JP4901963B2 - MONITORING DEVICE AND MONITORING METHOD USING MOBILE CAMERA - Google Patents

Description

  The present invention relates to a monitoring system using a mobile camera, and more specifically, a monitoring device and a monitoring device for operating and monitoring the inside and outside of homes, hospitals, nursing homes, shops and factories while moving the camera. Regarding the method.

A monitoring system for monitoring by this type of remote operation is found in, for example, Japanese Patent Application Laid-Open No. 2006-115435. That is, this remote monitoring system connects a monitoring camera installed for each of a plurality of monitoring points and a communication terminal device equipped with a display such as a personal computer (personal computer) installed in the vicinity of the monitoring point or in a monitoring facility over the Internet, The communication for controlling the switching of the monitoring camera and operating the equipment provided in the monitoring facility by displaying the image of the captured monitoring point and the push button image for selecting and controlling the monitoring camera on the display of the communication terminal device. Terminal devices (such as personal computers) can be operated remotely using a mouse, keyboard, and keys. By the way, in the above prior art, a plurality of monitoring cameras are installed for each monitoring point set at a plurality of locations in order to perform a wide range of monitoring.
On the other hand, an initial setting screen of the surveillance camera is displayed on the display of the PC. On this initial setting screen, a push button image in which IC device and automatic notification / network setting are classified is displayed on the upper stage. A push button image for selecting each surveillance camera is displayed in the lower row, a column for making detailed settings for each surveillance camera is displayed in the lower left half, and details of the recording are displayed in the upper half of the right half. A column for performing an appropriate setting is displayed, and a column for displaying an image of the shooting of the monitoring spot captured by the selected monitoring camera is displayed in the lower row, and the camera setting is performed along these columns.
These displays are performed on the camera setting program software. When a plurality of surveillance cameras are installed, settings are made for each of these surveillance cameras. When the setting of the monitoring camera is completed, the captured image is displayed on the display of a communication terminal device (such as a personal computer) via the Internet or an intranet. When a plurality of surveillance cameras are installed, the video captured by the surveillance camera is displayed on the display of the personal computer as a multi-view screen.
However, in the above prior art, since there are a plurality of monitoring points, it is necessary to have a plurality of monitoring cameras for monitoring the monitoring points, and each image taken by the plurality of cameras is also installed in a monitoring facility via the Internet. Are displayed simultaneously on a multi-view screen on a limited-size display.
Therefore, the conventional monitoring system that monitors a specific area with a plurality of monitoring cameras fixedly installed at the monitoring point not only increases the cost, but also necessitates regular maintenance of each monitoring camera. In addition, since a captured image for each monitoring camera is displayed as a multi-view screen on the display of the personal computer, attention is required to reliably monitor a plurality of display images. Furthermore, when the subject moves, there are many problems to be solved such as a fixed surveillance camera limiting the shooting range.

Therefore, the present invention has a configuration in which the surveillance camera can be freely operated by remote control, so that the photographing of subjects in factories, offices, stores, hospitals, public facilities, and other various facilities is moved continuously or intermittently. It is an object of the present invention to provide a monitoring device and a monitoring method using a mobile camera that can be easily and reliably confirmed on a display screen of a terminal monitoring device.
That is, the present invention includes an in-pipe running body that travels in a pipe raceway in a drive fluid pipe by fluid pressure, an extra-tube raceway provided in parallel along the in-pipe raceway of the drive fluid pipe, and the extra-tube trajectory. An extra-tube traveling body having a monitoring camera to travel, and the permanent magnet group in the in-pipe traveling body and the permanent magnet group in the extra-tube traveling body are arranged in a pair having a magnetic attraction coupling relationship with each other. In a monitoring device using a mobile camera composed of a traveling device configured to travel along the direction of one side or the other side of an extra-trajectory track.
In the in-pipe traveling body and the in-tube traveling body, a permanent magnet group composed of a plurality of permanent magnets is disposed along the traveling direction in a pair arrangement in a magnetic attraction coupling relationship, and each of the permanent magnet groups is Uniaxial anisotropic rare earth magnets are arranged along the running direction so that the magnetic poles adjacent to each other in the running direction are different from each other, and the uniaxial anisotropic rare earth magnet faces the adsorbing facing surface. It is magnetized with an easy magnetization direction set in the direction
The travel drive control device for controlling the travel of the travel device includes a pair of pressure generators activated by an activation command from a terminal monitoring device connected via communication means, and a fluid supplied from these pressure generators A pair of pressure control valves that adjust the pressure of the pressure control valve, an on-off valve that selectively supplies the fluid pressure-adjusted by these pressure control valves to one of the ends of the drive fluid pipe, and the pressure control valve or the open / close valve The valve is composed of a central processing unit remotely controlled from the terminal monitoring device via communication means,
A camera control device for controlling the photographing of the monitoring camera is connected to a terminal monitoring device having a power storage device and having a display screen via a communication unit, and is directed to the camera direction and zoom according to an instruction from the terminal monitoring device. In addition, shooting control is performed, and the video shot by the monitoring camera is displayed on the display screen.
As a result, the travel drive control device of the travel device is connected to the terminal monitoring device via the communication means, and is configured to perform travel control of the in-pipe travel body in accordance with an instruction from the terminal monitoring device. Yes. This makes it possible to perform travel control such as activation / stop of the in-pipe travel body, change of travel direction, change of travel speed, and the like according to instructions from a remote place.
