Airborne mobile unit and disaster prevention system

Abstract

To provide an airborne mobile unit and a disaster prevention system that can prevent arson on structures to be monitored.SOLUTION: An airborne mobile unit includes: an operation control unit that controls the operation according to an operation route in the vicinity of structures to be monitored; and a monitoring control unit that, upon reaching a monitoring point included in the operation route, performs a monitoring operation including at least one of audio output, light output, and motion output predetermined for the monitoring point.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an aerial moving body and a disaster prevention system equipped with the aerial moving body. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a fire prevention device has been proposed as a device for providing fire protection to evacuees in the event of a fire, which includes a remotely controlled flying object and a water discharge unit attached to the flying object and capable of discharging water in a drizzle-like manner. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-122660 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the fire prevention device described in Patent Document 1, fire prevention effect for people is exerted in the event of a fire, but it is naturally desired to prevent a fire from occurring in the first place. For example, various monitoring devices, monitoring systems, fire prevention equipment, etc. are installed in general buildings such as office buildings, commercial buildings, and apartment buildings, but it is difficult to increase the installation of conspicuous monitoring devices, etc. in structures such as cultural properties or historical buildings where aesthetics are important. On the other hand, cultural properties or historical buildings are often wooden buildings, and the damage in the event of a fire tends to be large, so fire prevention is important. Furthermore, the occurrence of arson against cultural properties or historical buildings has become a problem in recent years. As mentioned above, it is difficult to increase the installation of monitoring devices, etc., and although it is possible to have people stationed at night to prevent arson, it may be difficult in terms of cost.

[0005] The present invention has been made against the background described above, and provides an aerial vehicle and a disaster prevention system that can prevent arson of structures that are the subject of monitoring. [Means for solving the problem]

[0006] The aerial moving body of the present invention is equipped with an operation control unit that controls operation according to a traveling route in the vicinity of a structure to be monitored, and a monitoring control unit that, when it reaches a monitoring point included in the traveling route, executes a monitoring operation including at least one of audio output, light output, and operational output that is predetermined corresponding to the monitoring point.

[0007] The disaster prevention system of the present invention is a disaster prevention system comprising an aerial moving body and disaster prevention equipment communicatively connected to the aerial moving body, wherein the aerial moving body comprises a flame sensor and a communication unit that communicates with the disaster prevention equipment, and when the flame sensor detects a fire, the communication unit transmits a coordination signal to the disaster prevention equipment, and when the disaster prevention equipment receives the coordination signal, it performs a coordination operation related to fire extinguishing or reporting. Effect of the Invention

[0008] According to the present invention, an aerial vehicle performs monitoring operations including at least one of audio output, light output, and operational output on its route near a structure to be monitored, thereby scaring off intruders and preventing arson. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of the configuration of a disaster prevention system including an aerial vehicle according to an embodiment. FIG. [Diagram 2] 2 is a functional block diagram of an aerial moving body according to the first embodiment. FIG. [Diagram 3] FIG. 2 is a diagram illustrating a route of travel in accordance with the first embodiment. [Figure 4] 4 is a diagram for explaining the operation when a suspicious person is detected in the disaster prevention system according to the first embodiment. FIG. [Diagram 5] The operation of the disaster prevention system according to the first embodiment when a fire is detected will be described. [Figure 6]FIG. 11 is a diagram illustrating a configuration example of a disaster prevention system according to a second embodiment. [Figure 7] FIG. 11 is a diagram illustrating the operation of the disaster prevention system according to the second embodiment when a person is detected. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiment, and various modifications can be made without departing from the spirit of the present invention. The present invention also includes all combinations of possible configurations among the configurations shown in the following embodiment. The device shown in the drawings is an example of the device of the present invention, and the device of the present invention is not limited to the device shown in the drawings. In each drawing, the same reference numerals are used to denote the same or equivalent parts, and this is common throughout the entire specification.

[0011] Embodiment 1 (System Configuration) FIG. 1 is a diagram for explaining a configuration example of a disaster prevention system 100 including an aerial moving body 1 according to an embodiment. The aerial moving body 1 of this embodiment patrols the vicinity (surroundings) of a structure 200 to be monitored and prevents arson or damage to property by encouraging intruders to leave. This embodiment is effective when the monitored structure 200 is a wooden structure such as a cultural property or a historical building, but the structure 200 is not particularly limited. The disaster prevention system 100 of this embodiment prevents disasters based on information detected by the aerial moving body 1. A specific description will be given below.

[0012] The disaster prevention system 100 comprises an aerial moving body 1, disaster prevention equipment 2, and a server device 3, which are communicatively connected via a network 4 which is the Internet, a telephone communication network, a dedicated communication line, or a combination of these.

[0013] The aerial vehicle 1 is a device that moves in the sky by remote control or autonomous driving, such as a drone. The disaster prevention equipment 2 is equipment that cooperates with the aerial vehicle 1 to suppress damage in the event of a disaster, particularly a fire, such as, but not limited to, a drencher, a water cannon, a fire alarm system including a bell, an emergency phone, or a fire-fighting drone. The server device 3 is a device equipped with a storage device that stores the photographed data transmitted from the aerial vehicle 1, which will be described later.

