WO2009090757A1

WO2009090757A1 - Monitoring device and monitoring method using mobile camera

Info

Publication number: WO2009090757A1
Application number: PCT/JP2008/050840
Authority: WO
Inventors: Shigeo Fukuda
Original assignee: Sagami Chemical Metal Co., Ltd.
Priority date: 2008-01-16
Filing date: 2008-01-16
Publication date: 2009-07-23
Also published as: JP4901963B2; JPWO2009090757A1

Abstract

A monitoring device comprises a traveling device (R), a travel drive control device (3), and a camera controller (52). The traveling device (R) comprises an in-tube traveling body (9) which travels in an in-tube path (2) of a driving fluid tube (1) by the pressure of a fluid sealed inside the tube and has a group (A) of permanent magnets arranged on the inner bottom face thereof, an out-of-tube traveling body (29) which is disposed in an out-of tube path (22) arranged side by side immediately below the in-tube path (2) via a partition wall (Z) and has a group (B) of permanent magnets arranged on the internal top face thereof in such a manner as to face the group (A) of permanent magnets. The travel drive control device (3) comprises an air compressor (3, 6) to be started up by a start-up command of the traveling device (R) transmitted from a terminal monitor (44) connected via a communication means, a pressure adjustment valve (5, 8) for adjusting the pressure of a fluid supplied from the air compressor (3, 6), an on-off valve (4, 7) for selectively supplying the fluid with its pressure adjusted by the pressure adjustment valve (5, 8) to either end part of the driving fluid tube (1), and a central processing unit (53) with the pressure adjustment valve (5, 8) or on-off valve (4, 7) remote-controlled by the terminal monitor (44) via the communication means. The camera controller (52) includes an electric storage device (35) and is connected to the terminal monitor (44) having a display screen (DP) via the communication means and controls the direction, zoom, and shooting of a camera based on instructions from the terminal monitor (44) and has videos captured by the monitor camera (34) displayed on the display screen (DP).

Description

Papers ^ ¾a¾ ^^^ using the mobile force measurment technology field

-The present invention relates to a comfort system using a moving camera. More specifically, while moving the camera, the user can remotely operate the home, hospital, nursing home, 甫 or factory, etc. Concerning discovery. Background art

A monitoring system for monitoring by this kind of remote operation is found in, for example, Japanese Patent Laid-Open No. 2 0 06-1 1 5 4 3 5. In other words, this remote comfort system can be used to connect a viewing camera installed at each of a plurality of turning points and a communication terminal equipped with a display such as a personal computer (personal computer) installed near or at the viewing point on the Internet. Then, on the display of this communication end * β, a picture of a stubborn difficulty and a pushbutton image for controlling and controlling the comfort camera are displayed ^! The control of the power camera is controlled by the remote operation of the mouse, keyboard, and key at the communication end (such as a personal computer) that operates the equipment provided in ¾ «^. By the way, in the prior art, a plurality of cameras are installed for each comfort point set at a plurality of places in order to perform a wide range of comfort.

On the other hand, the initial setting fffi of the camera is displayed on the Sokon display. In this initial setting screen, the IC device and the automatic notification Z network Push button images are displayed, the push button images for each comfort power are displayed in the lower row, and the left half underneath has a column for making detailed settings for each camera. In the upper half of the right half, there are columns for detailed recording settings, and in the lower row, there are columns for displaying the swells of the spots that have been taken with an apologized camera. Camera settings are performed along the columns.

These displays are performed on the program software for setting the force. In the case of multiple ^ ¾ cameras installed, ¾ ^ is set for each of these comfort cameras. When the above camera settings are completed, this image is displayed on the display of the communication terminal ^ (personal computer, etc.) via the Internet or intranet. And ^^, which has multiple cameras, has a mano-view image displayed on the display of the computer.

However, with the above-mentioned obedience, there are multiple comfort points, so it is necessary to have multiple visual sights to comfort the above sighting points. It is displayed on the display of the limited size of the personal computer installed in ^.

Therefore, the conventional monitoring system that monitors a specific area with a plurality of cameras fixedly installed at the observation point not only increases the cost, but also necessitates regular maintenance of each comfort camera. In addition, since a ¾ image for each camera is displayed as a mano-view screen on the display of the upper computer, attention is required to reliably monitor a plurality of display images. Furthermore, ^^ which moves ne s is fixed With camera, many solutions such as limited range! ¾. Disclosure of the invention

Therefore, the present invention has a configuration in which the power camera can be freely operated by remote control, so that the factory, the office, the store, the hospital, the public; ¾m can be performed intermittently, using a mobile force camera that can easily and reliably view the bulge image on the terminal consolation display screen, and to improve the method. It is aimed.

That is, the present invention includes an in-pipe running body that runs in a pipe 131 in a horsespun fluid pipe by fluid pressure, an extra-trajectory track provided along the pipe intent of the I sleep fluid pipe, and the pipe An outer tube traveling body having a camera to travel the outer package, and the permanent magnet group in the in-pipe traveling body and the permanent magnet group in the outer tube traveling body are arranged in a pair with a magnetic attraction coupling relationship. In this way, the extracorporeal traveling body is made of a traveling device configured to run following one side or the other side of the extracorporeal canal. And

A permanent magnet group consisting of a plurality of permanent magnets is installed along the traveling direction in the above-mentioned in-pipe traveling body and in the above-mentioned in-tube traveling body so as to have a magnetically adsorbed and ^ -paired arrangement with each other. Each is a uniaxial anisotropic rare earth magnet in the direction of travel! The uniaxial anisotropy rare earth is set up along the direction of travel so that the «is in the same direction. Magnetized,

The travel drive control device for running the above-mentioned running machine is deceived via communication means ¾) from the terminal device ^) a pair of pressure generators, a pair of pressure control valves for adjusting the pressure of the fluid supplied from these pressure generators, and pressure adjustment with these pressure control valves The on-off valve that supplies the generated fluid to either end of the upper fluid pipe and the pressure control valve or the on-off valve are remotely controlled from the above terminal device via communication means. Central processing unit and force

The camera control device for controlling the swell of the viewing camera is connected to a terminal having a storage screen and having a display screen via a communication means, and is connected to the camera by an instruction from a terminal device. Orientation, zoom as well! ^ Control force s is performed, and the elephant made by the above-mentioned camera is displayed on the above-mentioned display screen.

