Abnormality detection device

Abstract

To provide an abnormality detection device that can more reliably detect abnormalities in a detection target over a wide range with a simple configuration and that can also deal with invasion of privacy.SOLUTION: An abnormality detection device 1 includes a body portion 2 configured to be able to move, a motor 3 mounted on the body portion 2, a rotating portion 4 rotated by the motor 3, a millimeter-wave radar 5 attached to the rotating portion 4, a control device 6 mounted on the body portion 2 for supplying power to and communicating information with the rotating portion 4, and a rotary connection portion 7 that electrically connects the millimeter-wave radar 5 and the control device 6 while permitting the rotating portion 4 to rotate.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an abnormality detection device.

Background Art

[0002] Conventionally, a moving body having a collection node that receives sensing data acquired by a sensor node has been known (for example, Patent Document 1). This conventional moving body includes position information storage means for storing position information regarding the position of the sensor node, and collection node moving means for moving the collection node from the position of the sensor node to within a first predetermined range. In this conventional moving body, the collection node includes sensing data receiving means for receiving sensing data from the sensor node.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the above conventional moving body, it is possible to provide a data collection system capable of collecting data by moving the collection node.

[0005] However, in this conventional moving body, it is necessary to install a large number of sensor nodes outside the moving body, and the device configuration becomes complicated. Further, when the moving body or the sensor node includes a camera, there are abnormalities that cannot be detected from the camera image, such as human vital data and minute vibrations of a machine. Further, in abnormality detection based on a camera image, abnormality detection may become difficult at night, in a dark place, or in bad weather, or there may be a risk of privacy infringement when detecting human abnormalities.

[0006] Therefore, the present disclosure provides an anomaly detection device that can more reliably detect anomalies in a detection target over a wide range with a simple configuration and can also address privacy violations.

Means for Solving the Problems

[0007] An anomaly detection device according to an embodiment of the present disclosure includes a main body configured to be movable, a motor mounted on the main body, a rotating part rotated by the motor, a millimeter-wave radar attached to the rotating part, a control device mounted on the main body for supplying power to and communicating information with the millimeter-wave radar, and a rotary connection part that electrically connects the millimeter-wave radar and the control device while allowing rotation of the rotating part.

Effects of the Invention

[0008] According to the above-described embodiment, it is possible to provide an anomaly detection device that can more reliably detect anomalies in a detection target over a wide range with a simple configuration and can also address privacy violations.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0010] Hereinafter, modes for carrying out the invention will be described with reference to the drawings.

[0011] FIG. 1 is a block diagram showing an example of the configuration of the abnormality detection device 1 according to an embodiment of the present disclosure. In FIG. 1, among the line segments connecting the components, the two-dot chain line indicates the power supply path, and the broken line indicates the signal transmission path.

[0012] The abnormality detection device 1 of the present embodiment is, for example, a device that detects abnormalities related to equipment and people at a construction site or a plant. The abnormality detection by the abnormality detection device 1 includes, for example, person detection around a working machine, person intrusion detection into a specific area, detection of a worker's poor physical condition, discovery of a person with poor physical condition in a crowd, and detection of abnormal vibration of equipment.

[0013] The abnormality detection device 1 includes, for example, a main body unit 2, a motor 3, a rotating unit 4, a millimeter-wave radar 5, a control device 6, and a rotary connection unit 7. Further, the abnormality detection device 1 may include, for example, a power supply 8, a position and orientation detection device 9, and a communication device 10. Although not shown in the figure, the abnormality detection device 1 includes, for example, a plurality of motors 3 and a plurality of rotating units 4.

[0014] The main body unit 2 is configured to be movable, for example, autonomously or by remote operation, at a construction site or a plant. Specifically, the abnormality detection device 1 is, for example, an unmanned aerial vehicle (UAV) generally called a drone. In this case, the main body unit 2 is a part of the UAV including a rotary wing 4A described later and is configured to be movable in the air.

[0015] Note that the abnormality detection device 1 is not limited to a UAV and may be, for example, a vehicle or a robot movable on the ground. In this case, the main body unit 2 may be configured to be movable on the ground by including, for example, a crawler or a plurality of wheels driven by a power source such as a motor.

