JPH09286360A - Grounded state determination device and magnetic attraction type moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine grounded state appropriately by using a determination means which determines whether a magnetic attraction running body is in a normally attracted state by comparing detected values of a Hall element with a leakage magnetic flux value in a normal attraction state. SOLUTION: There are provided storage means 22 for storing normal attraction state leakage magnetic flux values detected with Hall elements 20, 21, and a determination means 23 for determining whether wheels 5 are in a normally attracted state by comparing values detected by means of the Hall elements 20, 21 with a leakage magnetic flux value in a normally attracted state. That is to say, while the leakage magnetic flux generally tends to exhibit a minimum value in the normal state, if a wheel member 7 on one side lifts, the output of the Hall element on that side increases. Therefore, whether the wheel member 7 (or a wheel 5) is not in the normally attracted state may be detected by detecting the increase in the leakage magnetic flux.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic attraction type moving device equipped with a magnetic attraction type moving body which moves while attracting to a running surface made of a magnetic body, and the attraction of such a magnetic attraction type moving body. Related to condition evaluation technology, robots etc. as magnetic adsorption moving devices that are active in the fields of inspection running or repair in gas pipes, inspection running or repair of gas holders, inspection running or repair of surfaces such as iron plates, etc. Can be used for.

[0002]

2. Description of the Related Art Conventionally, there is a magnetic attraction type moving device which moves by using a magnet to detect its posture using an inclinometer or the like, but no device to detect the grounding state of the magnet is found. Therefore, with respect to the magnetic attraction force of the magnetic attraction wheel as the magnetic attraction traveling body, a strong magnet is used in consideration of a sufficient safety factor at the design stage to prevent the device from falling over.

[0003]

Therefore, in the magnetic attraction type moving device, it is necessary to make the magnet large and relatively heavy, which causes a problem that the magnetic attraction type moving device becomes large and heavy. there were. Further, since it is not possible to quantitatively measure the ground contact state of the magnetic attraction traveling body, it is not possible to determine the exact ground contact state of the traveling body, and the magnetic attraction type moving device accidentally falls. Occasionally an accident occurred. An object of the present invention is to obtain a grounding state determination device capable of appropriately determining the grounding state of a magnetically attracting traveling body that is attracted to a magnetic body by magnetism and moves, and is provided with such a determination mechanism to provide a good magnetic attraction state. To obtain a magnetic attraction type transfer device that can be secured.

[0004]