Thus, the travel drive control unit of the running I ¾ location is connected by via a communication means with the terminal ^ location, running the tube running body by the al located above saying late ¾! ¾¾ ϊ ¹ ^ us It is configured to be done. As a result, it is possible to perform operations such as starting and stopping the in-pipe traveling body, changing the traveling direction, and changing the traveling direction ^ according to an instruction from a remote place. Then, when the in-pipe traveling body travels from one side to the other side or the other side by remote control by a terminal device, the permanent magnets of the out-of-pipe traveling body with respect to the permanent magnet group of the in-pipe traveling body. Since the group force becomes a pair of adsorptive bonds, the above-mentioned traveling body travels in the same direction frT. At this time, if the magnetic attraction coupling relationship between the permanent magnets is weak, the magnetic attraction force between the permanent magnets is weak. When the out-of-pipe running body suddenly stops and stops, misalignment tends to occur due to its inertia.

In addition, each of the permanent magnet groups is a uniaxial anisotropic raw rare-earth stone and is arranged in the running direction. «J are aligned along the direction of travel so that they are mutually Ml 互いに, so the magnetic strength force s several times, the magnetic adsorption force force s several times more powerful magnetic adsorption coupling 瞎, As a result, it is possible to prevent the positional deviation due to the inertia of the extra-tube movement added to the in-pipe running body, and to improve the follow-up of the out-pipe running body.

Further, the camera includes a camera control device, and the camera control device is connected to a terminal having a display screen via a communication means, and the above force is generated by 1 ^ from the upper terminal. The direction of the camera, the zoom, and the control force are displayed on the above s¾Show 1®. ,

Then, the power of the camera is controlled based on the key sent from the terminal to the power control device. Is displayed. This makes it possible to control the position and angle of the ^ ¾ force mem- ber from a remote location to make the ^ ¾ ^ appropriate.

Further, according to the present invention, the ββ terminal monitor is a portable terminal, and the monitoring camera is provided with a voice input / output device and a projector device, and the voice input / output device is remotely controlled from the portable terminal. 'Sound is input / output from the output device, and the direction and direction of the light projecting device, light and stopping force s are performed.

This enables remote operation from a terminal such as a portable terminal, for example, calls from a voice input / output device to a subject that becomes a ¾¾¾ ^, or an occurrence from a subject such as a nursing home for the elderly. It can mimic sound. In addition, when using a ¾¾¾ force lens to magnify and environ- ment the environment, a light emitter such as an LED is projected toward the subject as a projection device. With this, it is possible to make the iS ^ point of the remote place as a specific point of view reliable.

According to the present invention, the above-mentioned terminal device is provided with an external storage medium that can be loaded into and discharged from this terminal, and this external storage body is said to the camera control device from the above-mentioned terminal device. The image displayed on the display screen and displayed on the display screen based on the above-mentioned aa force mem- ory is saved as ¾¾.

As a result, the image taken by the viewing camera and the sound output from the comfort area are stored in the external memory box installed in the terminal ^ m¾ via the communication means, and saved as described above. Shadow images and the above voices are stored in the same terminal guard and other terminal guards! It can be reproduced and confirmed repeatedly even when placed.

In addition, the present invention provides a vehicle equipped with an in-pipe Lit in a driving fluid pipe that travels in a pipe by the action of fluid pressure and an outside pipe provided along the above-mentioned pipe $ ¾t. ¾ ^ and the permanent magnets in the pipe traveling body running on the pipe lit of this transport ¾ ^ and the permanent magnets in the pipe traveling body running outside the pipe have a magnetic adsorption coupling relationship with each other. By using the mobile force mem- ber made up of a traveling device that makes it possible for an out-of-tube traveling body with a sight mem- ber to follow one side or the other side of the extra-orbital track. ¾ ^ In the law,.

A permanent magnet group consisting of a plurality of permanent magnets is arranged along the running direction in the pipe running body and the extra-tube running body, and each of the magnets is magnetically coupled to each other. The permanent magnet groups are uniaxially anisotropic rare earth and stones, and are arranged along the traveling direction so that the βs in the traveling direction are opposite to each other. Suck anisotropic rare stones It is formed by magnetizing with an easy magnetization direction in the direction toward the facing surface to be worn,

The traveling drive control device for controlling the above-mentioned traveling fi¾ device from the terminal ^ ¾ device that is selected via communication means: ^ Activates the pressure generator by the activation command of the traveling fi¾ device, S¾ End ¾ ^ The manual remote control pattern force s selected as the running pattern of the above-mentioned running position is set to the required age by selecting the above-mentioned SEE force control valve converted to the pressure generating position. After determining the travel of the above-mentioned running fi device, it switches and controls whether or not each of the opening and closing valves on the upper 51 power control valve is supplied to either end of the upper sleep fluid pipe. The traveling direction of the above-mentioned traveling device is determined, and when the traveling device passes through the awakening point arranged at a fixed position on the upper fM! S ^, the detection signal output from the detector is used to detect the traveling device. Depending on the situation, it is judged whether the force is to stop, and it is controlled to run for a certain time until it stops ^ ^ When the remote control U control pattern by the automatic program is selected as the running control pattern of the above running device by the end, the pre-stored running avoidance and running direction are automatically determined, and the above running device passes the observation point In addition, the ^^ signal output from the detector controls the processing stored as a running pattern and controls to stop for a certain period of time.