When the in-pipe running body travels from one side to the other side or from the other side to the one side by remote control by the terminal monitoring device, the permanent magnet group of the extra-tube running body with respect to the permanent magnet group of the in-pipe running body Since this is a pair of magnetic adsorption couplings, the above-described traveling body travels in the same direction. At this time, if the magnetic attractive force between the permanent magnet groups in which the magnetic attractive coupling relationship is mutually arranged is weak, a surveillance camera or the like is attached and the relatively heavy heavy extra-tube traveling body starts and stops suddenly. At this time, the displacement tends to occur due to the inertial force.
In addition, each of the permanent magnet groups is a uniaxial anisotropic rare earth magnet, and a plurality of pairs are arranged along the traveling direction so that the magnetic poles adjacent to each other in the traveling direction are different from each other. Since the magnetic attraction coupling relationship is several times greater and the magnetic attraction force is several times greater, it is possible to effectively prevent misalignment due to the inertia of the external transfer body that travels following the in-pipe travel body, and The followability of the body can be improved.
Further, the monitoring camera includes a camera control device, and the camera control device is connected to a terminal monitoring device having a display screen via a communication unit, and the direction of the camera according to an instruction from the terminal monitoring device, An image captured by the monitoring camera after zooming and imaging control is performed is displayed on the display screen.
The monitoring camera performs shooting control based on an instruction transmitted from the terminal monitoring device to the camera control device, and the video shot by the monitoring camera is displayed on the display screen. Thereby, the monitoring target can be appropriately photographed by controlling the position and angle of the monitoring camera even from a remote place.
Further, according to the present invention, the terminal monitoring device is a portable terminal, and the monitoring camera includes a voice input / output device and a light projecting device, and the voice input / output device is remotely controlled from the portable terminal. Audio input / output and the direction, light emission, and stop of the light projecting device are performed.
As a result, by remote operation from a terminal monitoring device such as a portable terminal, for example, a call from a voice input / output device to a subject to be monitored, a sound generated from a care recipient such as a nursing home for the subject, etc. Can be confirmed. In addition, when photographing a dark environment with a surveillance camera, a light-emitting body such as an LED is projected toward the subject as a light projecting device to reliably capture a remote location as a specific monitoring point. Can do.
In addition, according to the present invention, the terminal monitoring device includes an external storage medium that can be loaded into and discharged from the terminal monitoring device, and the external storage medium is responsive to an instruction transmitted from the terminal monitoring device to the camera control device. Based on this, images and sounds captured by the monitoring camera and displayed on the display screen are recorded and stored.
As a result, the image captured by the monitoring camera and the sound output from the monitoring area are recorded and stored in the external storage medium loaded in the terminal monitoring device via the communication means, so that the captured image and the sound are the same. Even terminal monitoring devices and other terminal monitoring devices can be repeatedly reproduced and confirmed.
According to the present invention, a transport path including an in-pipe track in a driving fluid pipe in which a pipe traveling body travels by the action of fluid pressure and an extra-tube track provided in parallel along the above-mentioned pipe track is laid in a monitoring area. The permanent magnet group in the in-pipe traveling body traveling on the in-pipe trajectory of the transport path and the permanent magnet group in the extra-tube traveling body traveling on the extra-tube trajectory are in a pair arrangement in a magnetic attraction coupling relationship. In the monitoring method using a mobile camera composed of a traveling device in which an extra-tube traveling body having a monitoring camera travels following one side or the other side of the extra-trajectory track,
In the in-pipe running body and the extra-tube running body, a permanent magnet group consisting of a plurality of permanent magnets is arranged along the running direction in a pair arrangement in a magnetic attraction coupling relationship, and each of the permanent magnet groups is Uniaxial anisotropic rare earth magnets are arranged along the running direction so that the magnetic poles adjacent to each other in the running direction are different from each other. It is formed by magnetizing by setting the easy magnetization direction in the direction
The travel drive control device for travel control of the travel device activates the pressure generating device in response to the travel device start command transmitted from the terminal monitoring device connected via the communication means, and the terminal monitoring device activates the travel When the manual remote control pattern is selected as the travel control pattern of the device, the pressure control valve connected to the pressure generator is set to the required set pressure and the travel speed of the travel device is determined, and then the pressure adjustment is performed. One of the on-off valves connected to each valve is controlled to be switched and supplied to one of the ends of the drive fluid pipe to determine the travel direction of the travel device. It is determined whether or not to stop according to the shooting situation of the subject based on the detection signal output from the detector when passing through the monitoring point. If the remote monitoring control pattern by the automatic program is selected as the traveling control pattern of the traveling device by the terminal monitoring device, the traveling speed and traveling direction stored in advance are automatically determined. In addition to executing the process stored as the travel control pattern by the detection signal output from the detector when the travel device passes the monitoring point, the travel device is controlled to travel and stop for a certain period of time,
The camera control device that controls the photographing of the monitoring camera includes a power storage device, and the monitoring camera is in response to a photographing command from the terminal monitoring device connected via communication means when the traveling device is running or stopped. If the image of the subject displayed on the display screen of the terminal monitoring device is confirmed via the camera control device and the captured image is transmitted to the terminal monitoring device via the camera control device, the captured image is zoomed. The captured image was recorded on a recording medium by control, and when the storage capacity of the monitoring camera decreased, charging was continued by charging with a charging device provided in a part of the travel route.

FIG. 1 is a block diagram of an embodiment of a monitoring apparatus using a mobile camera according to the present invention, which controls a monitoring camera connected to a terminal monitoring apparatus via a network.
FIG. 2 is a block diagram showing an embodiment of a monitoring apparatus using a mobile camera according to the present invention, which controls a traveling apparatus connected to the terminal monitoring apparatus via a network.
