JP7032959B2 - Mobile device and mobile image pickup device - Google Patents

Description

The present invention relates to a mobile device that can move along a rail and a mobile imaging device that includes the mobile device.

Patent Document 1 discloses a moving device for a camera. The camera moving device described in Patent Document 1 includes a mechanism for stably moving a moving table on which a camera is mounted along an erected wire. Specifically, the moving device of the camera moves the moving table by sending three or more wires erected in parallel to each other, a moving table on which the camera can be mounted, and a wire at the center position in the length direction thereof. It is equipped with a drive mechanism for driving. Further, the drive mechanism has a plurality of rotatable rollers that hold the wire at the center position, and a drive unit that rotationally drives at least one of the plurality of rollers.

Japanese Unexamined Patent Publication No. 7-325335

The moving device of the camera described in Patent Document 1 is driven by a drive mechanism including a plurality of rotatable rollers holding a wire (rail). However, in such a moving device, the wires must be generally straight, and if the wires are sharply bent or multiple wires intersect, the moving device cannot move along the wires. Or it becomes difficult to move.

Therefore, a mobile device that can move along a non-linear rail as described above, and a mobile image pickup device that includes the mobile device are desired.

The moving device that can move along the rail according to one embodiment has a first holding portion that can take a state of holding the rail and a state of being separated from the rail, a state of holding the rail, and a state of holding the rail. A second holding portion that can be separated from the rail, a third holding portion that can hold the rail, and a third holding portion that can be separated from the rail, and the first holding portion and the second holding portion. A first movable mechanism for varying the distance and angle between the two holding portions and a second movable mechanism for varying the distance and angle between the second holding portion and the third holding portion are provided.

According to a preferred embodiment, the moving device moves along the rail with at least two of the first holding portion, the second holding portion, and the third holding portion always holding the rail. It is configured as.

According to a preferred embodiment, the mobile device further comprises a wireless communication device that receives a command from an external device, the first holding portion, the second holding portion, the third holding portion, the first movable mechanism, and the like. The second movable mechanism is configured to be controllable by the external device via the wireless communication device.

According to a preferred embodiment, the moving device has a sensor capable of recognizing the position of the rail, and at least one of the first movable mechanism and the second movable mechanism of the rail read by the sensor. It is configured to be controlled based on position.

According to a preferred embodiment, the mobile device comprises a battery that stores electric power for moving the first holding portion, the second holding portion, the third holding portion, the first movable mechanism, and the second movable mechanism. Be prepared.

According to a preferred embodiment, the rail is a conductive rail, and the battery is configured to be rechargeable by feeding power from the rail.

According to a preferred embodiment, the mobile device is configured to automatically move to the position of the charging device when the remaining battery level is less than a predetermined value.

The mobile image pickup device according to one aspect includes the above-mentioned mobile device and an image pickup device mounted on the mobile device.

According to the above aspect, it is possible to provide a mobile device that can move along a rail that is not linear, and a mobile imaging device that includes the mobile device.

It is a perspective view of the mobile image pickup apparatus which concerns on one Embodiment. It is a perspective view of the mobile image pickup apparatus seen from another direction. It is a control block diagram of a mobile image pickup apparatus. It is a figure explaining an example of the moving method of a mobile image pickup apparatus. It is a figure explaining an example of the moving method of a mobile image pickup apparatus. It is a figure explaining an example of the moving method of a mobile image pickup apparatus.

Hereinafter, embodiments will be described with reference to the drawings. In the following drawings, the same or similar parts are designated by the same or similar reference numerals. However, it should be noted that the drawings are schematic and the ratio of each dimension may differ from the actual one.

FIG. 1 is a perspective view of a mobile image pickup apparatus according to an embodiment. FIG. 2 is a perspective view of the mobile image pickup apparatus viewed from another direction. FIG. 3 is a control block diagram of the mobile image pickup apparatus.