To achieve this object, the characteristic configuration of the grounding state judging device according to claim 1 of the present invention is as follows. [Structure] A Hall element provided for a magnetic attraction traveling body that moves while attracting magnetically to a traveling surface made of a magnetic body, and a normal attraction state in which the magnetic attraction traveling body normally attracts the traveling surface. And a storage means for storing the normal adsorption state leakage magnetic flux value detected by the Hall element,
There is provided a determination means for comparing the detected value of the Hall element with the normal magnetic attraction state leakage magnetic flux value to determine whether the magnetic attraction traveling body is in the normally attracted state. [Operation / Effect] When the magnetic attraction traveling body is magnetically attracted to the traveling surface of the magnetic body, the magnetic flux mainly exists between the magnetic attraction traveling body and the traveling surface, and exerts an attraction force. Further, there is a leakage magnetic flux in the space near the magnetic attraction traveling body, and the Hall element of the present application detects the amount of this leakage magnetic flux. And
Generally, the output of the Hall element has a minimum value in a normal adsorption state in which the magnetic adsorption traveling body is normally attached on a uniform material which can be regarded as a magnetic substance (Fig. 3).
(I)). However, for example, when the traveling surface has a protrusion or sand or the like, the magnetically attracted wheel of the magnetically attracted wheel deviates from the normal state, and when the state shown in FIG. The magnetic flux ratio decreases, and conversely, the leakage magnetic flux density detected by the Hall element increases. Therefore,
In the grounding state determination device of the present application, the normal attraction state leakage magnetic flux value stored in the storage means is compared with the actual detected value of the Hall element, and if any deviation from the normal value is detected, In a sense, it is determined that the magnetic adsorption wheels are not in the normal adsorption state. As a result, the state of the magnetically attracted traveling body with respect to the traveling surface can be quantitatively and accurately determined. [Structure] Further, the characteristic structure of the magnetic attraction type moving device according to the second aspect of the present invention for achieving the above object is as follows. That is, in the magnetic attraction type moving device, a magnetic attraction traveling body that moves while attracting to a traveling surface made of a magnetic material by magnetism, and a position of the magnetic attraction traveling body on the traveling surface or with respect to the traveling surface. A hall element provided for the magnetic attraction traveling body, and a normal attraction state in which the magnetic attraction traveling body normally attracts the traveling surface. The magnetic attraction traveling body is in the normal attraction state by comparing the detected value of the hall element and the normal attraction state leakage flux value with a storage unit that stores the value of the normal attraction state leakage flux detected by the hall element. A determination means for determining whether or not the determination means determines that the magnetic attraction traveling body is not in the normal adsorption state, and activates the traveling body movement posture changing mechanism. Wherein it provided with a ground state normalization means for changing the orientation with respect to the travel surface at the position or the travel surface of the magnetic attraction traveling body. [Operation / Effect] In this magnetic attraction type moving device, the magnetic attraction traveling body is provided with the hall element, the storage means, and the determination means, which construct the grounded state determination device substantially as described above. Whether the normal state is the adsorption state can be obtained from the judgment result from the judging means. Further, this magnetic attraction type moving device is provided with a traveling body moving posture changing mechanism and a grounded state normalizing means. When the determination means determines that the magnetic attraction traveling body is not in the normal adsorption state, the ground contact state normalizing means activates the traveling body moving posture changing mechanism to determine the position of the magnetic adsorption traveling body with respect to the traveling surface. Change or change your posture. As described above, if there is a protrusion on the running surface or sand etc., the grounded state deteriorates and the detected value of the leakage magnetic flux detected by the Hall element is likely to rise. In many cases, such a state can be resolved by moving or changing the posture. Therefore, this magnetic attraction type moving device can maintain the grounded state of the wheel body in a good condition by including the grounded state normalizing means. As a result, for example, in a robot that travels inside a pipe while magnetically attracting it, it is possible to appropriately detect a risk of falling of the robot and to avoid it, so that it is possible to improve traveling reliability.