The camera control device for controlling the ¾ camera is provided with a separation, and is connected via a communication means when the running device is running or stopped. The image was swelled by the above-mentioned camera in response to the shooting command, and the »image was displayed on the above display via the camera control device. ¾ ^ The image of the body is displayed: ^ controls the zoom of the above image, recognizes this image as a word medium, When the amount of ^^ in the camera is reduced, it is charged and charged by the installation provided in "^" of the travel route. Brief Description of Drawings

FIG. 1 is a block diagram showing an example of a device using a mobile camera according to the present invention, which controls a terminal camera and a comfort camera connected to a network. FIG. 2 is a block diagram showing an example of a device using the mobile camera according to the present invention, which controls the terminal device and the device installed on the network.

Fig. 3 is a flowchart of a comfort camera controlled remotely by a terminal. '

FIG. 4 is a flow chart of a traveling device that is remotely controlled by a terminal.

FIG. 5 is a cross-sectional view taken along the line CC in FIG.

FIG. 6 is a view showing the arrangement relationship between the permanent magnet group in the in-pipe traveling body and the permanent magnet group in the extra-tube traveling body.

FIG. 7 is a specific example of the apparatus using the mobile camera according to the present invention, and is a plane view along one side of the comfort camera.

FIG. 8 is a specific example of the apparatus using the mobile camera according to the present invention, and is a plan view along the line “itt side of the camera”.

FIG. 9 is a concrete example of a consolation using the mobile camera according to the present invention. It is a DD cross section across the circulation in the figure.

FIG. 10 is a view of the camera shown in FIG.

FIG. 11 is a plan view showing a straight line: 1 «¾, which is ffled by a traveling device installed in a 1/3 position, using a moving mechanism that is useful for the present invention.

FIG. 12 is a plan view showing a circle-shaped circulation transport && which is also ffled by the traveling device.

Fig. 13 is an overall view of the comforting mela.

FIG. 14 is an explanatory diagram showing an example of a state in which an image of a viewing area swollen by a remotely operated comfort camera is displayed on the display screen of the terminal ^ S.

FIG. 15 is a diagram showing the control panel operation 15 as an example of the terminal arrangement. Best Mode for Invention

In order to explain the present invention in more detail, this will be described with reference to the drawings of ¾ ^ size. The present invention is a monitoring method using a mobile camera. First of all, referring to FIG. 2, the moving 5 ^ 7 camera of the present invention is used, and the traveling fi An example of R will be described.

The traveling net device 1 travels in the pipe 112 of the driving fluid pipe 1 by fluid pressure such as i¾i air or hydraulic pressure (in this example, TO air is trapped) enclosed inside, and a group of permanent magnets (rear) In-pipe running body 9 in which A is arranged, and in the outer pipe 2 2 juxtaposed directly under the pipe 2 through the flange Z, and inside the pipe so as to face the permanent magnet group A Permanent magnet on top It is composed of an extra-tube running body 29 provided with a stone group (later) B, and the extra-tube running body 29 uses the magnetic attraction force between the permanent magnet groups A and B. The above-mentioned in-pipe traveling body 9 is adapted to follow.

The outside traveling body 29 has a viewing camera (described later) 3 4 that can be remotely operated by radio etc. in the β state, and the driving fluid pipe 1 that constitutes the later transportation is private A straight or sark-nore shape in the left-right, up-down, and front-back direction along the walls, floors, ceilings, etc. Installed on.

Specifically, as shown in FIGS. 2 and 5, the in-pipe running body 9 has a surface of the in-pipe track 2 with the lower surface and both side surfaces being guided by ^ ¾ 1 0, 1 1, 1 2, 1 3 It is possible to run on the inner wall surface. For this reason, pressure-receiving surface bodies 14 and 15 that receive the pressure of the above-described pressure fluid are provided at both ends of the in-pipe traveling body 9. The permanent magnet group A disposed on the inner lower surface of the in-pipe traveling body 9 is surrounded by the sealing means 16 so that magnetic leakage can be prevented.

The outer pipe 2 2 is constructed of the inner thigh 2 with the lower surface of the inner pipe t 2 facing the bulkhead Z, and the outer running body 29 has a life 3 0, 3 1, 3 2 and 3 3 allow the vehicle to run on the inner wall, which is the $ ¾1 surface of the outer tube 2 2 while the upper surface and both side surfaces are guided. The permanent magnet group disposed on the inner upper surface of the extra-tube traveling body 29 is surrounded by the sealing means 36 to prevent magnetic leakage.

Next, the permanent magnet groups Α and Β will be described in detail below with reference to FIG. Figure 6 Odor The permanent magnet group A is connected to the individual permanent magnets 1M1, 1M2, and 1M3 arranged in the above-mentioned in-pipe traveling body 9 in the traveling directions X and Y, and the inner flange | 5 of the above-mentioned outside-traveling body 29. Each permanent magnet 2M1, 2M2, 2M3 of the permanent magnet group B, which is installed so as to be opposed to the permanent magnet group A, is configured in a self-adhesive relationship with respect to each other.

In this H½ example, flat permanent rare earth magnets are used as the individual permanent magnets 1M1, 1M2, 1M3 and 2M1, 2M2, 2M3. This kind of rare earth magnets include samarium and connort magnets and neodymium 'iron' boron magnets. A uniaxial anisotropic magnet is formed by attaching and attaching the attracting surface direction that faces the easy magnetization direction as a uniaxial axis. The uniaxially anisotropic rare earth magnet described above has a magnetization strength force S several times greater than that of a magnetic isotropic magnet that has almost the same magnetization strength in any direction. A magnetic adsorption coupled H system that is more than force number S multiple times is obtained.