The mobile imaging device 1 according to an embodiment may include a mobile device 10 configured to be movable along a rail 90. The mobile device 10 may include a storage unit 60 for accommodating various components, an image pickup device 70 mounted on the mobile device 10, and a battery 72 for storing electric power.

The rail 90 is not particularly limited as long as the holding portions 32, 42, 52 described later of the moving device 10 can be held. The rail 90 may be, for example, a wire, a rope, a metal rod, or the like.

The battery 72 stores at least electric power for moving the first holding portion 32, the second holding portion 42, the third holding portion 52, the first movable mechanism, and the second movable mechanism, which will be described later. Further, the battery 72 may be used to move various electronic components mounted on the mobile image pickup device 1 and / or the mobile device 10 such as the image pickup device 70.

The moving device 10 includes a first holding portion 32 capable of holding the rail 90, a second holding portion 42 for holding the rail 90, and a third holding portion 52 for holding the rail 90. The second holding portion 42 may be arranged between the first holding portion 32 and the third holding portion 52. The first holding portion 32, the second holding portion 42, and the third holding portion 52 may take a state of holding the rail 90 and a state of being separated from the rail 90.

In the present embodiment, the first holding portion 32, the second holding portion 42, and the third holding portion 52 are configured to be openable and closable by a pair of rotary gears 33, 43, and 53, whereby the rail 90 is gripped. And the state where the rail 90 is separated can be taken. The moving device 10 can support its own weight of the moving device 10 by holding the rail 90 by the first holding portion 32, the second holding portion 42, and / or the third holding portion 52.

The first holding portion 32, the second holding portion 42, and / or the third holding portion 52 are not limited to the above configuration as long as the rail 90 can be held. For example, the first holding portion 32, the second holding portion 42, and / or the third holding portion 52 have a claw-like structure that is hooked on the rail 90 from above the rail 90 so as to support the load of the moving device 10. You may.

The moving device 10 may include a first arm 30, a second arm 40, and a third arm 50. The first holding portion 32, the second holding portion 42, and the third holding portion 52 are provided near one ends of the first arm 30, the second arm 40, and the third arm 50, respectively. The first arm 30, the second arm 40, and the third arm 50 may each extend downward of the rail 90 with the moving device 10 suspended from the rail 90.

The moving device 10 has a first movable mechanism for varying the distance and angle between the first holding portion 32 and the second holding portion 42, and between the second holding portion 42 and the third holding portion 52. It is equipped with a second movable mechanism for making the distance and angle variable. In the present embodiment, the first movable mechanism may include a pair of arm portions 34a, 34b held by a cylindrical shaft extending upward from the storage portion 60. Similarly, the second movable mechanism may include a pair of arm portions 54a, 54b held by a cylindrical shaft extending upward from the storage portion 60.

One end of the pair of arm portions 54a and 54b constituting the second movable mechanism is configured to be rotatable around the rotation shaft 56a and 56b at the cylindrical shaft. Further, the other end portion of the pair of arm portions 54a and 54b is configured to be rotatable around the rotation shafts 58a and 58b. The third arm 50 extends upward from the rotation shafts 58a and 58b. The angles between the third arm 50 and the second arm 40 are variably configured by these rotating shafts 56a, 56b, 58a, 58b.

More specifically, in the above embodiment, the angle between the virtual line connecting the first arm 30 and the second arm 40 and the virtual line connecting the second arm 40 and the third arm 50 is variable. There is.

Further, each of the pair of arm portions 54a and 54b is configured to be rotatable around the rotation shafts 57a and 57b in the middle of the arm portions 54a and 54b, for example, near the center. That is, the pair of arms 54a and 54b can be extended and contracted. As a result, the distance between the third arm 50 and the second arm 40 is variably configured. Since the configuration of the pair of arm portions 34a and 34b constituting the first movable mechanism is the same as that of the second movable mechanism, the description thereof will be omitted.