[0016] The motor 3 is mounted on the main body 2 and rotates the rotating part 4. Specifically, the motor 3 is, for example, an electric motor driven by electric power supplied from the control device 6. The motor 3 has, for example, a rotating shaft 3a and rotates the rotating part 4 attached to the rotating shaft 3a. Further, the motor 3 is provided with, for example, a rotation angle sensor (not shown) such as an encoder. The rotation angle sensor detects the rotation angle of the rotating part 4 and outputs the detection result to the control device 6. The rotation speed of the motor 3 is controlled by, for example, the control device 6.

[0017] The rotating part 4 is attached to the rotating shaft 3a of the motor 3, for example, and is rotated by the motor 3. When the abnormality detection device 1 is a UAV, the rotating part 4 is, for example, the rotating wing 4A of the UAV. In this case, the abnormality detection device 1 can include, for example, a plurality of rotating wings 4A, a plurality of motors 3, and a plurality of rotating connection parts 7. Each rotating wing 4A has, for example, two or more blades 4Aw.

[0018] The blade 4Aw can be configured, for example, by covering the printed circuit board constituting the millimeter wave radar 5 with an outer shell. Also, the blade 4Aw may be constituted by the printed circuit board itself that constitutes the millimeter wave radar 5.

[0019] FIG. 2 is a perspective view showing an installation example of the millimeter wave radar 5 of the abnormality detection device 1 shown in FIG. 1. FIG. 3 is a schematic diagram showing an example of the internal structure of the rotating wing 4A shown in FIG. 2. FIG. 4 is a schematic diagram showing an installation example of the millimeter wave radar 5 in the abnormality detection device 1 shown in FIG. 1. In the examples shown in FIGS. 2 to 4, the rotating connection part 7 shown in FIG. 1 is built in the motor 3.

[0020] The millimeter wave radar 5 is attached to the rotating part 4. Specifically, the millimeter wave radar 5 is provided, for example, on the rotating wing 4A which is the rotating part 4. The millimeter wave radar 5 may be provided on each of the plurality of blades 4Aw included in each rotating wing 4A, or may be provided on a part of the plurality of blades 4Aw included in each rotating wing 4A.

[0021] The millimeter-wave radar 5 includes, for example, an antenna 5a provided on the end face of the blade 4Aw of the rotary wing 4A, a monolithic microwave integrated circuit (MMIC) 5b provided inside the blade 4Aw, and various electronic components 5c. Note that the electronic components 5c are appropriately selected according to the measurement method, measurement target, measurement accuracy, etc. of the millimeter-wave radar 5.

[0022] The antenna 5a of the millimeter-wave radar 5 is provided, for example, at the tip of the rotary wing 4A. Specifically, the antenna 5a of the millimeter-wave radar 5 is provided on the end face of the blade 4Aw of the rotary wing 4A as shown in FIGS. 2 and 3, for example. The antenna 5a includes, for example, a transmitting antenna 5a1 and a receiving antenna 5a2.

[0023] Also, the antenna 5a of the millimeter-wave radar 5 is directed outward and downward with respect to the rotation axis 3a of the motor 3 as shown in FIG. 4, for example. Specifically, the antenna 5a is installed such that the inner edge of the detection range DA of the millimeter-wave radar 5 is along the vertical direction when the rotary wing 4A is horizontal, for example.

[0024] In the example shown in FIG. 4, the detection range DA of the millimeter-wave radar 5 is a conical range within about 40° from the center line CL of the detection range DA. Note that the installation angle of the antenna 5a may be changed for each blade 4Aw of the rotary wing 4A. That is, the antenna 5a is installed directed outward and downward such that the center line CL of the detection range DA of the millimeter-wave radar 5 has a predetermined angle with respect to the vertical direction when the rotary wing 4A is horizontal.

[0025] Note that the antenna 5a of the millimeter-wave radar 5 does not necessarily have to be provided at the tip of the rotary wing 4A. Specifically, the millimeter-wave radar 5 may be provided, for example, at the central portion in the longitudinal direction of the blade 4Aw of the rotary wing 4A. Also, the antenna 5a of the antenna 5a may be directed downward in the vertical direction when the rotary wing 4A is horizontal, for example.