FIG. 3 is a flowchart of the monitoring camera controlled by the terminal monitoring device by remote operation.
FIG. 4 is a flowchart of the traveling device controlled by a remote operation by the terminal monitoring device.
FIG. 5 is a cross-sectional view taken along the line CC of FIG.
FIG. 6 is a conceptual diagram 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 a monitoring apparatus using a mobile camera according to the present invention, and is a longitudinal sectional view along a conveyance path showing one side surface of the monitoring camera.
FIG. 8 is a specific example of the monitoring apparatus using the mobile camera according to the present invention, and is a longitudinal sectional view along the conveyance path showing the other side surface of the monitoring camera.
FIG. 9 is a specific example of a monitoring apparatus using the mobile camera according to the present invention, and is a cross-sectional view taken along the line DD across the circulation conveyance path of FIG.
FIG. 10 is an E arrow view of the camera shown in FIG.
FIG. 11 is a plan view showing a straight conveyance path used in the traveling device of the monitoring device using the mobile camera according to the present invention.
FIG. 12 is a plan view showing a circle-shaped circulation transport path that is also used in the traveling device.
FIG. 13 is an overall perspective view of the surveillance camera.
FIG. 14 is an explanatory diagram showing an example of a state in which an image of a monitoring area captured by a remotely operated monitoring camera is displayed on the display screen of the terminal monitoring device.
FIG. 15 is an explanatory diagram showing an operation unit of a control panel as an example of a terminal monitoring apparatus.

In order to describe the present invention in more detail, it will be described with reference to the accompanying drawings. The present invention relates to a monitoring device and a monitoring method using a mobile camera. First, an example of a traveling device R used in the monitoring device using the mobile camera of the present invention will be described with reference to FIG. .
The traveling device R travels in the in-pipe track 2 of the driving fluid pipe 1 by a fluid pressure such as compressed air or oil pressure (uses compressed air in this embodiment) sealed inside, and a permanent magnet group (described later) on the inner bottom surface. In-pipe running body 9 in which A is disposed, and in an outer-pipe raceway 22 juxtaposed directly below the in-pipe raceway 2 with a partition wall Z, and facing the permanent magnet group A The tube travel body 29 is provided with a permanent magnet group (described later) B on its upper surface, and the tube travel body 29 uses the magnetic attraction force between the permanent magnet groups A and B. Thus, the vehicle travels following the in-pipe traveling body 9.
A monitoring camera (described later) 34 that can be remotely operated by radio or the like is attached to the outside traveling body 29 in a suspended state, and the driving fluid pipe 1 that constitutes a transportation path described later is a civilian vehicle. In a straight line or circle shape in the left / right, up / down, front / rear direction along surfaces K such as inside / outside buildings such as hospitals, factories, stores, homes, and inside / outside walls, floors, ceilings, etc. Installed.
Specifically, as shown in FIGS. 2 and 5, the in-pipe running body 9 is on the inner wall surface that becomes the raceway surface of the in-pipe raceway 2 while the lower surface and both side surfaces are guided by the wheels 10, 11, 12, and 13. Can be run. For this reason, pressure receiving surface bodies 14 and 15 for receiving the pressure of the pressurized 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 as to prevent magnetic leakage.
The outer raceway 22 has a structure in which the lower surface of the inner raceway 2 is partitioned by a partition wall Z and is integrated with the inner raceway 2, and the outer running body 29 is constituted by an upper surface by wheels 30, 31, 32, 33. It is possible to travel on the inner wall surface which becomes the track surface of the extra-tube track 22 while both side surfaces are guided. The permanent magnet group B 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 A and B will be described in detail with reference to FIG. In FIG. 6, the permanent magnet group A is provided in the inside of the in-pipe traveling body 9 and in each of the permanent magnets 1 </ b> M <b> 1, 1 </ b> M <b> 2, 1 </ b> M <b> 3 arranged in the traveling directions X and Y, The individual permanent magnets 2M1, 2M2, and 2M3 of the permanent magnet group B disposed to face the permanent magnet group A are configured in a pair arrangement in a magnetic attraction coupling relationship.
In this embodiment, flat-shaped rare earth magnets are used as the individual permanent magnets 1M1, 1M2, 1M3 and 2M1, 2M2, 2M3. Such rare earth permanent magnets include samarium / cobalt magnets and neodymium / iron / boron magnets. And it is set as a uniaxial anisotropic magnet by magnetizing by setting the attracting surface direction which opposes an easy magnetization direction as a uniaxial.
The uniaxially anisotropic rare earth magnet described above has a magnetic strength that is several times greater than that of a magnetic isotropic magnet that has almost the same strength in any direction. However, it is possible to obtain a magnetic adsorption bond relationship more than several times.
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. In this case, since the permanent magnet group B of the extra-tube traveling body 29 is a pair of magnetic adsorption coupling with the permanent magnet group A of the intra-pipe traveling body 9, the extra-tube traveling body 29 also travels in the same direction. .
At this time, since the extra-tube traveling body 29 has inertia, if the magnetic attraction force between the permanent magnet groups A and B in which the magnetic attraction coupling relationship is mutually arranged is weak, the monitoring camera 34, the storage battery 35, etc. The extra-tube traveling body 29 attached with a relatively heavy weight is likely to be left on the spot. That is, a positional shift is about to occur. These are likely to occur when the in-pipe traveling body 9 suddenly starts or stops when an object to be noticed during monitoring by the surveillance camera is photographed, or when the extra-tube traveling body 29 is relatively heavy.