Not limited to the above example, the structure of the first movable mechanism is arbitrary as long as the distance and angle between the first holding portion 32 and the second holding portion 42 can be made variable. Similarly, the structure of the second movable mechanism is arbitrary as long as the distance and angle between the second holding portion 42 and the third holding portion 52 can be made variable. The structure of the second movable mechanism may be the same as or different from the structure of the first movable mechanism.

Further, the holding portions 32, 42, 52 may be configured to be rotatable around an axis along the direction in which the arms 30, 40, 50 extend, for example. In this case, the angles of the holding portions 32, 42, and 52 can be changed according to the angle of the rail 90.

The moving device 10 may have a center of gravity controller 80 in order to stabilize the posture of the moving device 10. In this embodiment, the center of gravity controller 80 has a rod extending downward from the storage portion 60. In the present embodiment, the center of gravity controller 80 adjusts the position of the center of gravity of the moving device 10 by adjusting the angle of the rod with respect to the vertical direction.

The mobile device 10 may have a sensor that detects the posture (tilt) of the mobile device 10. As such a sensor, for example, an acceleration sensor can be mentioned. In this case, the center of gravity controller 80 described above may be controlled according to the posture of the moving device 10 detected by the sensor. As a result, the posture of the moving device 10 can be kept stable. In particular, when the mobile device 10 includes the image pickup device 70, the image pickup device 70 can acquire a stable image or video by keeping the posture of the mobile device 10 stable.

If the moving device 10 is sufficiently stable, the moving device 10 may not have the center of gravity controller 80.

The moving device 10 includes a control unit 100 that controls the first holding unit 32, the second holding unit 42, the third holding unit 52, and the movable units such as the first movable mechanism and the second movable mechanism described above, and an external device. It may further have a wireless communication device 110 that receives a command from 200. In this case, the control unit 100 has a first holding unit 32, a second holding unit 42, a third holding unit 52, and the above-mentioned first movable unit based on a command sent from the external device 200 via the wireless communication device 110. The mechanism and the second movable mechanism are configured to be controllable. As a result, the user can remotely control the mobile device 10 from a place away from the mobile device 10.

Next, an example of the movement mode of the moving device 10 will be described with reference to FIGS. 4, 5 and 6. As shown in FIG. 1, the moving device 10 is held on the rail 90 by the first holding portion 32, the second holding portion 42, and the third holding portion 52 while the mobile device 10 is stationary.

Upon receiving a movement command, the moving device 10 separates the first holding portion 32 from the rail 90 and extends the first movable mechanisms 34a and 34b, as shown in FIG. Here, when the rail 90 is not linear and is bent, not only the first movable mechanisms 34a and 34b may be extended linearly, but also the angles of the first movable mechanisms 34a and 34b may be changed. That is, the angles of the first movable mechanisms 34a and 34b can be arbitrarily adjusted according to the angle of the rail 90 to be moved.

While the first holding portion 32 is separated from the rail 90, the center of gravity controller 80 is preferably movable so as to deviate the position of the center of gravity of the moving device 10 toward the third holding portion 52. In this embodiment, the center of gravity controller 80 is tilted toward the third holding portion 52 as shown in FIG. As a result, the posture of the moving device 10 is likely to be stable even when the first holding portion 32 is separated from the rail 90.

Next, as shown in FIG. 5, the first holding portion 32 holds the rail 90 again. As a result, the first holding portion 32 can hold the rail 90 at a position farther than the previously held rail 90 from the second holding portion 42. Further, as described above, even if the rail 90 is not linear, the angle of the first movable mechanism 34a and 34b can be adjusted according to the angle of the destination rail 90 to obtain the angle of the destination rail 90. Regardless, the rail 90 can be held. For example, even if the rail 90 is bent at a right angle or a plurality of rails 90 intersect, the first holding portion 32 can hold the destination rail 90 again.