Here, the traveling body moving posture changing mechanism can be constructed independently of a general drive system, but the traveling drive and steering drive system of the magnetic attraction traveling body can also serve this role. [Structure] Further, it is preferable that the structure is substantially the same as that described above, and the structure is such that the movement of the traveling body is stopped for the sake of safety when an abnormality in the magnetic attraction state is detected. In this case, as described in claim 3, the configuration is as follows. That is, the Hall element provided for the magnetic attraction traveling body is provided with a magnetic attraction traveling body that moves while attracting to the traveling surface made of a magnetic body by magnetism, and a traveling body drive mechanism that drives the magnetic attraction traveling body. Storage means for storing a normal magnetic attraction state leakage magnetic flux value detected by the hall element in a normal magnetic attraction state in which the magnetic attraction traveling body is normally attracted to the traveling surface, and the detected value of the hall element and the A normal adsorbed state leakage magnetic flux value, and a judgment means for judging whether or not the magnetic adsorption traveling body is in the state of the normal adsorption state. When it is determined that the traveling body drive mechanism is not in a state,
That is, it constitutes a magnetic attraction type moving device. [Operation / Effect] With this configuration, for example, when the traveling body rides on sand or the like, and before this state worsens (for example, before a fall or the like occurs), the magnetic attraction type moving device is
It is possible to stop the vehicle in the traveling state, and it is possible to easily proceed with the avoidance operation later. [Structure] In the above-mentioned magnetic attraction type moving device, a pair of wheels is provided at both end portions of the axle, and the pair of wheels have wheels having magnetic poles of different polarities, and the wheels have the magnetic attraction. It is preferably configured as a running body. This is a characteristic configuration of the magnetic attraction type moving device according to the fourth aspect. [Operation / Effect] This wheel has a general wheel structure as shown in FIG. 2. However, by providing a magnet in the axle and forming a pair of wheels with different magnetic poles, as shown in FIG. What
With a magnetic flux distribution configuration between the pair of wheels and the running surface,
It is possible to drive while exhibiting a strong adsorption force. [Structure] Further, in the magnetic attraction type moving device according to claim 4, the Hall element is disposed at a portion corresponding to a central position in the axial direction of the axle with a magnetic flux measurement direction aligned with the axial direction of the axle. It is preferable that the first hall element is This is a characteristic configuration of the magnetic attraction type moving device according to the fifth aspect. [Operation / Effect] In the traveling body having the above-mentioned configuration,
At the axially central portion of the axle, the leakage magnetic flux flows along the axle as indicated by the broken line in FIG. Therefore, by arranging the first hall element at this position along the axle with the detection direction aligned, the grounded state (magnetically attracted state) of the traveling body can be accurately grasped. As a result, the magnetic attraction type moving device can perform stable traveling when traveling. Moreover, as the position where the Hall element is arranged, this position is a single element, and it is a position where the state of the traveling body can be accurately grasped.
You will be able to drive. [Structure] Further, in the magnetic attraction type moving device according to claim 4 or 5, a pair of second Hall elements are provided in the axial direction of the axle, sandwiching a central position corresponding portion in the axial direction of the axle. Is preferred. This is a characteristic configuration of the magnetic attraction type moving device according to the sixth aspect. [Operation / Effect] When separated from the axial center position of the axle in this direction, the direction of the magnetic flux has a component in the direction of approaching and separating from the axle which is a direction perpendicular to the axle. Further, in a traveling body provided with a pair of wheels at both end portions of the axle, as shown in FIG. 3 (B), one wheel may float or climb on bumps, sand or the like. Many.
In such a case, a pair of second Hall elements are provided, and the second Hall elements are arranged so as to sandwich the position corresponding to the axial center of the axle in the axial direction of the axle, and the detection direction thereof is set to a predetermined value. By defining the direction and looking at the detection values of these second Hall elements, it is possible to clarify in what state a poor grounding condition occurs. Therefore,
For example, avoidance measures necessary for stable driving can be taken in an appropriate direction. In this case, if the magnetic flux measurement directions of the pair of second Hall elements are set to be different from each other in the directions in which they approach and separate from the axle, for example, as shown in FIG. , It is possible to accurately grasp the change in the magnetic field. On the other hand, when the magnetic flux measurement directions of the pair of second Hall elements are set in the direction along the axle as shown in FIG. 7, even when they are arranged between the pair of wheel bodies, It is possible to accurately grasp the change in magnetic flux.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION An in-pipe traveling device 2 (an example of a magnetic attraction type moving device) equipped with a ground contact state determining device 1 of the present application will be described below with reference to the drawings. FIG. 1 is a partial cross-sectional side view of the in-pipe traveling device 2 according to the present application, and FIG. 2 is an explanatory diagram showing the concept of a traveling / steering system of the in-pipe traveling device 2. As shown in FIG. 1, this in-pipe traveling device 2
Includes a front vehicle body 4a and a rear vehicle body 4b that are rotatably coupled to each other around a coupling shaft 3 in the front-rear direction of the device. Each of the front vehicle body 4a and the rear vehicle body 4b is provided with wheels 5 that can travel and steer.