In the traveling device R used in the monitoring device using the mobile camera of the present invention, each of the permanent magnet groups A and B is a uniaxial anisotropic rare earth magnet and the magnetic poles N and S adjacent to each other in the traveling direction. Are configured as a multi-pole magnet structure in which a plurality of pairs are arranged along the traveling direction so that they have different polarities, and the uniaxial anisotropic rare earth magnet is magnetized with an easy magnetization direction toward the adsorption direction. ing.
For this reason, the permanent magnet groups A and B, which are arranged in pairs in the magnetic adsorption coupling relationship, effectively prevent positional deviation due to the inertia of the extra-tube transfer body 29 that travels following the in-pipe travel body 9, and the tube By improving the following traveling property of the outer traveling body 29, it is possible to perform the photographing with the surveillance camera firmly.
The important point here is that, as shown in FIG. 6, the permanent magnet groups A and B of the traveling bodies 9 and 29 in the tube form a plurality of pairs within a fixed length N of the permanent magnet groups A and B as a whole. The point which is arrange | positioned so that it may become a multipolar magnet structure. In addition, the width L of each of the permanent magnets 1M1, 1M2, 1M3 and each of the permanent magnets M1, 2M2, 2M3 is at least as large as the distance D between the permanent magnet groups facing each other in a magnetic attraction coupling relationship. It is an indispensable condition to satisfy the specified points.
In this case, if the permanent magnets are configured to have a smaller width than the distance L between the opposing permanent magnet groups A and B, the permanent magnets 1M1, 1M2, 1M3 and 2M1, 2M2 adjacent to each other in the traveling direction are used. Magnetic field lines are short-circuited between 2M3 different poles (N pole, S pole), and there is no magnetic attraction relationship between the opposing magnetic poles.
However, the permanent magnet groups A and B are arranged so as to have a multi-pole magnet structure having a plurality of pairs within the fixed length N of the entire permanent magnet groups A and B, and each of the permanent magnet groups A and B is arranged. Since the width L is configured to be at least as large as the distance D between the opposing permanent magnet groups, a strong magnetic attractive force can be obtained in the opposing direction as a magnetic attractive coupling relationship.
Next, a specific example of the traveling device R will be described with reference to FIGS. Note that the same components as those described in the above embodiment are denoted by the same reference numerals and description thereof is omitted.
7 to 10, in the traveling device R, a camera unit F equipped with a surveillance camera 34 as a mobile camera is attached to an extra-tube transfer body 29 that travels following the in-pipe traveling body 9. .
The camera unit F includes a base BA that is vertically long in the traveling direction, held by three attachments 37 provided on the lower surface of the extra-tube traveling body 29, and a terminal monitoring device that is attached to one end of the base BA and is described later. 44. A monitoring camera 34 that is remotely operated from 44 by radio or the Internet WB, and a storage battery 35 (battery) that is at the other end of the base BA and serves as a power source for performing the orientation, zooming, shooting, etc. Has been.
The storage battery 35 is provided with a charging terminal 40. The storage battery 35 is charged by a charging device (not shown) via the terminal 40, and the charging device is transported. It is provided in a part of the route TR.
The in-pipe and extra-tube running bodies 9 and 29 are configured to travel on a linear transport path TR or a circular circulation transport path CR as two forms of transport paths shown in FIGS. 11 to 12, for example. Yes. FIG. 11 is a plan view conceptually showing a linear drive fluid pipe partially curved as a transport path, and FIG. 12 is a plan view showing a circular circulation transport path.
In FIG. 11, for example, the drive fluid pipe 1 constituting the linear transport path TR is composed of a partially curved fluid pipe. A charging device is provided at either end. Therefore, the in-pipe traveling body 9 that travels toward the one or the other side of the transport route TR, when the potential of the storage battery is reduced and detected, from a camera control device 52 (see FIG. 1) described later. The traveling body control device 3 (see FIG. 2) is controlled by a stop command issued at the same time as the charging command, and positioning is stopped at that position.
The in-pipe running body 9 stops as one of the end portions of the drive fluid pipe 1 that does not normally travel as a stop position, and then moves to any end portion so that the storage battery is charged by the charging device. Charging is performed via the terminal 40.
Further, FIG. 12 shows a circulation conveyance route CR through which the traveling device R circulates. This circulation conveyance route CR is composed of a circle-shaped circulation conveyance route, and although detailed explanation is omitted, circulation is performed. A charging device for charging the storage battery is disposed in a part of the transport route CR.
In FIG. 12, reference numeral 3A denotes a traveling body control device that performs compression and suction to move the pressurized fluid through the bypass pipes 4a and 4b in the driving fluid pipe 1, and this traveling body control device 3A is The pressurizing direction of the pressurized fluid in the drive fluid pipe 1 can be switched between forward and reverse. Accordingly, the in-pipe traveling body 9 can move forward and backward in the drive fluid pipe 1 along the circulation conveyance path CR.
Reference numeral 5 denotes a gate valve that is disposed in the driving fluid pipe 1 between the bypass pipes 4a and 4b and cuts off the flow of fluid, and normally shuts off the driving fluid pipe 1 and runs in the pipe. Only when 9 passes, is it automatically opened by detection and blocked after passing.
As described above, the circulation transport route CR has been described as a single-row route, but may be configured as a double-row route (not shown). In this way, it becomes possible to run two surveillance cameras side by side along a double-row path, and the other surveillance camera 34 continues to run while the storage battery 35 of one surveillance camera 34 is being charged. be able to.