Next, as shown in FIG. 5, the second holding portion 42 is separated from the rail 90. Next, as shown in FIG. 6, the first movable mechanisms 34a and 34b are contracted and the second movable mechanisms 54a and 54b are expanded. At this time, if necessary, the angle between the first holding portion 32 and the second holding portion 42 and the angle between the second holding portion 42 and the third holding portion 52 are also adjusted. These angle adjustments are made so that the second holding portion 42 again positions the rail 90 at a position or angle that allows it to be held. As a result, the second holding portion 42 can be brought closer to the first holding portion 32 while the rail 90 is gripped by the first holding portion 32 and the third holding portion 52.

While the second holding portion 42 is separated from the rail 90, the center of gravity controller 80 may extend downward in the vertical direction as shown in FIG.

Next, the rail 90 is held again by the second holding portion 42, then the third holding portion 52 is separated from the rail 90, and the second movable mechanisms 54a and 54b are contracted. Then, the rail 90 is held again by the third holding portion 52. As a result, the third holding portion 52 can be brought closer to the second holding portion 42 while the rail 90 is gripped by the first holding portion 32 and the second holding portion 42. As a result, the mobile device 90 is brought into the state as shown in FIG. 1 again.

When the third holding portion 52 tries to hold the rail 80 again, the angle between the second holding portion 42 and the third holding portion 52 is also adjusted as necessary. This angle adjustment is performed so that the third holding portion 52 again arranges the rail 90 at a position or angle at which it can be held.

While the third holding portion 52 is separated from the rail 90, the center of gravity controller 80 is preferably movable so as to deviate the position of the center of gravity of the moving device 10 toward the first holding portion 32. In this embodiment, the center of gravity controller 80 may be tilted toward the first holding portion 32 while the third holding portion 52 is away from the rail 90. As a result, the posture of the moving device 10 is likely to be stable even when the third holding portion 52 is separated from the rail 90.

By the operation of the above-mentioned example, the mobile device 10 is held by the rail 90 by the first holding portion 32, the second holding portion 42, and the third holding portion 52 again, as shown in FIG. By repeating the operation of the above-mentioned example, the moving device 10 can move along the rail 90.

During the series of moving operations described above, the moving device 10 is in a state where at least two of the first holding portion 32, the second holding portion 42, and the third holding portion 52 always hold the rail 90. preferable. As a result, the moving device 10 is stable in a state of being suspended from the rail 90 even while moving.

Further, since the first holding portion 32, the second holding portion 42, and the third holding portion 52 are configured to be held again after the rail 90 is separated, the rail 90 is continuously connected to the moving device 10. You can move without it. That is, the moving device 10 can move from one rail to the other even if the two rails are spaced apart from each other. Further, even if the rail 90 is branched into a plurality of rails, the moving device 10 can select and move one of the rails 90 according to the location of the destination. However, the moving device 10 can also move along one rail 90.

The moving device 10 may have a sensor capable of recognizing the position of the rail 90. This sensor may be, for example, a camera capable of recognizing the position of the rail 90. This camera may be configured by, for example, the above-mentioned image pickup device 70, or may be configured by an image pickup device different from the above-mentioned image pickup device.

By image analysis of the image acquired by the camera, the control unit 100 can recognize the position of the moving device 10 and the moving destination rail 90 and the angle of the rail 90. In this case, it is preferable that at least one of the first movable mechanism 34a, 34b and the second movable mechanism 54a, 54b, preferably both, is controlled based on the position and angle of the rail 90 read by the sensor. That is, by automatically recognizing the position and angle of the rail 90, the moving device 10 automatically recognizes the position and angle of the first holding portion 32, the second holding portion 42, and the third holding portion 52 during movement. It can be adjusted.

The automatic recognition of the position and angle of the rail 90 may be controlled by machine learning. By automatically recognizing the position and angle of the rail 90 by machine learning, the moving device 10 can automatically and more reliably hold the rail 90.