According to the traveling device R configured as described above, when the pressurized fluid acts on one of the pressure receiving surface bodies 14 and 15 of the in-pipe traveling body 9 as shown in FIG. Travel from one side to the other or from the other side to one side. The permanent magnet group の of the ^ β \ extra-tube traveling body 29 is a pair of magnetic adsorption couplings with the permanent magnet group の of the above-mentioned in-pipe traveling body 9, so that the above-mentioned extra-tube traveling body 29 is also in the same direction. Run.

At this time, since the extra-tube traveling body 29 has inertia, the magnetic attraction force S between the permanent magnet groups A and B in which the magnetic attraction couplings are arranged in pairs with each other is weak: ^ is the camera 34 or ^ ¾. The heavy rail extra-runner 29, to which the pond 35 or the like is attached and which is relatively heavy, is likely to be placed on the spot. That is, a positional shift is about to occur. These are supervised by a camera Attention while watching! When the body is removed, the in-pipe vehicle 9 starts or stops suddenly, or the extra-tube vehicle 29 has a relatively heavy weight.

In the traveling device R which uses the moving ^ 7 mellar according to the present invention, and is used for the ^^ position, it is a rare earth refractory with the uniaxial anisotropy of the individual permanent magnets A and B described above. It is formed as a multi-stone structure in which the N and S in the direction are aligned with each other so that N and S are aligned with each other along the traveling direction. Set the direction of easy movement toward the head and magnetically move it.

For this reason, the permanent magnet groups A and B that are self-positioning the magnetically-adsorptively coupled rods prevent misalignment due to the inertia of the extra-tube transfer: 29 following the in-pipe running body 9. By improving the above-mentioned extra-longitudinal traveling body 29, it is possible to improve the life by using the comforting mela.

The fig points here are duplicated within a certain length N of the permanent magnet group A, B force permanent magnet group A, B of the inner and outer traveling bodies 9 and 29 as shown in Fig. 6. Arranged to have a multi-phase magnet structure. Each ^^ and each width of each permanent magnet 1 M l, 1 M 2, 1 M 3 RX ^-^^ M ^ M 1, 2 M 2, 2M3 It is an indispensable condition to satisfy the point where the L force is determined to be at least as large as the foot D between the permanent magnet groups opposed to each other by magnetic attraction coupling. If this permanent magnet is configured with a smaller width than the «L between the opposing permanent magnet groups A and B, the permanent magnets 1 M 1, 1 M 2, 1 The magnetic field lines between the M3 and 2M1, 2M2, and 2M3 ^ g (N pole, S pole) will be shortened, and there will be no magnetic adsorption relationship between the opposite sides. ', However, the permanent magnet group A, B force are arranged in a multi-layered stone structure within a certain length N of the entire permanent magnet group A, B, and each of the permanent magnet groups A, B Since it is configured to be at least [^ as compared to £ ¾tD between the opposing permanent magnet groups, it is possible to obtain a magnetic attractive force that is a bow ¾Λ in the direction facing each other as magnetic adsorption coupling. it can.

Next, a specific example of the traveling device R will be described with reference to FIG. 7 to FIG. The same components as those described in the above embodiment are denoted by the same reference numerals, and the description thereof is omitted.

As shown in FIGS. 7 to 10, the traveling device R is equipped with a ¾¾¾ force measler 3 4 as a mobile force mesa on the tube translocation 29 that travels following the in-pipe running body 9. Power unit F is installed.

This camera unit F includes a base Β 縦 which is vertically long in the traveling direction formed by three attachments 37 provided on the lower surface of the extra-tube traveling body 29, and a terminal which will be described later. ^^ Position 4 4 Power and remote control via WB, etc. ^ Camera 3 4 and the other side of the base BA above The direction of the power 3 4 and zoom, bulge, etc. It consists of ^ «pond 3 5 (battery) that serves as a power source.

The battery 35 is provided with a charge terminal 40, and this battery 35 is charged by a charge TO device (Fig. ^ "F) via the upper battery 40. The above filling device is provided in a part of the transport route TR.

For example, the above-mentioned in-pipe and extra-tube running bodies 9 and 29 are transported in two forms as shown in FIG. 11 and in the two forms shown in FIG. . You are driving on R. Fig. 1 1 shows an S-shaped horse sleep fluid with curved as carrying Fig. 12 is a plan view showing the pipe, and Fig. 12 is a plan view showing the circular circulation. In Fig. 11, for example, the driving fluid pipe 1 having the ¾-shaped ¾¾ »TR is composed of a fluid pipe with a curved m, and the inside and outside of the pipe are composed of 1 12 and 2 2 forces. A charging device is provided at either end of the carrying TR. Therefore, the in-pipe traveling body 9 that travels toward the one or the other side of the carrying TR 3 described above, when the potential of the storage battery is reduced and detected, the camera control device 52 (described later) (see FIG. 1). The above-mentioned traveling body control device 3 (see Fig. 2) is controlled by the stop command issued at the same time as the command to fill the force, and the positioning is stopped at that position.

The in-pipe traveling body 9 does not normally travel as a stop position, stops in the vicinity of any end of the fluid pipe 1 and then moves to any end, and the storage battery is moved by the charging device. Charged via charging terminal 40.

Further, FIG. 12 shows the traveling device R force S circulating travel i¾g ^ ¾C R force S, and this circulating transport. R is composed of a circle-shaped circulation week, and although a detailed description is omitted, a charging device for charging the storage battery is disposed in a part of the circulation carrier 1 珞 CR. In FIG. 12, reference numeral 3 A denotes a traveling body control device that performs suction while moving the caloric pressure fluid through the bypass pipes 4 a and 4 b in the horse fluid pipe 1. The body control device 3A can switch the pressurizing direction of the pressurized fluid in the image J fluid pipe 1 between forward and reverse. As a result, the in-pipe traveling body 9 can move forward and backward in the equine fluid pipe 1 along the circulation conveyance path CR.

