (4) Thereafter, the operations (2) and (3) are repeated to continue the operation.

(5) When it is desired to stop the moving means, it is performed as follows.
Send a stop signal.
The moving means 3 detects that the moving means 3 has passed through the shutter 11 11 based on a passing signal from the sensor 19 installed immediately after the shutter 1.
The drive fluid supply valve IV1 13 is opened and the supply valve IV2 14 is closed.
Shutter 1 11 is closed and shutter 2 12 is opened.
The moving means 3 advances by being pushed by the driving fluid supplied from the driving fluid supply valve IV1.
In step confirming the passage of the mobile unit by the sensor 3 installed in front of the home position, the supply valve IV1 13 of the driving fluid adjustment to weaken the supply of the driving fluid, to decelerate the moving means 3. When the passage of the moving means 3 is confirmed by the sensor 2, the driving fluid supply valve IV1 13 is closed to stop the supply of the driving fluid, the shutter 111 is opened, the shutter 2 is closed, and the driving fluid is supplied. In other words, the forward force of the driving fluid is eliminated, and the driving fluid is stopped at a place where it passes through the sensor 222 and does not pass through the sensor 120 (home position).
The compressor 18 is stopped, the supply of the drive fluid is terminated, and the drive fluid supply valve (IV0) 19 is closed.

    FIG. 6 is a chart showing the steps (1) to (5) of the moving means.

FIG. 7 is a diagram showing that two moving means can be moved.
When moving a plurality of moving means, the moving means are arranged at distant positions, the compressor 18 is operated to the distant moving means, the driving fluid is supplied, and the driving fluid supply valve (IV0) 19 is opened. In the same manner, the drive fluid supply valve IV2 14 is closed, the supply valve IV1 13 is opened, and the drive fluid is supplied into the endless transport pipe.
Shatter 1 11 is closed, open the shut ter 2 12.
The moving means 3 is pushed by the driving fluid 5 and the moving means moves.
Similarly, if the operation is repeated, a plurality of moving means can be moved in the same manner.

In any case, the movement of the moving stage means is controlled as follows.
(1) The position of the moving means is detected by a sensor.
(2) The position is detected, the driving fluid supply valve at the position before that position is closed, and the driving fluid supply valve at that position is opened (opening and closing of the driving fluid supply valve involved).
(3) At the same time, open the front of the driving fluid shut ter position of the drive fluid, closing the driving fluid shut ter after driving fluid (closing of the involved drive fluid shut ter).

The above operation can be performed by continuously operating the moving means by specifying the supply valve and opening / closing the shutter by the sequencer via the CPU.
To stop, do as follows.
(1) closing the supply valve driving fluid position of that (closing of the supply valve)
(2) Open the shutter of the previous position of the drive fluid, closing the shut ter after driving fluid (shutter opening and closing).

    The above operation is performed to identify the position of the moving means via the CPU, identify the driving fluid supply valve involved, identify the driving fluid shutter involved, send these results to the sequencer, open and close the driving fluid supply valve, By opening and closing the driving fluid shutter, the moving means can be continuously operated (FIG. 8).

Specifically, it is performed as follows.
(A) An operation start instruction is sent from the terminal to the CPU.
(B) A work start instruction is sent from the mobile phone to the CPU.
The following operation is started in response to a work start instruction from the CPU.
-The position of the moving means is detected by the moving means detection sensor arranged in the installed endless transport pipe.
-Send the measurement result of the moving means detection sensor to the CPU.
・ Specify the position of the moving means.
(4) Identify the driving fluid supply valve involved.
(5) Identify the driving fluid shutter involved.
(6) Send the specified drive fluid supply valve to the sequencer.
(7) Send the identified driving fluid shutter to the sequencer.
(8) The sequencer opens and closes the specified drive fluid supply valve.
(9) The sequencer opens and closes the specified drive fluid shutter.
The above operations (1) to (9) are repeated.