Therefore, for example, the moving device 10 can automatically move along the rail 90 to the final arrival point only by the user specifying the final arrival point. Instead, if one or a plurality of moving points are programmed in advance, the moving device 10 can automatically move along the rail 90 in the order of the moving points specified by the program.

The mobile image pickup device 1 including the above-mentioned mobile device 10 can acquire an image or a moving image while moving along the rail 90. If the rails 90 are stretched in a mesh pattern, the mobile image pickup apparatus 1 can move the entire region where the rails 90 exist. The image or video acquired by the image pickup device 70 may be transmitted to the external device 200 by the wireless communication device 110.

Further, the mobile image pickup apparatus 1 described above can be used as a surveillance camera, a camera for finding an abnormality, or the like. The mobile image pickup apparatus 1 can be used as a surveillance camera for monitoring the inside of a parking lot or a store, for example, if the rail 90 is stretched around the ceiling of the parking lot or the store. Further, if the rail 90 is stretched on the upper part of the tunnel, the mobile image pickup apparatus 1 can also be used as a maintenance surveillance camera for monitoring the inside of the tunnel.

The mobile image pickup device 1 can also move along an existing rail such as an electric wire. In this case, the mobile image pickup device 1 can be used as a device for automatically monitoring an abnormality of the electric wire by moving along the electric wire while monitoring the electric wire by the image pickup device 70.

Further, if the mobile image pickup apparatus 1 is provided with a work tool, it can also be used as an automatic work apparatus. For example, by installing a rail 90 on the upper part of a plastic greenhouse for accommodating crops and mounting a cutter capable of harvesting crops on the mobile image pickup device 1, the image pickup device 70 can automatically harvest crops while detecting the crops. It is possible.

Further, if the mobile imaging device 1 is provided with a work tool, it can also be used as an automatic work device. For example, by installing a rail 90 on the upper part of a plastic greenhouse for accommodating crops and mounting a cutter capable of harvesting crops on the mobile image pickup device 1, the image pickup device 70 can automatically harvest crops while detecting the crops. It is possible.

Further, in recent years, a system in which a camera is mounted on a flying object such as a drone to acquire images and videos from a high position has been studied. However, an air vehicle such as a drone may crash if mishandled, and may be difficult to use in a closed space such as a tunnel. Furthermore, since power is required to fly the flying object, the battery may not last for a long time and may not be able to withstand long-time shooting.

Since the mobile image pickup apparatus 1 according to the above embodiment can be mechanically maintained at a high place while being suspended from the rail 90, the electric power stored in the battery 72 is higher than that of a flying object such as a drone. The amount used is small. Therefore, since the battery 72 lasts for a longer time, it is possible to shoot for a long time.

The battery 72 mounted on the mobile device 10 is preferably a rechargeable battery. As an example, the battery 72 may be configured to be rechargeable by power supply from the rail 90. In this case, the rail 90 is composed of conductive wires, and the rail 90 and the battery 72 are in a state of being electrically connected at least during charging.

In a specific example, the charging line that supplies the charging current to the battery 72 is located at at least two holdings 32, 42, 52 through at least two arms 30, 40, 50 and the holdings 32, 42, 52. It may have an electrical terminal that can be electrically connected to the rail 90 at the position of. Further, the rail 90 and the electric terminal may be electrically connected while the holding portions 32, 42, and 52 hold the rail 90. In this state, the battery 72 can be charged by supplying a charging current from the external charger 300 to the battery 72 via the rail 90.

Instead of the above embodiment, the charger 300 is installed within the moving range of the mobile device 10, and the mobile device 10 automatically reaches the position of the charger 300 when the remaining amount of the battery 72 becomes less than a predetermined value. It may be configured to move in a targeted manner. In this case, the mobile device 10 is configured to be able to recognize the relative positional relationship from the position of the charger 300 to the position of the mobile device. Further, the control unit 100 in the mobile device 10 may be configured to be able to detect the remaining amount of the battery 72. The method of detecting the remaining amount of the battery 72 can be carried out by the control unit 100 by any known method.