[0026] The MMIC 5b of the millimeter-wave radar 5 causes the transmitting antenna 5a1 to transmit a transmitted wave toward the object to be detected. Further, the MMIC 5b causes the receiving antenna 5a2 to receive the reflected wave reflected by the object to be detected as a received wave. Further, the MMIC 5b processes the signal of the transmitted wave and the signal of the received wave to calculate the position, velocity, direction, displacement, etc. of the object to be detected. Note that the MMIC 5b may be incorporated into the control device 6 instead of inside the rotary wing 4A. Note that the direction of the object to be detected can be calculated based on, for example, the detection result of the angle sensor of the motor 3.

[0027] For example, when the object to be detected by the millimeter-wave radar 5 is minute vibrations of plant equipment or vital data such as human respiration and heartbeat, it is possible to obtain a resolution of about 0.1 mm by using the 60 GHz band or the 79 GHz band.

[0028] When the object to be detected by the millimeter-wave radar 5 is an abnormality in vital data and the abnormality detection device 1 is a UAV, the abnormality detection device 1 performs abnormality detection by the millimeter-wave radar 5 while maintaining an altitude of about 2 to 3 m from the ground where contact with people can be avoided, for example. The abnormality detection range by the millimeter-wave radar 5 is, for example, about a radius of 2 m centered on the abnormality detection device 1.

[0029] Generally, the angular resolution of the millimeter-wave radar 5 is lower compared to other sensors. However, even if the angular resolution of the millimeter-wave radar 5 is relatively low, it can be used for applications where the direction and approximate position of a person in poor physical condition or a device in which an abnormality has occurred can be specified without specifying them. Note that the abnormality detection device 1 may use or use in combination sensors other than the millimeter-wave radar 5, such as a camera, LiDAR, ultrasonic sensor, etc., to detect abnormalities in devices and people.

[0030] Note that since the transmission and reception of the transmitted wave and the received wave by the antenna 5a of the millimeter-wave radar 5 are performed in an extremely short time, the displacement of the position of the antenna 5a due to the rotation of the rotor 4A during transmission and reception can be ignored. However, from the viewpoint of performing more accurate abnormality detection, in the control device 6 described later, the displacement of the position of the antenna 5a during transmission and reception may be corrected based on the detection results of the rotation angle sensor of the motor 3 and the position and attitude detection device 9.

[0031] The control device 6 is mounted on the main body 2. The control device 6 is composed of, for example, one or more microcontrollers, and realizes each function described below by executing a program stored in a memory such as a RAM and a ROM by a processing device (CPU).

[0032] The control device 6 performs power supply and information communication with respect to the millimeter-wave radar 5. Specifically, the control device 6 outputs a control signal to each part including, for example, the motor 3 and the millimeter-wave radar 5, and acquires various detection results including the detection results of the millimeter-wave radar 5, the rotation angle sensor of the motor 3, and the position and attitude detection device 9.

[0033] Further, the control device 6 detects abnormalities of devices and people based on, for example, the detection results of the millimeter-wave radar 5. Specifically, the control device 6 detects abnormalities of devices and people by comparing, for example, the amplitude and period of the minute vibration of the device detected by the millimeter-wave radar 5 and the vital data of people with the threshold values stored in the memory in advance.

[0034] Further, the control device 6 includes, for example, a motor driver. The control device 6 controls the motor 3 and the rotor 4A based on, for example, the detection results of the position and attitude detection device 9 and a planned route stored in the memory in advance, and autonomously moves the abnormality detection device 1 along the planned route. Further, the control device 6 controls the motor 3 and the rotor 4A according to an operation instruction received from a remote operation device via, for example, the communication device 10, and moves the abnormality detection device 1 according to the operation of the remote operation device.

[0035] The rotary connection part 7 electrically connects the millimeter-wave radar 5 and the control device 6 while allowing the rotation of the motor 3. Specifically, the rotary connection part 7 is constituted by, for example, a slip ring or a brush installed around the rotary shaft 3a of the motor 3. Thereby, the rotary connection part 7 allows the rotation of the rotary part 4 by the motor 3, and enables power supply from the control device 6 to the millimeter-wave radar 5 provided in the rotary part 4 and transmission and reception of signals between the millimeter-wave radar 5 and the control device 6.

[0036] The power supply 8 is, for example, a secondary battery such as a lithium-ion battery or a lithium polymer battery. The power supply 8 is charged by external power, for example, and supplies power to each part of the abnormality detection device 1 including the motor 3 and the millimeter-wave radar 5.