The wheels 5 will be described with reference to FIG. 2.
It is provided with. Here, the axle 6 and the pair of wheel bodies 7 are integrally rotated so as to contribute to traveling. Now, as shown in FIG. 1, a magnet 8 is provided in the axle 6, and the wheel bodies 7 located at both end portions are configured to have different magnetic poles. Therefore, in the state shown in FIG. 3A in which the wheel 5 is in a good normal state and is grounded on the traveling surface, most of the magnetic flux generated from the magnet 8 is generated from one wheel 7a. A strong magnetic attraction state can be obtained by entering the tubular body and further entering the other ring 7b. That is, the wheel 5 is configured as a magnetic attraction traveling body. On the other hand, for example, when one of the wheels 7 is lifted from the running surface due to the presence of the obstacle 9 or the like, the effective magnetic flux passing through the pipe body is reduced and the leakage magnetic flux is increased (see FIG. )reference).

The above is the description of the wheel 5, and the operating condition of the wheel 5 will be described by taking the front vehicle body 4a as an example. The rear vehicle body 4b has substantially the same structure, and a description thereof will be omitted. Here, the front body 4
For items related to a, a is added to the figure number as a suffix, and for items related to the rear vehicle body 4b, the figure number is added as a suffix. A front wheel traveling module 10 having a front wheel 5a is provided on the front vehicle body 4a.
A front wheel steering mechanism 1 is provided so that a is rotatable about a vertical steering shaft 11a, and the front wheel traveling module 10a is integrally steered around the steering shaft.
2a. The front wheel steering mechanism 12a includes a steering motor 13a and a steering gear transmission mechanism 14a capable of steering and rotating the front wheel traveling module 10a by rotation of the steering motor 13a. In the front wheel traveling module 10a, the front wheel traveling drive mechanism 15 as a so-called traveling mechanism is provided.
a is provided. The mechanism 15a is a mechanism for rotating the front wheel 5a, which is rotatable around the axis of the axle, in the front wheel traveling module around the axis thereof, and a traveling motor 16a housed in the module. A traveling gear transmission mechanism 17a for transmitting the rotation of the motor 16a to the axle 6 is provided as a main component mechanism. Therefore, with the configuration described above, as illustrated in FIG. 2, the front wheels 5a and the rear wheels 5b can be independently driven to travel, and each wheel 5 can rotate around the vertical axis of each vehicle body 4. In addition, the pair of wheels 7 and the axle 6 can be integrally steered.

Now, the driving configuration of the in-pipe traveling device 2 has been described above, and the grounding state determination device 1 described above will be described. As described above, the in-pipe traveling device 2
Is a running surface made of a magnetic material (for example, a tubular body 1 made of an iron pipe).
8) is equipped with wheels 5 that move while attracting by magnetism. Further, by providing the wheel traveling drive mechanism 15 and the wheel steering mechanism 12 described above, when these mechanisms are operated, the position of the wheel 5 on the traveling surface or the posture with respect to the traveling surface is changed. Become. Therefore,
The wheel traveling drive mechanism 15 and the wheel steering mechanism 12 are
It serves as the traveling body movement / posture changing mechanism 100.
FIG. 4 shows a state in the vicinity of the axle of the wheel 5, and FIG.
FIG. 4A is a front view of the axle 6 (as viewed from the direction shown in FIG. 3), and FIG. 4B is a side view of the axle 6 (one wheel body side).
It is the drawing seen from. In these figures, the wheel traveling module main body 19 forming the support portion of the axle 6 is shown with hatching. As shown in FIGS. 4 (a) and 4 (b), a portion corresponding to the center position in the axial direction of the axle 6 is provided for each wheel 5 (at the center position in the left-right direction shown in FIG.
A first Hall element 20 is provided at a front position avoiding the wheel traveling module main body 19 shown in (b) so that its magnetic flux measurement direction is aligned with the axial direction of the axle 6. This position is also an intermediate position between the pair of wheels 7. Furthermore, in the axial direction of the axle 6, a pair of second Hall elements 21 are evenly provided with the first Hall element 20 interposed therebetween.
The direction of magnetic flux measurement of the pair of second Hall elements 21 is a direction in which they approach and separate from the axle 6 as indicated by an arrow in the figure, and a direction different from each other (as shown in FIG. 4A). The element 21a on the left side of the wheel traveling module main body 19 has an upward measuring direction, and the element 21b on the right side
Has its measurement direction set to downward). These directions are set to be the same as the direction of the leakage magnetic flux leaking from the wheel 5.