The control unit 100 may perform charge control while charging the battery 72. For example, when the control unit 100 detects that the charging of the battery 72 is completed, the charging may be terminated and the completion of charging may be notified to the external device 200 via the wireless communication device 110.

As mentioned above, although the content of the invention has been disclosed through embodiments, the statements and drawings that form part of this disclosure should not be understood to limit the invention. This disclosure reveals to those skilled in the art various alternative embodiments, examples and operational techniques. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention relating to the reasonable claims from the above description.

For example, in the above embodiment, the mobile device and the mobile image pickup device 1 include three holding portions. The present invention is not limited to this embodiment, and the mobile device and the mobile imaging device may be provided with at least three holding portions, and may include, for example, four or more holding portions. Even in this case, it is preferable that the moving device 10 is in a state where at least two holding portions always hold the rail during a series of moving operations.

Further, the holding portion for holding the rail may additionally have a roller for rotationally driving as described in Patent Document 1. In this case, in the section where the rail extends linearly, it can move along the rail by the rotational drive of the roller.

Further, the arms 30, 40, and 50 constituting the moving device 10 may be configured to be vertically expandable and contractible. In this case, when the holding portions 32, 42, 52 release the rail 90, the arms 30, 40, and 50 can be retracted so that the arms 32, 42, 52 and the holding portion can be retracted from the rail 90.

Further, when each of the arms 30, 40, and 50 constituting the moving device 10 is configured to be expandable and contractible in the vertical direction, the holding portions 32, 42, 52 are attached to the rail 90 by the extension of the arms 32, 42, 52. By moving the rail 90 upward, the rail 90 can be easily held by the holding portions 32, 42, 52.

As described above, when the arms 32, 42, and 52 are configured to be expandable and contractible, the expansion and contraction operation of the arm may be controlled by the control unit 100 described above.

10 Moving device 30 1st arm 32 1st holding part 33 Gear 34a, 34b 1st movable mechanism 40 2nd arm 42 2nd holding part 50 3rd arm 52 3rd holding part 54a, 54b 2nd movable mechanism 56a, 57a, 58a, 56b, 57b, 58b Rotating shaft 60 Storage unit 70 Imaging device 72 Battery 80 Equilibrium device 90 Rail

Claims (8)

A mobile device that can move along rails
A first holding portion that can take a state of holding the rail and a state of being separated from the rail,
A second holding portion that can take a state of holding the rail and a state of being separated from the rail,
A third holding portion that can take a state of holding the rail and a state of being separated from the rail.
A first movable mechanism for varying the distance and angle between the first holding portion and the second holding portion,
A moving device including a second movable mechanism for varying the distance and angle between the second holding portion and the third holding portion. The moving device is configured such that at least two of the first holding portion, the second holding portion, and the third holding portion move along the rail while always holding the rail. Item 1. The mobile device according to item 1. It also has a wireless communication device that receives commands from external devices,
The first holding unit, the second holding unit, the third holding unit, the first movable mechanism, and the second movable mechanism are configured to be controllable by the external device via the wireless communication device. Item 2. The mobile device according to Item 1 or 2. It has a sensor that can recognize the position of the rail.
The first movable mechanism and at least one of the second movable mechanisms are configured to be controlled based on the position of the rail read by the sensor, according to any one of claims 1 to 3. The mobile device described. One of claims 1 to 4, further comprising a battery for storing electric power for moving the first holding portion, the second holding portion, the third holding portion, the first movable mechanism, and the second movable mechanism. The mobile device described in the section. The rail is a conductive rail and is
The mobile device according to claim 5, wherein the battery is configured to be rechargeable by power supply from the rail. The mobile device according to claim 5, which is configured to automatically move to the position of the charger when the remaining battery level becomes less than a predetermined value. The mobile device according to any one of claims 1 to 7.
A mobile image pickup device having an image pickup device mounted on the mobile device.

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