At the same time, the CPU and video recording means are connected by a LAN.
(10) The CPU sends a signal indicating that the moving means has passed the stop position to the video recording means, instructs the video recording means to supply power, and issues an instruction to capture the video.
(11) The video captured by the video recording means is A / D converted and used as an image memory, and sent wirelessly to the CPU.
(12) The CPU sends the image memory to the display circuit, and displays the image of the video received by the monitor.
(13) Sends an instruction to the image recording means (change of left / right and up / down direction, zoom processing) to the CPU based on the image display.
The instruction to the image recording means can be an instruction (C) by a terminal or an instruction (D) by a mobile phone.
(14) The operation signal sent to the CPU is converted into a serial signal and a modem signal via the controller of the sequencer and transmitted wirelessly, and this is received and amplified by the antenna of the transmission / reception device attached to the video recording means. Return to the modem signal and serial signal, enter the built-in controller, drive the internal equipment via relay and input / output (I / O), and send the target video to the CPU according to the procedure of (11) . Thereafter, the video is displayed according to the procedure of (12).

Overall view of the monitoring device of the present invention FIG. 2 is a diagram for explaining a state where more magnets are arranged than one magnet ((A) and (B)). The figure which shows that the magnet is accommodated in the yoke 8 The figure which shows having provided the wheel so that a moving means and a fixing means may move easily. The figure which shows operating the moving means by confirming the position of the moving means when the moving means moves in the endless transport pipe, opening and closing the supply valve of the driving fluid, and opening and closing the shutter. A chart showing the operation status of the moving means by confirming the position of the moving means when the moving means moves in the endless transport pipe, opening and closing the driving fluid supply valve and opening and closing the driving fluid shutter. The figure which shows the situation when operating two means of transportation The figure which shows performing this invention using CPU

Explanation of symbols

1: Video recording means 2: Fixing means for video recording means 3: Moving means 4: Endless transport pipe 5: Driving fluid 6: Magnetic poles installed on the fixing means 7: Magnetic poles installed on the moving means (fixing means) The opposite of the magnetic pole installed in the
8: York 9: Sensor (S1)
10: Sensor (S2)
11: Shutter (D1)
12: Shutter (D2)
13: Drive fluid supply valve (IV1)
14: Drive fluid supply valve (IV2)
15: Moving pipe 16: Plate-like body 17: Wheel 18: Drive means 19: Drive fluid supply valve (IV0)
20: Home position sensor (HS1)
21: Home position sensor (HS2)
22: Home position sensor (HS3)
23: Box-shaped body 24: CPU
25: Moving means detection sensor
26: Movement means specification 27: Supply valve specification 28: Shutter specification 29: Sequencer 30: Opening and closing of valve 31: Opening and closing of shutter

Claims (11)