Reference numeral 5 denotes a fluid »1 which is disposed in the vertical fluid pipe 1 between the bypass pipes 4a and 4b. It is a shut-off valve that normally shuts off the coma fluid pipe 1 and is opened when the above-mentioned in-pipe traveling body 9 passes. It is.

As described above, the circulation C R can also be configured as a force double row (FIG. ^ Rf) described as a single row. In this way, it is possible to run two IJ fe¾s in parallel with the two IJ fe¾s, while charging one of the 3D 3 4 3 5s while powering them. You can take advantage of the running of Mela 3 4.

Next, description will be made with reference to FIGS. 9 and 10 attached to the comfort camera 34. FIG. The details will be described later with reference to FIG. 13, but the portion 39 is formed in a hemispherical shape that can swing about 180 degrees from side to side as shown in FIGS. 9 and 10. At the center, a lens part 42 is provided with a force S, and this lens part 42 is configured to swing about 180 degrees in the front-rear direction so that a wide area can be obtained. .

Next, referring to FIG. 1 to FIG. 4, an explanation will be given for a difficult example of the use of the moving lens of the present invention.

In Fig. 1, Camera Yuet F is equipped with viewing camera 3 4, wireless LAN transceiver Τ 2, camera control unit 冲 central processing place). 5 2, storage battery (battery) 3 5, The pond 35 is charged by charging / discharging as described above. The above camera menu F can be remotely operated via a network with a terminal ^ 4. This terminal ^ 4 is a personal computer (hereinafter referred to as a computer! 4). It consists of 6 and tube PCs 50. The personal computer 46 and the ¾¾ personal computer 50 are connected to the Internet WB via the computer 48, and the personal computer 46 is a wireless LAN transceiver T 1 connected to the computer 48. It is possible to perform data communication with the above-mentioned camera unit F without a line LAN transceiver T2.

In addition, the above-mentioned computer shown in FIG. 2 ¾ ¾ ^ 4 4 PC 4 6 tube PC 5 0 is a traveling device control device of the traveling device R that is created after each of the above-mentioned transflective members 3 4. The air compressors 3 and 6, pressure control valves 5 and 8 and on-off valves 4 and 7 (see Fig. H2) for each operation of the air compressors 3 and 6 constituting the 3 In addition, the wireless LAN transceiver Τ 1 is connected via a local area network (L AN) so that data communication can be performed with the non-spring LAN transceiver T2. The viewing camera 3 4 shown in FIG. 1 is transmitted by the camera control device 52 via the wireless LAN transceiver T 2 connected to the wireless LAN transceiver T 1 on the terminal ¾ ^ device 4 side so that data communication is possible. It is controlled.

The comfort steel personal computer 4 6 accesses the camera control device 52 of the camera unit F via the wireless LAN, and far away from the personal computer 46. Each «work change etc. can be set.

In this embodiment, a personal computer is used as the terminal ^^ device 44. However, the present invention is not limited to such a computer, and a controller equipped with an internet function to be described later is also a mobile device. Can also be used.

Next, refer to Fig. 3 for the chart that covers the ¾m area with a sighting mela. This will be explained.

In the flowchart shown in FIG. 3, in step ST 1, the IP address obtained by the administrator is input to the comfort PC 46 and management PC 50 shown in FIG. 1, and in step ST 2, Terminal 4! Set 4 4 PC 4 6 and tube PC 5 0 to force expansion mode. The age at which IPadres are not acquired is repeated until acquired.

At step ST3, the top | 5¾end¾ | ¾¾device 4 4 power is sent to the camera control unit of the force unit F through the communication means such as the Internet WB, wireless LAN transceiver T1, T2, etc. 5 Say to 2.

In step ST 4 as well, the air compressors 3 and 6 shown in Fig. 2 are started via communication means such as the Internet WB and wireless communication from the above terminal ^^ 4 4 via the AN transceivers T 1 and T 3 The signal is sent to the central processing unit (CPU) 53 of the traveling body control device 3. Therefore, in response to an instruction from the above | ¾ 耑末 ¾ ^ position 44, the bulging by the turning camera 34 is started in the state where the traveling fi¾R is traveling or stopped or stopped. With this comfort camera 3 4, the fi¾ device R runs inside or outside a private hospital, factory, 甫, ^ ¾, or inside a public nursing home, stadium, etc. Stop and you can do it in a stopped state.

In step ST5, the image of the specific area obtained by the audience camera 34 is sent from the wireless LAN transceiver T2 to the wireless LAN transceiver T1, via the communication means such as the notebook 48, etc. 4 4 said, the image is the above 2 PC 4 6, 5 0 Display ® ® (display).

By doing so, the meo 3 4 is remotely controlled based on the instructions given to the central processing unit 5 2 from the above S¾ end device 4 4 force S 2 . As a result, even from a remote place, the position and angle of the camera 34 can be controlled to make a specific area appropriate. In addition, the image of the remote location expanded by the above-mentioned power camera 34 can be displayed on the display of the terminal ^^ device 4 4 in a linear time.

Next, in step ST 6, the image of ^ 1 camera 3 4 is written by the camera control device 52 through the communication means, and the above image displayed on the display screen of the above S¾ end ^ 1¾ arrangement 4 4 is displayed. The force ¾ ^ is determined when the watched ¾ object is # 1. Here, when the subject is mm, the process proceeds to step S T 7, and when the object is not saved, the process proceeds to step S T 1 2.