Next, the monitoring camera 34 will be described with reference to FIGS. 9 and 10. FIG. Although details will be described later with reference to FIG. 13, the photographing section 39 is formed in a hemispherical shape that can swing about 180 degrees to the left and right as shown in FIGS. A lens portion 42 is provided at the center, and the lens portion 42 is configured to swing about 180 degrees in the front-rear direction so that a wide area can be photographed.
Next, an embodiment of a monitoring apparatus using the mobile camera of the present invention and the method itself will be described with reference to FIGS.
In FIG. 1, the camera unit F includes a surveillance camera 34, a wireless LAN transceiver T2, a camera control device (central processing unit) 52, and a storage battery (battery) 35. The storage battery 35 is charged as described above. It is designed to be charged by the device.
The camera unit F can be remotely operated with a terminal monitoring device 44 via a network. The terminal monitoring device 44 includes a monitoring personal computer (hereinafter referred to as a personal computer) 46 and a management personal computer 50. Yes.
The monitoring personal computer 46 and the management personal computer 50 are connected to the Internet WB via a router 48, and the monitoring personal computer 46 is wirelessly connected to the camera unit F via a wireless LAN transceiver T 1 connected to the router 48. It is connected to the LAN transceiver T2 so that data communication is possible.
Further, the monitoring personal computer 46 and the management personal computer 50 of the terminal monitoring device 44 shown in FIG. 2 are used as various pressure generators for the various operations of the monitoring camera 34 and the traveling body control device 3 of the traveling device R described later. The various setting data for instructing the operations of the air compressors 3 and 6, the pressure control valves 5 and 8, and the on-off valves 4 and 7 (see FIG. 2) are transferred to the local area network (via the router 48 and the wireless LAN transceiver T 1 LAN) is connected to the wireless LAN transceiver T2 so that data communication is possible. The surveillance camera 34 shown in FIG. 1 is controlled by the camera control device 52 via the wireless LAN transceiver T2 connected to the terminal LAN monitoring device 44 so as to be able to perform data communication. .
The monitoring personal computer 46 accesses the camera control device 52 of the camera unit F via the wireless LAN, and performs various initial settings of the monitoring camera 34 and changes of various operations by remote operation from the monitoring personal computer 46. It can be set.
In the present embodiment, a personal computer is used as the terminal monitoring device 44. However, the present invention is not limited to the personal computer, and a control device or a mobile phone having an Internet function described later can also be used.
Next, a description will be given with reference to FIG.
In the flowchart shown in FIG. 3, in step ST1, the IP address acquired by the administrator is input to the monitoring personal computer 46 and the management personal computer 50 shown in FIG. 1, and in step ST2, the terminal monitoring device 44 is used for monitoring. The personal computer 46 and the management personal computer 50 are set to the camera photographing mode. If the IP address is not acquired, the process is repeated until it is acquired.
In step ST3, a photographing instruction signal is transmitted from the terminal monitoring device 44 to the camera control device 52 of the camera unit F via communication means such as the Internet WB and wireless LAN transceivers T1 and T2.
Similarly, in step ST4, a signal for starting the air compressors 3 and 6 shown in FIG. 2 is sent from the terminal monitoring device 44 through the communication means such as the Internet WB and wireless LAN transceivers T1 and T3. It transmits to the arithmetic processing unit (CPU) 53.
Therefore, photographing by the monitoring camera 34 in accordance with an instruction from the terminal monitoring device 44 is started when the traveling device R is traveling, paused, or stopped. In this surveillance camera 34, for example, the traveling device R is traveling inside or outside a building such as a private hospital, factory, store, or home, or inside or outside a facility such as a public nursing home or stadium, or is temporarily stopped or stopped. You can now shoot in the state.
In step ST5, the photographed image obtained by photographing the specific area by the monitoring camera 34 is transmitted from the wireless LAN transceiver T2 to the terminal monitoring device 44 via the communication means such as the wireless LAN transceiver T1 and the router 48. It is displayed on the display screen (display) of each personal computer 46, 50.
In this way, the monitoring camera 34 is remotely controlled to shoot the monitoring camera 34 based on the instruction transmitted from the terminal monitoring device 44 to the central processing unit 52. Thereby, it is possible to appropriately capture a specific area by controlling the position and angle of the monitoring camera 34 even from a remote place. Further, an image of a remote place taken by the monitoring camera 34 can be displayed on the display screen of the terminal monitoring device 44 in real time.
Next, in step ST6, the image of the monitoring camera 34 is transmitted from the camera control device 52 via the communication means, and whether or not the subject to be noticed is confirmed in the image displayed on the display screen of the terminal monitoring device 44. Is determined. If the subject is confirmed, the process proceeds to step ST7. If the subject is not confirmed, the process proceeds to step ST12.
In step ST7, when the subject of interest is confirmed on the display screen of the terminal monitoring device 44, the captured image of the subject is zoom-controlled. Next, in step ST8, the photographed image of the subject confirmed on the display screen of the terminal monitoring device 44 is stored in the storage unit of the monitoring personal computer 46 and the management personal computer 50, and is loaded into and discharged from the personal computers 46 and 50. It is recorded on a possible external storage medium (DVD or the like) as necessary. In addition to the captured image, the stored content can be recorded from the monitoring area.
By doing in this way, the picked-up image and the said audio | voice recorded on the external storage medium can be repeatedly reproduced and confirmed also in the same terminal monitoring apparatus or other terminal monitoring apparatuses.