A monitoring device comprising a video recording means, a fixing means connected to the video recording means, and a moving means for moving the fixing means connected to the video recording means, the moving means being fixed to the fixing means by a magnetic force. In the moving pipe provided in parallel and adjacent to the endless transport pipe provided in the monitoring area, the shutter 1 provided in the moving pipe is closed, and the supply valve immediately before it is opened to open the driving fluid. And moving the moving means and the fixing means, and at the same time opening the shutter in front of the moving means so that the moving means that can be moved by the moving wheels can be moved, so that the endless transport in parallel to the tube pressed supplying driving fluid to move the tube adjacent, together causes movement of said moving means in an endless transport tube which is provided in the surveillance area by driving fluid, before Pole neodymium magnet fixing means and are opposite neodymium magnetic poles of the magnet is built to face, in correspondence with the moving means for moving the endless transport tube, the magnetic pole and the moving means neodymium magnet of the fixing means A monitoring device characterized in that the magnetic poles of the neodymium magnets are provided opposite to each other so that the fixing means also moves along with the moving tube, and the video recording means records and monitors the video in the monitoring area. A magnet having a magnetic pole opposite to the magnetic pole of the magnet is further provided at both ends of one of the magnet built in the fixing means and the magnet having the magnetic pole opposite to the magnetic pole of the magnet built in the moving means. The monitoring apparatus according to claim 1 , wherein the monitoring apparatus is installed separately. The magnet of the magnet and the moving means of the fixing means, the monitoring apparatus according to claim 1 or 2, characterized in that both are housed in the yoke. The moving means is formed as a box-like body in which both ends are closed by a plate-like body and a wheel is arranged at a portion in contact with the endless transport pipe, and the driving fluid is press-fitted and supplied into the endless transport pipe Is maintained in an airtight state in an endless transport pipe, so that it moves by passing the plate-like body, and both ends of the fixing means are closed by the plate-like body, and wheels are arranged at the portions in contact with the mobile pipe It is formed as a box-shaped body which is, in correspondence with the moving means for moving the endless transport tube monitoring apparatus according to any one of claims 1, wherein 3 to move the mobile pipe. Driving fluid to be pressed fed in endless transport pipe, the monitoring device according to any one of claims 1, wherein 4 to be pressed into the endless transporting tube via a drive fluid supply valve via the drive mechanism. The driving fluid shutter located in front of the home position is opened and the driving fluid shutter located behind the home position is closed on the basis of the signal that the moving means according to claim 1 is confirmed to be at the home position. There based on the signal which was confirmed to have the home position, through the driving dynamic fluid supply valve, the driving fluid via a drive fluid supply valve provided immediately after the closed drive fluid shutter is supplied to the endless transport tube The moving device is moved by the driving fluid. 7. The monitoring device according to claim 6, wherein when the moving means detects that the moving means has passed through the driving fluid shutter in front of the moving means by a sensor installed immediately after the driving fluid shutter, the moving means has been opened behind the moving means. Close a certain driving fluid supply valve, open the driving fluid supply valve just after the driving fluid shutter that the moving means has passed, close the driving fluid shutter that the moving means has passed, and open the driving fluid shutter that is in front of the moving means The moving device is moved by being pushed out by the driving fluid. 8. The monitoring device according to claim 7, wherein when the stop signal is issued, if the sensor installed immediately after the driving fluid shutter detects that the driving fluid shutter has passed in front of the moving means, the monitoring device is open until then. Close the driving fluid supply valve located behind the moving means, open the driving fluid supply valve immediately after the driving fluid shutter that the moving means has passed through, close the driving fluid shutter that the moving means has passed through, and move it forward of the moving means. By opening a certain driving fluid shutter , the driving fluid supply valve behind the previously opened moving means is closed, and at the same time, the driving fluid shutter behind the moving means is closed to advance the moving means. , at the stage of confirming the passage of the mobile unit by the sensor which is installed in front of the home position, drive to adjust the drive fluid supply valve When the supply of fluid is weakened, the speed of the moving means is reduced, and the passage of the moving means is confirmed by a sensor installed before the next home position, the driving fluid supply valve is closed to supply the driving fluid. The drive fluid shutter at the rear of the moving means is opened, the drive fluid shutter at the front of the drive fluid is closed, the supply of the drive fluid is stopped, the forward speed of the drive fluid is eliminated, and the home position A monitoring device that stops at a position that does not pass a sensor in front. The CPU instructs the monitoring device according to claim 1 to start work, specifies the position of the moving means from the result sent from the moving means detection sensor, and opens and closes the driving fluid supply valve that opens and closes based on the result of the specified position. A monitoring device characterized by identifying a shutter to be opened and closed, and sending these results to a sequencer to open and close the drive fluid supply valve and the shutter. The CPU and the video recording means are connected in advance via a LAN, the CPU instructs the monitoring device according to claim 1 to start work, and a signal specifying the position of the moving means from the result sent from the moving means detection sensor is sent from the CPU. Obtained and sent to the video recording means, turned on the video recording means, issued an instruction to capture the video, and as a result, the video captured by the video recording means was A / D converted into an image memory, which was wirelessly transferred to the CPU. The monitoring device is characterized in that the sending CPU sends the image memory to the display circuit and displays the image received by the monitor. An instruction for the image recording means is sent to the CPU based on the image display, and the operation signal sent to the CPU is converted into a serial signal and a modem signal via the controller of the sequencer and transmitted wirelessly, and this is transmitted to the video recording means. It is received by the antenna of the transmitting / receiving device attached to the receiver, amplified and returned to the modem signal and serial signal, put into the built-in controller, and the internal device is driven through the relay and input / output (I / O). The monitoring apparatus according to claim 10, wherein an image to be transmitted is sent to a CPU according to the procedure according to claim 10, and the image is displayed.

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