In this step ST7, when the subject of interest is perpetuated on the display screen of the above-mentioned screen 44, the bulge image of the upper body is zoomed. Next, in step ST 8, the body's li ^ image created on the display screen of the terminal ^^ device 44 is recorded in the storage section of the above ^ ffl personal computer 46 and tube glue personal computer 50, and the above It is also recorded on an external storage medium (DVD, etc.) that can be loaded into and ejected from both personal computers 4 6 and 5 0 as required. In addition to “images”, the audio content from the viewing area can be spoken as well.

In this way, the bloated image and the sound that are disliked by the external storage medium can be repeatedly reproduced on the same terminal or other terminals. In step ST9, it was received at the voice input section of Sight Mera 3 4 ^! The audio signal in the area is transmitted to the terminal monitor via the communication means from the camera control device 52 of the force mela unit F. This is output to the above steel PC 4 6 and pipe Sffi PC 5 0 in the device 4 4. Note that this audio signal can be used to monitor the voice in the factory set up in the remote area, which is the comfort zone, or for example, ¾ ^ It can be output as sound generated from the above pets.

In this way, for example, various voices in a factory installed in a remote place input from the voice input unit of the viewing camera 34 can be remotely controlled from a terminal device 4 such as a portable terminal or the like. It is also possible to perceive the voices generated from pets raised in the home and the sounds generated from the elderly such as nursing homes by using the above word. Next, in step ST 10, when an audio signal is sent from the above terminal unit 4 4 to the camera control unit 5 2 of the above force mela unit F via the communication means, The audio signal is output from the audio output unit 4 toward the ¾ region.

In this way, for example, by remote control from a terminal difficult place 44 such as a portable terminal, the voice output to the factory installed in the remote place from the voice output part of the comfort camera 34, or You can call out to a page trained in S, or output a voice to a nursing home or care recipient.

Next, in step ST 1 1, the force that breaks the bulge in the comfort camera 3 4 is cut, and the ^^ that is broken is processed in step ST 1 3 to be described later. f, を纖纖, ^ ends the watch control / chin by the awake camera.

On the other hand, in step ST 1 2, the wrinkle at the sight lens 3 4 is twisted while moving the traveling equipment R, and in the next step ST 1 3, the capacity of the storage tank 3 5 of the viewing camera 3 4 is reduced. Or

It is determined whether or not. The power of reducing storage ¾ii¾: ^ is charged in step s T i 4 to charge pond 35, and when charging of pond 35 is completed, the routine from step ST 5 is repeated.

The camera 34 can also be provided with a projector such as LED. In this way, when the eyelids are swelled or swelled with a sight sight, a light emitting device such as an LED is projected toward the body as a light projecting device. You can make sure ■ the location of the ground.

Next, a specific example of the camera 34 used in this example will be described with reference to FIG. Figure 1 3 shows the overall parent figure of sight mela. This camera 3 4 is used, for example, Panasonic Communications; A wireless antenna AT is provided at the upper end, and a lens part 42 is held in the center part of the front by a lens cover 55, and the sound from the subject is input below the lens part 42. A voice input device (microphone) 5 6 is provided. In addition, a RAN jack ^ voice output terminal force S (not shown) is provided on the back surface of the above-mentioned 3 m camera 34.

Fig. 14 shows the state in which the image swelled by the remotely controlled camera 34 is displayed on the display screen of the terminal device 44. Display of personal computer 46 and ¾¾ personal computer 50 The M® DP displays an image of the FT inside the factory installed in a remote area inflated with a force lens 34.

Next, referring to FIG. 2, a description will be given of the remote running control of the mobile device 1 according to the present invention. In the block diagram shown in FIG. 2, the transport composed of a curved part or a fountain part ¾S§TR inside the pipe constituting the horse sleep fluid pipe 1! Control device 3 force S connected.

The travel control device 3 includes a pair of air compressors 3 and 6 that generate Hffi air, and a pair of pressure control valves 5 and 8 that adjust the pressure of 1¾ compressed air supplied from the air compressors 3 and 6. Three-way on-off valves 4 and 7 that supply the compressed air pressure-controlled by these pressure control valves 5 and 8 to the air supply ports (mouths) provided at both ends of the above-mentioned pipe $ ¾12. The control valves 5 and 8 or the three-way on-off valves 4 and 7 are composed of a central processing unit (CPU) 53 that is remotely controlled from the terminal monitoring unit 4 4 via communication means.

Here, the above-mentioned central processing unit 3 ¾ device 5 3 is replaced with a wireless lan transceiver T 3 as shown in FIG. 2, and this non-spring L AN transceiver T 3 is connected to the terminal device 4 4. The personal computer 46 connected to the management personal computer 50 via the Internet WB and the printer 48 is connected to each other by the J¾L AN transceiver T 1 so that transmission and reception can be performed. As a result, the central control station 5 3 of the travel and sleep control device 3 sends and receives each set of data. Each operation of the travel device R is improved via the local area network (LAN) to receive | It is designed to be remotely controlled from device 4-4.

Then, from the comfort personal computer 4 6 of the terminal ¾¾¾ device 4 4, the central processing unit 53 is accessed via the wireless LAN, and various initial settings of the traveling body control device 3 are performed by this personal computer 46. Settings Settings such as changing the work can be made. In this example, force S shows an example of using a personal computer as the terminal device 4 4, not limited to these personal computers, It is also possible to use a controller equipped with a later internet meal or a portable tongue.

Next, a description will be given with reference to FIG. 4 in connection with a flowchart for remotely controlling the traveling device R using the moving lens of the present invention.

In step ST 2 1, the central processing unit 5 3 of the sleep controller 3 is connected to the air compressor 3 via the communication means such as wireless or Internet WB from the monitoring personal computer 4 6 of the terminal device 4 4. 6 start-up commands are proclaimed.