In step ST9, the audio signal in the monitoring area received by the audio input unit of the monitoring camera 34 is transmitted from the camera control device 52 of the camera unit F to the monitoring personal computer 46 and the management computer of the terminal monitoring device 44 via the communication means. It is output to the personal computer 50. This audio signal is transmitted from the pet when the monitoring camera 34 monitors the voice in the factory set up in the remote place as the monitoring area or the state of the pet kept at home as the subject. Can be output as a generated sound.
By doing so, for example, various voices in a factory installed in a remote place input from the voice input unit of the monitoring camera 34 by remote control from a terminal monitoring device 44 such as a portable terminal portable terminal, The terminal monitoring device 44 can also be used to check voices generated from pets bred in the country and sounds generated by care recipients such as nursing homes.
Next, in step ST10, when an audio signal is transmitted from the terminal monitoring device 44 to the camera control device 52 of the camera unit F via communication means, the audio signal is monitored from the audio output unit of the monitoring camera 34. Output to the area.
In this way, for example, by remote control from a terminal monitoring device 44 such as a portable terminal, the audio output unit of the monitoring camera 34 outputs audio to a factory installed in a remote place, or is raised in the home. Voices can be sent to pets who are living, or to caregivers such as nursing homes and care recipients.
Next, in step ST11, it is determined whether or not the photographing with the monitoring camera 34 is continued. If the photographing is continued, the routine proceeds to a routine processed in step ST13 described later. If the photographing is not continued, the monitoring control by the monitoring camera is performed. The routine ends.
On the other hand, in step ST12, the photographing with the monitoring camera 34 is continued while moving the traveling device R, and in the next step ST13, it is determined whether or not the capacity of the storage battery 35 of the monitoring camera 34 has decreased. When the decrease in the storage capacity is confirmed, the storage battery 35 is charged by the charging device in step ST14, and when the charging of the storage battery 35 is completed, the routine from step ST5 is repeated.
Note that the monitoring camera 34 may be provided with a light projecting device such as an LED. In this way, when shooting a dark environment with a surveillance camera, a light-emitting body such as an LED is projected toward the subject as a light projecting device, so that a remote location can be reliably captured as a specific monitoring point. Can be imaged.
Next, a specific example of the surveillance camera 34 used in this embodiment will be described with reference to FIG. FIG. 13 shows an overall perspective view of the surveillance camera. As this surveillance camera 34, for example, a network camera manufactured by Panasonic Communications Co., Ltd. is used, and a radio antenna AT is provided at the upper end thereof. A lens portion 42 held by a lens cover 55 is provided at the center of the front, and a sound input device (microphone) 56 for inputting sound from a subject is disposed below the lens portion 42. Further, a LAN jack and an audio output terminal (not shown) are provided on the rear surface of the monitoring camera 34.
FIG. 14 is an explanatory diagram showing a state in which an image photographed by the remotely operated monitoring camera 34 is displayed on the display screen of the terminal monitoring device 44. The monitoring personal computer 46 and the management of the terminal monitoring device 44 are shown in FIG. On the display screen DP of the personal computer 50, an image of the factory interior FT installed in a remote place, which is photographed by the monitoring camera 34, is displayed.
Next, remote traveling control of the traveling device R of the monitoring device using the mobile camera of the present invention will be described with reference to FIG.
In the block diagram shown in FIG. 2, a travel drive control device 3 for traveling control of the travel device R is provided at both ends of the in-pipe track 2 constituting the drive fluid tube 1 of the transport path TR composed of a curved portion or a straight portion. Is connected.
The travel drive control device 3 includes a pair of air compressors 3 and 6 that generate compressed air, a pair of pressure control valves 5 and 8 that adjust the pressure of the compressed air supplied from the air compressors 3 and 6, Three-way on-off valves 4 and 7 for selectively supplying compressed air pressure-adjusted by the pressure control valves 5 and 8 to air supply ports (exhaust ports) provided at both ends of the pipe raceway 2, and the pressure control valve 5 , 8 to the three-way on-off valves 4 and 7 are constituted by a central processing unit (CPU) 53 which is remotely controlled from the terminal monitoring device 44 via communication means.
The central processing unit 53 is connected to a wireless LAN transceiver T3 as shown in FIG. 2. The wireless LAN transceiver T3 is connected to the management personal computer 50 of the terminal monitoring device 44, the Internet WB, and the router 48. Are connected to each other by a wireless LAN transceiver T1 so as to be able to transmit and receive.
As a result, the central processing unit 53 of the travel drive control device 3 remotely controls each operation of the travel device R from the terminal monitoring device 44 via a local area network (LAN) that transmits and receives various setting data. It is like that.
Then, the central processing unit 53 is accessed from the monitoring personal computer 46 of the terminal monitoring device 44 through the wireless LAN, and various initial settings and various operations of the traveling body control device 3 are changed by the monitoring personal computer 46. Can be set. In this embodiment, an example is shown in which a personal computer is used as the terminal monitoring device 44. However, the present invention is not limited to these personal computers, and it is needless to say that a control device or a mobile phone having an Internet function described later can also be used.
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 mobile camera of the present invention.
In step ST21, a start command for the air compressors 3 and 6 is transmitted from the monitoring personal computer 46 of the terminal monitoring device 44 to the central processing unit 53 of the travel drive control device 3 via communication means such as wireless or the Internet WB.
Next, a travel control pattern of the travel device R is selected in step ST22. When the manual remote control pattern is selected in step ST23, in step ST24, the pressure control valves 8 and 5 are set to the required set pressure by manual remote operation of the monitoring personal computer 46 of the terminal monitoring device 44, and the travel of the travel device R is performed. The speed is determined. Note that the set pressure of the pressure control valve 8 can be set individually depending on whether the traveling direction of the traveling device R is the right direction Q or the left direction P.