Further, as shown in FIG. 1, in the normal adsorption state in which the wheel 5 is normally adsorbed to the tubular body which is the traveling surface, the Hall elements 20 and 21 are in the normal adsorption state. , A storage means 22 for storing the leakage magnetic flux value in the normal adsorption state detected by the sensors 21, and these Hall elements 20,
21 and the normal adsorption state leakage magnetic flux value are compared,
A judging means 23 is provided for judging whether or not the wheels 5 are in a state of being normally adsorbed. That is, in a normal state, the leakage magnetic flux generally tends to show its minimum value, but, for example, as shown in FIG. 3B, when one wheel 7 floats, The output of the Hall element 21a arranged at the position corresponding to this portion increases. Therefore, by detecting this increase state, it is determined that the wheel 7 (withdrawing the wheel 5) is not in the normal suction state. Further, regarding the output relationship between the first Hall element 20 and the pair of second Hall elements 21 described above, the output of the Hall element (for example, 21a) arranged on the side where the suction state is deteriorated increases. The determining means 23 can determine that the wheel 7 on this side is not in an abnormal state.

Further, in this in-pipe traveling device 2,
The judgment made by the judging means 23 is used so as to ensure the normal suction state of the wheels 5. That is, when it is determined that the wheels 5 are not in the normal adsorption state, the traveling body movement / posture changing mechanism 100 (wheel traveling drive mechanism 15 and / or wheel steering mechanism 12 or both) is activated to drive the traveling surface of the wheels 5. There is provided a grounding state normalizing means 24 for changing the position or the posture with respect to the traveling surface in the vehicle. That is,
The wheel traveling drive mechanism 15 is operated to slightly move the in-pipe traveling device 2 forward and backward, or the wheel steering mechanism 12 is operated to change the direction of the wheel 5 with respect to the pipe body. By performing such an operation, for example, the wheel body 7 of one wheel 5 is
However, when riding on sand, welding projections, etc., this state can be resolved and a normal suction state can be secured.

Here, the storage means 22 is a general memory, and the judging means 23 and the grounded state normalizing means 24 are control software stored in the control device 200 provided in the in-pipe traveling device 2, and are ordinary. Together with the travel control software, these work together to run and steer the wheels 5.

Hereinafter, the reason why the ground contact state judging device 1 of the present application is useful will be described by taking the case of the circumferential rotation of the in-pipe traveling device 2 as an example. Such a pipe running device 2 is shown in FIG.
As shown in, the steering angle θ of the front and rear wheels 5 with respect to the tube axis direction Z can be made to travel in the tube circumferential direction Y with different absolute directions. With this method,
The traveling force in the pipe axis direction is canceled, only the traveling force in the pipe circumferential direction remains, and the pipe can move in the pipe circumferential direction. When traveling in such a pipe circumferential direction, the moment around the wheel body at the lower position due to the weight W1 of the in-pipe traveling device 2 is larger than the moment due to the magnetic attraction force of the wheel body at the upper position. Then the device falls over. On the other hand, when traveling along the wall surface of the pipe body, it is necessary to travel while adhering to the pipe body with a sufficient suction force against the sliding down due to the weight W1 of the traveling device. In order to satisfy such two conditions, the steering angle θ described above must satisfy the following conditions.