Next, in step ST 22, the running power R of the running device R is selected. In step ST 2 3, when the hand tttS distance control pattern is measured, in step ST 2 4, the pressure control valve 8, 5 force S is required by manual remote control of the terminal ^^ device _{4 4} ^ ¾ PC 4 6 The set pressure is set, and the travel speed S of the travel device R is determined. It should be noted that the setting of the pressure control valve 8: ¾ 設定 can be set individually depending on whether the running direction of the running device R is the right direction Q or the ¾fe direction Ρ. Next, in step S. T 25, when the traveling direction of the traveling device R is determined to be either the left P direction or the right Q direction, the three directions corresponding to any one of these directions P or Q The pressure side ports of the on-off valves 7 and 4 are opened. Here, in order to make the traveling i¾ R travel in the left direction P, the cylinder supply port side of one of the three-way on / off valves 7 is controlled to open and the pressure side port of the other three-way opening / closing valve 4 is closed at the same time. The side port is opened and the chest is opened to allow exhaust. As a result, the in-pipe traveling body 9 of the traveling device R that has received the fluid pressure at the pressure receiving surface body 15 moves on the surface 2 in the traveling direction g required in the P direction using the wheels 10 to 13 as a guide.

In addition, in order for the traveling device R to travel in the right direction Q, the pressure side port of the other three-way on-off valve 7 When the cylinder supply port side of the 3-way on-off valve 4 is opened, the pressure-side port of one of the 3-way on-off valves 7 is closed (the ^ side port is open and the IJ can be controlled). As a result, the in-pipe traveling body 9 of the traveling fi¾ R that has received the fluid pressure at the ¾H surface body 14 moves on the surface 2 in the traveling direction required in the Q direction, with $ ¾10 0 to 13 as a guide. The

Next, in step ST 26, when the runner R passes through a plurality of self-installed L points at certain locations on the transport path, the output from the sensor installed at the comfort point is output. The traveling device R force S power to stop is judged from the signal.

To stop the traveling device R at the ¾ E point above, manually control the viewing camera 3 4 from the terminal device 4 4 at step ST 28 and perform the ^ point operation with the ¾ force measler 3 4. When the travel device R does not need to be stopped, it moves to step ST 2 7 together with the noretin processed in step ST 2 8, and the travel of the travel device R is executed in step ST 2 7. The power to hesitate is judged. Run ^ location R traveling Ito赚 Shinare of, ¾ ^ is, the traveling equipment run ί "Τ Ru Bruno" Chin is finished, Ito赚 to ¾ ^ is from the step S T 2 6 Roh! ^ Chin Force S Repeated.

On the other hand, in step ST 2 9 later Le ^ Chin, far隔走IJ control pattern of the traveling device R according to the automatic program is ΐ ^1. This remote-running fft lj control pattern stores the travel 3¾¾ and travel direction of the traveling device R pre-programmed in the storage unit of the terminal «^ device 44, and each ¾ ^ control means at the Tadami Boynto, Before starting the run, the remote running pattern power S of the run R by automatic programming is selected in step ST29. In this step ST 29, when the remote control pattern of the traveling device R is applied, in step ST 30 the pressure control valves 8 and 5 preset as the selected remote control pattern are used. Travel is automatically determined.

Next, in step ST 3 1, the travel direction (right direction Q or direction P) stored as the selected remote travel fiil! U control pattern corresponds to the travel direction. Any cylinder supply port side and ^ "side (^ side port are automatically controlled to open.

In step ST 32, when the running device R passes through the point, the process stored as the control pattern is automatically entered depending on the presence or absence of a signal output from the sensor installed at the point.

Next, in step ST 33, when the running is continued for the time stored as the control pattern, the running is finished, and the routine of the remote running fi J control pattern of the running device R by the automatic program is finished.

Next, an example of a terminal device will be described with reference to FIG. 14 attached to a control device. ¹

Fig. 14 shows the control device as an example of the 6 0 f «terminal ^ 1¾ device, and Fig. 14 shows the operation of the control device! . A telescopic antenna AT for wireless transmission / reception projects from the top of the main body of the Controlron 1 ^ 3 60.

This # ¾tl surface is provided with a display ®®DP force S that displays images ¾ ^ with ^ i Mera 3 4 and on the lower right side of the main body is a monstrous indication of comfort force Mera 3 4 It consists of a flat touch panel 2

A forceful operation button 62 is provided. In addition, a traveling operation button 64 composed of a flat touch panel that performs traveling of the traveling device R is arranged on the lower left side of the main electrode surface.

Operation buttons 6 2 on the camera above are switch buttons 6 5 for turning on / off the sight of the viewing camera 4 3, operation buttons 6 for controlling the direction of the lens section 4 2 of the monitoring power me 3 4 forward / backward and left / right 6 6, »Zoom operation buttons consisting of zoom in and zoom out buttons to control image enlargement, small, zooming buttons 6 8, switching button 7 ON to turn on / off the lighting of the embargo, 7 It consists of two.

On the other hand, the above-mentioned travel operation group of buttons 6 4 is a start / stop button for starting / stopping the travel of the travel machine table 7 4, and stopping the travel of the travel station R [1]! Stop button 7 5, Carrying ¾ Position to display the position information of points arranged in WTR '| f # Display button 7 8, Change the traveling direction of Station 1 to the right or left by manual remote control pattern. Perform Right direction 'Left direction operation button 7 6, Set traveling device R's travel 3¾¾ Set button 7 7, Traveling device 1's travel Manual operation for controlling control pattern by manual operation ift U control pattern setting button 8 4 The running device R consists of an automatic control putter button 80 that performs running I using an automatic program. Availability of production ^

As described above, the method using the mobile camera according to the present invention can be applied to the inside and outside of buildings such as factories, offices, hospitals, hospitals, nursing homes, etc. The in-pipe traveling body is controlled on the road by a traveling body control device remote from the terminal comfort station, and from the terminal monitor by a comfort camera attached to the off-road traveling body that follows the in-pipe traveling body. It is suitable as a comfort method for remote viewing of the inside and outside of ffi¾ and ½ | ¾ in real time. '