Next, in step ST25, when the traveling direction of the traveling device R is determined as either the left P direction or the right Q direction, the three-way on-off valves 7 and 4 corresponding to any one of the directions P or Q are determined. The pressure side port is opened. Here, in order for the traveling device R to 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 simultaneously with the pressure side port of the other three-way on / off valve 4 being closed. The exhaust side port is controlled to be open to allow exhaust. Accordingly, 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 raceway surface 2 at the traveling speed required in the P direction with the wheels 10 to 13 as a guide.
Further, in order to cause the traveling device R to travel in the right direction Q, the pressure side port of the other three-way on-off valve 7 is closed and the cylinder supply port side of the three-way on-off valve 4 is controlled to be opened at the same time. The pressure side port of the on-off valve 7 is closed, and the exhaust side port is controlled to be 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 14 moves on the raceway surface 2 at the traveling speed required in the Q direction using the wheels 10 to 13 as a guide.
Next, in step ST26, when the traveling device R passes through a plurality of monitoring points respectively arranged at certain locations on the transport route, the traveling device R is detected by a signal output from a sensor installed at the monitoring point. It is determined whether or not to stop.
When stopping the traveling device R at the monitoring point, it is necessary to manually control the monitoring camera 34 from the terminal monitoring device 44 and monitor the monitoring point by the monitoring camera 34 in step ST28, and to stop the traveling device R. If not, the process proceeds to step ST27 together with the routine after the process in step ST28, and it is determined whether or not the traveling of the traveling device R is continued in step ST27. When the traveling of the traveling device R is not continued, the routine for traveling the traveling device is ended, and when it is continued, the routine from step ST26 is repeated.
On the other hand, in the routine after step ST29, the remote travel control pattern of the travel device R by the automatic program is executed. In this remote travel control pattern, the travel speed and travel direction of the travel device R programmed in advance in the storage unit of the terminal monitoring device 44 and various processing means at the monitoring point are stored, and before the travel is started. In step ST29, the remote travel control pattern of the travel device R by the automatic program is selected.
When the remote travel control pattern of the travel device R is selected in this step ST29, in step ST30, the travel speed is automatically set based on the required set pressure of the pressure control valves 8 and 5 preset as the selected remote travel control pattern. To be determined.
Next, in step ST31, the cylinder of any of the three-way on-off valves 7 and 4 whose travel direction (right direction Q or left direction P) stored as the selected remote travel control pattern corresponds to the travel direction. The supply port side and the opposite exhaust side port are automatically controlled to open.
In step ST32, when the traveling device R passes through the monitoring point, the process stored as the control pattern is automatically executed depending on the presence or absence of a signal output from the sensor installed at the monitoring point.
Next, in step ST33, when the travel device travels continuously for the time stored as the control pattern, the travel ends, and the remote travel control pattern routine of the travel device R by the automatic program ends.
Next, an example of a terminal monitoring apparatus will be described with reference to FIG.
Reference numeral 60 shown in FIG. 14 is a control device as an example of a terminal monitoring device, and FIG. 14 shows an operation unit of the control device 60. A telescopic antenna AT for wireless transmission / reception projects from the upper end of the main body of the control device 60.
A display screen DP for displaying an image photographed by the monitoring camera 34 is provided on the front surface of the main body, and a camera operation button group 62 composed of a flat touch panel for instructing operation of the monitoring camera 34 is provided on the lower right side of the main body. Is disposed. In addition, a traveling body operation button group 64 composed of a flat touch panel for instructing traveling control of the traveling device R is disposed below the left side of the front surface of the main body.
The camera operation button group 62 includes a switch button 65 for turning on / off the power of the surveillance camera 43, an operation button 66 for controlling the direction of the lens unit 42 of the surveillance camera 34 in the front / rear / left / right direction, and an enlargement / reduction of a captured image. The zoom operation button 68 includes a zoom-in / zoom-out button for controlling the zoom, a switch button 70 for turning on / off the illumination of the light projecting device, and an image recording button 72 for recording a captured image.
On the other hand, the traveling body operation button group 64 includes a start / stop button 74 for starting and stopping traveling of the traveling device R, a pause button 75 for temporarily stopping traveling of the traveling device R, and a monitor disposed on the transport route TR. A position information display button 78 for displaying point position information, a right / left direction operation button 76 for instructing the traveling direction of the traveling device R to the right or left by a manual remote control pattern, and the traveling speed of the traveling device R. A speed setting button 77 to be set, a manual travel control pattern setting button 84 for performing a travel control pattern of the travel device R by manual operation, and an automatic travel control pattern setting button 80 for performing travel control of the travel device R by an automatic program. ing.

  As described above, the monitoring apparatus and the monitoring method using the mobile camera according to the present invention can be used for the inside or outside of buildings such as factories, offices, stores, hospitals and nursing homes, and pipe tracks installed in each home. The traveling body control device remotely controlled by the terminal monitoring apparatus controls the traveling body in the pipe, and the monitoring camera attached to the traveling body outside the pipe that travels following the traveling body in the pipe is instructed by the terminal monitoring apparatus. It is suitable as a monitoring device and monitoring method for remotely monitoring the inside and outside of buildings and facilities in real time.