[0013]

[Equation 1] Steering angle upper limit θ ≦ cos ⁻¹ (W1 × L × sin φ / (S × P + S × W
1 × cos φ / 2)) Steering angle lower limit θ ≧ sin ⁻¹ ((W1 × sin φ + (2 × P + W1 × c
osφ) × μ) / (2 × F))

Here, as shown in FIGS.
L is the distance from the running surface to the center of gravity of the in-pipe traveling device, P is the attraction force of the pair of wheels 7, S is the mounting width of the pair of wheels 7, μ is the coefficient of friction between the tube and wheel 7, and F is Driving force for the wheels 5,
Further, φ is the inclination angle of the vertical axis of the vehicle body from the vertical direction.

Such a relationship between the upper limit steering angle and the lower limit steering angle is obtained under a predetermined setting condition, and the results are shown in FIGS.
It is shown in (b). In these figures, the horizontal axis represents φ and the vertical axis represents θ. The solid line indicates the steering angle upper limit and the broken line indicates the steering angle lower limit. Therefore, as the steering angle, if the steering angle θ within the range between the solid line and the broken line can be maintained, traveling in the pipe circumferential direction Y can be performed without causing problems such as falling and slipping. In this case, FIG.
(A) shows the case where the suction force P is 20 kg.
Indicates the case where the suction force P becomes 16 kg. When the adsorption force P is 20 kg, if the steering angle θ is set to 30 degrees, the traveling is stable regardless of the value of φ.
In the situation shown in (b), if the steering angle is set to 30 degrees, there is a risk of falling over in the range of C in the figure. In such a situation, it is very important to properly detect the magnetic attraction state by the wheels 5, and the ground contact state determination device 1 of the present application works effectively.

[Other Embodiment] In the above-described embodiment, the ground contact state determining device 1 is applied to the in-pipe traveling device 2 that travels in the pipe, but the applicable range of the device 1 is limited to the in-pipe traveling device 2. However, the apparatus provided with the magnetic attraction traveling body that moves while magnetically attracting to the wall surface of the magnetic body can be used for any magnetic attraction type moving apparatus. further,
In the above embodiment, the posture or position of the traveling body is changed when an abnormality is found. The structure may be stopped. As the magnetic attraction traveling body, the configuration of the present application may be applied to the above-mentioned magnetic attraction type wheel, wheel body, magnetic attraction type crawler, multi-legged walking type robot and the like. In constructing the grounded state judging device 1, the following structure will be adopted. That is, this is the Hall element provided for the magnetic adsorption traveling body that moves while adsorbing to the traveling surface made of a magnetic material by magnetism, and the normal adsorption state where the magnetic adsorption traveling body normally adsorbs on the traveling surface. Whether the magnetic attraction traveling body is in the normal attraction state by comparing the detected value of the hall element with the leakage flux value of the normal attraction state by including a storage means that stores the leakage flux value of the normal attraction state detected by the hall element. That is, it is configured to include a determination means for determining. Further, in the above-described embodiment, as shown in FIG. 3, an example in which the second hall element 21 is arranged directly above the axle has been shown, but it is shown in FIG. 7B by a solid line or a broken line. As such, it need not be located directly above the axle. That is, if the Hall element 21 is arranged at a position where the leakage magnetic flux leaking from the wheel is cut off, it is possible to achieve the purpose of determining the grounded state. On the other hand, the orientation of the element 21 (the orientation of the magnetic flux measurement direction) is also arbitrary, as shown in FIG. However, depending on the position of the element, the direction of the leakage flux is
Since it tends to be specified, it is better to match in this direction.
It is preferable in terms of sensitivity.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an in-pipe traveling device including a ground contact state determination device of the present application.

FIG. 2 is a conceptual diagram of the traveling / steering structure of the in-pipe traveling device.

FIG. 3 is an explanatory view of a magnetic attraction state of wheels.

FIG. 4 is a diagram showing details of the arrangement configuration of Hall elements.