[0037] The position and attitude detection device 9 includes, for example, a receiver of a global navigation satellite system (GNSS), a gyro sensor, a magnetic azimuth sensor, a barometric pressure sensor, etc. The position and attitude detection device 9 detects, for example, the position coordinates, altitude, direction, attitude (roll, pitch, yaw, etc.) of the abnormality detection device 1 and outputs them to the control device 6. Note that the position and attitude detection device 9 can use various sensors conventionally mounted for the navigation of the UAV.

[0038] The communication device 10 performs wireless communication with an external communication device. The control device 6 transmits, for example, an abnormality detection result based on the detection result of the millimeter-wave radar 5 to the outside via the communication device 10. Note that the control device 6 may transmit the detection result of the millimeter-wave radar 5 to an external device via the communication device 10, for example. In this case, the external device detects an abnormality of a device or a person based on the detection result of the millimeter-wave radar 5 in the same manner as the abnormality detection by the control device 6 described above.

[0039] Hereinafter, the operation of the abnormality detection device 1 of the present embodiment will be described while comparing with the above-described conventional moving body.

[0040] The conventional moving body described in the aforementioned Patent Document 1 needs to install a large number of sensor nodes outside the moving body, which makes the device configuration complicated. Further, in the above conventional moving body, there may be abnormalities that cannot be detected from the images of the camera, it may be difficult to detect abnormalities at night, in dark places, or in bad weather, and there may be an infringement of privacy when detecting human abnormalities.

[0041] On the other hand, as described above, the abnormality detection device 1 of the present embodiment includes a main body portion 2 configured to be movable, a motor 3 mounted on the main body portion 2, a rotating portion 4 rotated by the motor 3, and a millimeter wave radar 5 attached to the rotating portion 4. Further, the abnormality detection device 1 includes a control device 6 mounted on the main body portion 2 for supplying power to and performing information communication with the millimeter wave radar 5, and a rotary connection portion 7 that electrically connects the millimeter wave radar 5 and the control device 6 while allowing the rotation of the rotating portion 4.

[0042] With such a configuration, the abnormality detection device 1 of the present embodiment can move the main body portion 2 and detect an object with the millimeter wave radar 5, so there is no need to install a large number of sensor nodes outside like the conventional moving body described above. Further, the control device 6 mounted on the main body portion 2 supplies power to the millimeter wave radar 5 attached to the rotating portion 4 and rotating together with the rotating portion 4 via the rotary connection portion 7, and can acquire the detection result from the millimeter wave radar 5 rotating together with the rotating portion 4 via the rotary connection portion 7.

[0043] As a result, it is possible to eliminate the dead angle of the millimeter wave radar 5 over 360° around the abnormality detection device 1 and detect the distance, direction, speed, vibration, vital data, etc. of the object, and perform mapping of 360° around the abnormality detection device 1. Further, unlike the case where the millimeter wave radar 5 is attached to the main body portion 2, it is not necessary to rotate the main body portion 2 to detect an object 360° around the abnormality detection device 1. Therefore, the operation and control of the abnormality detection device 1 can be facilitated.

[0044] In addition, by using the millimeter-wave radar 5, the abnormality detection device 1 can detect vibrations of equipment and vital data of people that are not affected by weather or brightness and cannot be detected from the images of the camera, and can detect abnormalities of the equipment or people based on the detection results. Further, by using the millimeter-wave radar 5, the abnormality detection device 1 can solve the problem of privacy infringement when detecting human abnormalities.

[0045] In the abnormality detection device 1 of the present embodiment, the main body 2 is a part of a drone equipped with a rotor 4A.

[0046] With such a configuration, the abnormality detection device 1 of the present embodiment can move in the air or stay stationary in the air. Therefore, it becomes possible to more freely, quickly, and easily detect abnormalities of detection targets such as work machines, equipment, and people at construction sites and plants.

[0047] In the abnormality detection device 1 of the present embodiment, the rotating part 4 is the rotor 4A.

[0048] With such a configuration, in the abnormality detection device 1 of the present embodiment, the power supply 8 mounted on the main body 2 can supply power to the millimeter-wave radar 5 attached to the rotor 4A and rotating with the rotor 4A via the rotary connection part 7. Further, the control device 6 mounted on the main body 2 can acquire the detection result from the millimeter-wave radar 5 rotating with the rotor 4A via the rotary connection part 7. As a result, as described above, the dead angle of the millimeter-wave radar 5 is eliminated over 360° around the abnormality detection device 1 to detect the distance, direction, speed, vibration, vital data, etc. of an object, and mapping of 360° around the abnormality detection device 1 can be performed.