Claims (4)

The in-pipe track (2) in the drive fluid pipe (1) is provided with an in-pipe running body (9) that travels by fluid pressure, and is provided in parallel along the in-pipe track (2) of the drive fluid pipe (1). An extra-tube trajectory (22) and an extra-tube running body (29) having a monitoring camera (34) for running on the extra-tube trajectory (22), and a permanent magnet group in the in-pipe running body (9) ( A) and the permanent magnet group (B) in the extra-tube traveling body (29) are arranged in a pair of magnetic attraction coupling relations, so that the extra-tube traveling body (29) is connected to the extra-orbit track (22). In a monitoring device using a mobile camera comprising a traveling device (R) configured to travel following one side or the other side,
In the in-pipe running body (9) and the outside-pipe running body (29), permanent magnet groups (A, B) composed of a plurality of permanent magnets are arranged along the running direction. Each of the permanent magnet groups (A, B) is a uniaxial anisotropic rare earth magnet and is arranged along the traveling direction so that the magnetic poles adjacent to each other in the traveling direction are different from each other. The uniaxial anisotropic rare earth magnet is magnetized with an easy magnetization direction in the direction toward the opposite surface to be adsorbed,
The travel drive control device (3) for travel control of the travel device (R) is a pair of pressure generators (3) activated by a start command from a terminal monitoring device (44) connected via communication means. , 6), a pair of pressure regulating valves (5, 8) for regulating the pressure of the fluid supplied from these pressure generating devices (3, 6), and the pressure regulation by these pressure regulating valves (5, 8) An on-off valve (4, 7) for selectively supplying fluid to either end of the drive fluid pipe (1), and the pressure regulating valve (5, 8) to the on-off valve (4, 7), A central processing unit (53) remotely controlled from the terminal monitoring device (44) via a communication means,
The camera control device (52) that controls the photographing of the monitoring camera (34) includes a power storage device (35) and is connected to a terminal monitoring device (44) having a display screen (DP) through communication means. The direction of the camera, zooming, and shooting control are performed according to an instruction from the terminal monitoring device (44), and the video shot by the monitoring camera (34) is displayed on the display screen (DP). A monitoring device using a mobile camera, characterized by being configured. The terminal monitoring device (44) is a portable terminal, and the monitoring camera (34) is provided with a voice input / output device and a light projecting device. From the voice input / output device by remote control from the portable terminal. The monitoring apparatus using a mobile camera according to claim 1, wherein sound is input / output and the direction, light emission, and stop of the light projecting device are performed. The terminal monitoring device (44) includes an external storage medium that can be loaded into and discharged from the terminal monitoring device (44). The external storage medium is transferred from the terminal monitoring device (44) to the camera control device (52). 3. The image or sound captured by the monitoring camera (34) and displayed on the display screen based on the transmitted instruction is recorded and stored. 3. A monitoring device using a mobile camera. An in-pipe track (2) in the driving fluid pipe (1) on which the in-pipe traveling body (9) runs by the action of fluid pressure, and an out-pipe track (22) provided in parallel along the in-pipe track (2). And a permanent magnet group (A) in the in-pipe traveling body (9) that travels in the in-pipe track (2) of the transport path and travels in the out-of-tube track (22). Since the permanent magnet group (B) in the extra-tube traveling body (29) is arranged in a pair having a magnetic adsorption coupling relationship with each other, the extra-tube traveling body (29) having the monitoring camera (34) can be (22) In a monitoring method using a mobile camera comprising a traveling device (R) adapted to travel following one side or the other side,
In the in-pipe running body (9) and in the outside-pipe running body (29), permanent magnet groups (A, B) composed of a plurality of permanent magnets are arranged along the running direction. Each of the permanent magnet groups (A, B) is a uniaxial anisotropic rare earth magnet, and is arranged along the traveling direction so that the magnetic poles adjacent to each other in the traveling direction are different from each other. In addition, it is formed by magnetizing by setting an easy magnetization direction in a direction toward the facing surface that adsorbs the uniaxial anisotropic rare earth magnet,
The travel drive control device (3) for travel control of the travel device (R) includes a pressure generator (3) in response to a travel device start command transmitted from a terminal monitoring device (44) connected via communication means. , 6), and when the manual remote control pattern is selected as the travel control pattern of the travel device (R) by the terminal monitoring device (44), the above connected to the pressure generator (3, 6) After the pressure control valves (5, 8) are set to the required set pressure and the travel speed of the travel device (R) is determined, the open / close valves (4, 7) connected to the pressure control valves (5, 8), respectively. ) Is switched and supplied to any one end of the drive fluid pipe (1) to determine the travel direction of the travel device (R), and the travel device (R) is constant in the transport path. Output from the detector when passing a monitoring point It is determined whether or not to stop according to the shooting situation of the subject based on the detected signal, and when traveling is continued, it is controlled to travel and stop for a certain time, and the terminal monitoring device (44) When the remote travel control pattern by the automatic program is selected as the travel control pattern of the travel device (R), the travel speed and travel direction stored in advance are automatically determined, and the travel device (R) sets the monitoring point. While passing through the process stored as the travel control pattern by the detection signal output from the detector when passing, it is controlled to travel and stop for a certain period of time,
The camera control device (52) that controls the photographing of the monitoring camera (34) includes a power storage device (35), and is connected via communication means when the travel device (R) is traveling or stopped. Photographed by the monitoring camera (34) according to a photographing command from the terminal monitoring device (44), the photographed photographed image is transmitted to the terminal monitoring device (44) via the camera control device (52), and When the image of the subject displayed on the display screen of the terminal monitoring device (44) is confirmed, the captured image is zoom-controlled to record the captured image on a recording medium. The storage capacity of the monitoring camera (34) is A monitoring method using a mobile camera, characterized in that when the number decreases, charging is continued with a charging device provided in a part of the travel route, and photographing is continued.

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