Claims

The scope of the claims

1. An in-pipe running body (9) that runs in the pipe lt (2) in the horse sleep fluid pipe (1) by fluid pressure, and is connected to TO along the inside (2) of the «fluid pipe (1) An outside tube $ / (22) provided, and an outside tube (29) having a frT viewing camera (34) running on the outside lit (22), and the inside tube (9) The permanent magnet group (A) in the tube and the permanent magnet group (B) in the extra-tube traveling body (29) are in close contact with each other by magnetic attraction and coupling, so that The body (29) moves outside the tube $ ¾1 (22) in the direction of one side or the other side. At

In the in-pipe running body (9) and the outside-pipe running body (29), a permanent magnet group (A, Β) composed of a plurality of permanent magnets arranged in a pair of mutually attracting and binding relations along the running direction. Each of the above permanent magnet groups (A, B) is a uniaxial anisotropic rare earth magnet, and the magnetic poles extending in the traveling direction are aligned with each other along the traveling direction. @The uniaxial anisotropy rare earth magnet is magnetized with an easy magnetization direction in the direction toward the opposite surface to be adsorbed,

The traveling rod control device (3) for traveling the traveling device (R) includes a pair of pressure devices activated by a terminal J¾ (44) force, which is activated via a communication means. (3, 6), a pair of pressure control valves (5, 8) for adjusting the pressure of the fluid supplied (3, 6), and the pressure control valves (5, 8) The fluid whose pressure is adjusted is selectively supplied to any one of the vertical fluid pipes (1). On-off valve (4, 7) and upper pressure control valve (5, 8) or above-mentioned on-off valve (4, 7) Central processing unit m (53)

The camera control device (52) for controlling the viewing camera (34) is connected to a terminal device (44) having a display device (DP) and a display device (35) through a communication means.誘! 1¾position (44) The direction of the camera is controlled by the direction of the zoom and the control force S in the same direction as the zoom, and the image captured by the viewing camera (34) is displayed (DP) ) Moved with glue paste that is configured to be displayed on top

2. The above statement ¾¾ end ¾¾¾ (44) is a portable terminal, and the viewing camera (34) is provided with an audio input / output device and a light projecting device, and can be controlled by remote control from the portable terminal. The mobile camera described in claim 1 is used in which the voice input / output from the voice input / output device and the direction, light emission, and stop of the light projecting device are performed. ^

3. The upper invitation ^^ device (44) is equipped with an external storage medium that can be loaded into and ejected from the terminal consolation device (44). Based on the instructions given to the camera control device (52), the image displayed on the display screen and displayed on the display screen by the camera (34) is to be saved. The mobile turtle according to claim 1 or 2

4. In-pipe rails in the drive fluid pipe (1) in which the pipe-carrying body (9) travels due to fluid pressure accumulation. Along the road (2) and above the inside 131 (2) above the outside of the TO! ¾1 (22) and a transport path provided in the comfort zone, and the permanent magnet group (A) in the pipe traveling body (9) traveling on the pipe lit (2) in the ¾¾ road and the pipe The permanent magnet group (B) in the extra-tube traveling body (29) traveling on the outer casing (22) is in a magnetically adsorbed coupling relationship with each other, thereby having a sight (34). In the ^^ method using a mobile camera consisting of a traveling device (R) in which the traveling body (29) follows the traveling direction (1) or the other direction of the exterior (22),

In the in-pipe running body (9) and in the outside-pipe running body (29), a permanent magnet group (A, B) composed of a plurality of permanent magnets is arranged along the running direction. Each of the permanent magnet groups (A, B) is a uniaxial anisotropic rare earth magnet, and the magnetic poles adjacent to each other in the traveling direction are different from each other in the traveling direction. Each of which is self-configured along the direction of the opposing surface that adsorbs the uniaxially anisotropic rare earth magnet, and is magnetized with an easy magnetization direction.

The running difficulty control device (3) for controlling the running machine (R) is a terminal that is connected via communication means ^ ¾ (44) Start command for running fi¾ Then, the pressure butterfly (3, 6) is adjusted to 15 and the remote control pattern force S selected as the control pattern of the above travel device (R) by the above | 5¾ end ^^ (44) ^ is The above-mentioned fiffi force control valve (5, 8) connected to the pressure generator (3, 6) is set to the required set pressure and the travel speed of the travel device (R) is determined. One of the on-off valves (4, 7) connected to the valve (5, 8) is controlled by switching. Supply to one end of the fluid pipe (1) to determine the traveling direction of the traveling device (R), and the traveling device (R) passes through the comfort points arranged at a certain fixed point. At this time, it is determined whether or not to stop according to the condition of the subject based on the detection signal output from the detector, and ¾ ^ which has been traveling is controlled to travel and stop for a certain period of time. The IS ¾ end ^^ setting (44) was used as the running pattern for the above-mentioned traveling machine (R). If the above-mentioned traveling device (R) passes through the monitoring point, the processing stored as the traveling control pattern is detected by the detection signal output from the detector. It is controlled to run for a certain time and stop,

Camera control device (52) w ;, m for controlling the above-mentioned viewing camera (34)

(35), and when the traveling device (R) is running or stopped, the above-mentioned terminal device (44) »» »膨» ししししししししし 44 置置置 ^ ^ ^ 44 (44) via the camera control device (52) above, weekly on the display screen When the displayed image of the subject is confirmed, the above-mentioned captured image is zoom-controlled and this swell image is recorded on the recording body. A moving sticker that uses a charging pad that is charged by a charging S¾g device provided on a part of the above-mentioned traveling fiber and used as a glue.