[0049] In the abnormality detection device 1 of the present embodiment, the antenna 5a of the millimeter-wave radar 5 is provided at the tip of the rotor 4A. And the antenna 5a is directed outward and downward with respect to the rotation axis 3a of the motor 3.

[0050] With such a configuration, the antenna 5a is provided at a portion other than the tip of the rotary wing 4A, and can detect abnormalities of objects in a wider range around the abnormality detection device 1 as compared with the case where it is directed in a direction other than outward and downward with respect to the rotary shaft 3a of the motor 3. Further, when the rotary wing 4A includes a plurality of wings 4Aw, by changing the installation angle of the antenna 5a at the tip of each wing 4Aw, it becomes possible to detect abnormalities of objects in a wider range.

[0051] As described above, according to the present embodiment, it is possible to provide the abnormality detection device 1 that can more reliably detect abnormalities of detection targets over a wide range with a simple configuration and can also cope with privacy violations. Note that the abnormality detection device according to the present disclosure is not limited to the abnormality detection device 1 of the above-described embodiment. Hereinafter, a modified example of the above-described Embodiment 1 will be described with reference to FIG. 5.

[0052] FIG. 5 is a perspective view showing another installation example of the millimeter-wave radar 5 in the abnormality detection device 1 shown in FIG. 1. In the abnormality detection device 1 according to this modified example, the rotating part 4 is a reduction shaft 4B connected to the rotating shaft 3a of the motor 3 via a speed reducer 11. In other words, in the abnormality detection device 1 according to this modified example, the reduction shaft 4B which is the rotating part 4 is connected to the rotating shaft 3a of the motor 3 via a speed reducer 11. Here, the rotary connection part 7 is, for example, built in the speed reducer 11 and arranged around the reduction shaft 4B. The wiring between the rotary connection part 7 and the control device 6 is connected to the control device 6 through, for example, the hollow rotary shaft 3a.

[0053] Also in this modification, similar to the case where the rotating part 4 is the rotary blade 4A, the control device 6 mounted on the main body part 2 supplies power to the millimeter-wave radar 5 attached to the reduction shaft 4B and rotating together with the reduction shaft 4B via the rotary connection part 7, and can acquire the detection result from the millimeter-wave radar 5 rotating together with the reduction shaft 4B via the rotary connection part 7. As a result, as described above, the dead angle of the millimeter-wave radar 5 can be eliminated over 360° around the abnormality detection device 1, and the distance, direction, speed, vibration, vital data, etc. of an object can be detected, and mapping of 360° around the abnormality detection device 1 can be performed. Further, by attaching the millimeter-wave radar 5 to the reduction shaft 4B, the rotation speed of the millimeter-wave radar 5 can be reduced as compared with the case of attaching the millimeter-wave radar 5 to the rotary blade 4A.

[0054] Note that when the abnormality detection device 1 is not a UAV but a vehicle or a robot, the rotary blade 4A shown in FIG. 5 becomes unnecessary.

[0055] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as no technical contradiction occurs.

Explanation of reference numerals

[0056] 1 Abnormality detection device 2 Main body part 3 Motor 3a Rotation shaft 4 Rotating part 4A Rotary blade (rotating part) 4B Reduction shaft (rotating part) 5 Millimeter-wave radar 5a Antenna 6 Control device 7 Rotary connection part 11 Reducer

Claims

1. A main body configured to be movable; A motor mounted on the main body; A rotating part rotated by the motor; A millimeter-wave radar attached to the rotating part; A control device mounted on the main body for supplying power to and communicating information with the millimeter-wave radar; A rotary connection part for electrically connecting the millimeter-wave radar and the control device while allowing rotation of the rotating part; and An abnormality detection device.

2. The main body is part of an unmanned aircraft equipped with rotary wings, The abnormality detection device according to Claim 1.

3. The rotating part is the rotary wing, The abnormality detection device according to Claim 2.

4. The antenna of the millimeter-wave radar is provided at the tip of the rotary wing, The antenna is directed outward and downward with respect to the rotation axis of the motor, The abnormality detection device according to Claim 3.

5. The rotating part is connected to the rotation axis of the motor via a speed reducer, and is characterized by the abnormality detection device according to Claim 1 or Claim 2.

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