FIG. 5 is a diagram showing a steering state and a posture state of wheels of the in-pipe traveling device.

FIG. 6 is an explanatory diagram showing a relationship between a steering angle and an adhesive force relating to a fall prevention requirement and a pipe circumferential direction travel requirement of the in-pipe traveling device.

FIG. 7 is a diagram showing another embodiment of the arrangement configuration of the Hall elements.

[Explanation of symbols]

 5 Wheels 6 Axles 7 Wheels 8 Magnet 20 First Hall Element 21 Second Hall Element 22 Storage Means 23 Judging Means 24 Grounding State Normalizing Means 100 Traveling Body Moving Posture Change Mechanism

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Tomoo Yoshida 4-1-2, Hirano-cho, Chuo-ku, Osaka-shi, Osaka Inside Osaka Gas Co., Ltd.

Claims (6)

[Claims] 1. A hall element provided for a magnetic attraction traveling body that moves while attracting to a traveling surface made of a magnetic material, and a normal attraction state in which the magnetic attraction traveling body normally attracts to the traveling surface. In the storage device for storing the normal adsorption state leakage magnetic flux value detected by the Hall element, by comparing the detected value of the Hall element and the normal adsorption state leakage magnetic flux value, the magnetic adsorption traveling body A grounded state determination device comprising a determination means for determining whether or not the device is in the normal adsorption state. 2. A magnetic attraction traveling body that moves while attracting to a traveling surface made of a magnetic material, and a traveling body capable of changing the position of the magnetic adsorption traveling body on the traveling surface or the posture with respect to the traveling surface. A moving attitude changing mechanism, and a Hall element provided for the magnetic attraction traveling body,
A storage unit that stores a normal magnetic attraction state leakage magnetic flux value detected by the Hall element in a normal magnetic attraction state in which the magnetic adsorption traveling body normally adsorbs to the traveling surface, a detection value of the Hall element and the normal adsorption And a judgment means for judging whether or not the magnetic attraction traveling body is in the state of normally adsorbing by comparing with the state leakage magnetic flux value, and by the determination means, the magnetic adsorption traveling body is in the normal adsorption state. If it is determined that there is no magnetic attraction, magnetic attraction is provided with a grounded state normalizing means that activates the moving body movement posture changing mechanism to change the position of the magnetic attraction traveling body on the traveling surface or the orientation with respect to the traveling surface. Mold moving device. 3. A magnetic attraction traveling body that moves while attracting magnetically to a traveling surface made of a magnetic body, and a traveling body drive mechanism that drives the magnetic adsorption traveling body, and is provided for the magnetic adsorption traveling body. Hall element that can be
A storage unit that stores a normal magnetic attraction state leakage magnetic flux value detected by the Hall element in a normal magnetic attraction state in which the magnetic adsorption traveling body normally adsorbs to the traveling surface, a detection value of the Hall element and the normal adsorption And a judgment means for judging whether or not the magnetic attraction traveling body is in the state of normally adsorbing by comparing with the state leakage magnetic flux value, and by the determination means, the magnetic adsorption traveling body is in the normal adsorption state. A magnetic attraction type moving device provided with a stop means for stopping the traveling body drive mechanism when it is determined that the moving body drive mechanism is not present. 4. A pair of wheels is provided at both ends of the axle, and the wheels have a pair of magnetic poles having different polarities, and the wheels are configured as the magnetic attraction traveling body. Item 2. A magnetic attraction type moving device according to item 2 or 3. 5. The first hall element according to claim 4, wherein the hall element is arranged at a position corresponding to a central position in the axial direction of the axle with the magnetic flux measurement direction aligned with the axial direction of the axle. Magnetic attraction type moving device. 6. The magnetic attraction type moving device according to claim 4, wherein a pair of second Hall elements are provided in the axial direction of the axle with a central position corresponding portion in the axial direction of the axle interposed therebetween.