[0014] (Configuration of airborne vehicles) 2 is a functional block diagram of the aerial vehicle 1 according to the first embodiment. The aerial vehicle 1 according to the present embodiment is a drone such as an autonomous multicopter, and patrols the vicinity of a monitoring target by autonomous operation without touching the ground or a wall, and performs at least one of monitoring operations of audio output, light output, and operation output. The aerial vehicle 1 includes a control unit 10, a memory unit 11, a communication unit 12, a position sensor 13, a drive unit 14, a camera 15, a flame sensor 16, a light 17, a speaker 18, and a fire extinguisher 19.

[0015] The control unit 10 is a processing device that controls each unit of the aerial vehicle 1, and is composed of a processor such as a CPU (Central Processing Unit) that executes programs stored in memory. The storage unit 11 includes, as functional units, an operation control unit 101, a monitoring control unit 102, an image processing unit 103, a person detection unit 104, a behavior detection unit 105, a photography control unit 106, and a cooperation control unit 107. Each functional unit of the storage unit 11 is realized by the storage unit 11 reading and executing a dedicated application program that has been installed in advance.

[0016] The memory unit 11 stores data and programs used by the control unit 10 for control, as well as a travel route 111 and voice data 112. The memory unit 11 is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, or an external storage medium such as a memory card, or a combination of these.

[0017] The travel route 111 is data that specifies the route along which the aerial moving body 1 moves and one or more locations to be monitored that are included in this route. The route is a route from a starting point to a destination, and the starting point and the destination may be in the same location. One or more travel routes 111 are stored in advance for each structure to be monitored.

[0018] The voice data 112 is data used in voice output, which is one of the monitoring operations of the aerial moving body 1. One or more pieces of voice data 112 are stored in advance in the storage unit 11. The voice data 112 is, for example, footsteps, gravel sounds, buzzer sounds, human voices, etc. The human voice is, for example, a talking voice, specific spoken sounds such as "confirmed," "please leave," or "I'm reporting this."

[0019] The communication unit 12 is a communication interface circuit for the aerial mobile object 1 to communicate with the disaster prevention equipment 2 or the server device 3 via the network 4. The communication unit 12 is, for example, a circuit for mobile communication such as a telephone communication network, or a wireless communication circuit.

[0020] The position sensor 13 acquires position information (e.g., latitude and longitude) of the aerial moving body 1 at a set period. The position sensor 13 is, for example, a GPS receiver or a wireless communication device. The position information acquired by the position sensor 13 is input to the operation control unit 101 and used for operation control.

[0021] The driving unit 14 is a device that flies the aerial moving body 1 based on a control signal from the operation control unit 101. The driving unit 14 includes multiple motors that rotate the propellers of the aerial moving body 1, and realizes the autonomous movement of the aerial moving body 1 by controlling the rotation, stopping, and rotation speed of the motors based on the control signal.

[0022] Camera 15 is a device that captures still images or videos. Camera 15 includes an imaging element such as a CCD image sensor or a CMOS image sensor. Data captured by camera 15 is input to image processing unit 103. Camera 15 may have a function for adjusting shooting conditions such as shooting direction, shooting range, or resolution. Images captured by camera 15 are stored in storage unit 11, and are transmitted to server device 3 periodically or at a set timing and stored in server device 3.

[0023] The flame sensor 16 is a sensor that detects a flame by detecting radiation of the flame. The flame sensor 16 is, for example, an infrared sensor or an ultraviolet sensor. When the flame sensor 16 detects a flame, it inputs a signal indicating that a flame has been detected to the cooperation control unit 107.

[0024] The light 17 is a device that includes a light emitting element such as an LED and emits light. The light 17 is used for optical output, which is one of the monitoring operations of the aerial vehicle 1.

[0025] The speaker 18 is a device for outputting audio. The speaker 18 outputs the audio data 112 from the storage unit 11 in audio output, which is one of the monitoring operations of the aerial vehicle 1.

[0026] The extinguishant dispenser 19 is a device that includes an extinguishing agent such as extinguishing foam and a container that contains the extinguishing agent, and that dispenses the extinguishant. The extinguishant dispenser 19 dispenses the extinguishant when a fire flame is detected by the flame sensor 16. The extinguishant dispenser 19 includes a device that adjusts the amount and direction of the extinguishant to be dispensed.

[0027] The operation control unit 101 controls the movement of the aerial moving body 1 according to the travel route 111. When a timing determined for a monitoring target arrives, the operation control unit 101 controls the drive unit 14 to control the movements of the aerial moving body 1, such as ascending, descending, moving forward, moving backward, and turning, and moves the aerial moving body 1 along the travel route 111.

[0028] When the monitoring control unit 102 detects that the aerial moving body 1 has reached a place to be monitored based on the position information from the position sensor 13 while the aerial moving body 1 is moving along the travel route 111, the monitoring control unit 102 performs at least one of the monitoring operations of audio output, light output, and operation output. When performing audio output, the monitoring control unit 102 selects one of the multiple pieces of audio data 112 and outputs the audio from the speaker 18. When performing light output, the monitoring control unit 102 causes the light 17 to emit light. The monitoring control unit 102 may control the direction of the light to make the light oscillate or blink. When performing operation output, the monitoring control unit 102 controls the drive unit 14 to move the aerial moving body 1 up and down, horizontally, rotate, or a combination of these in the place to be monitored.

[0029] The image processing unit 103 acquires the image captured by the camera 15 and applies known image processing techniques to the acquired image to convert it into image data in a state in which the human detection unit 104 or the behavior detection unit 105 can detect or analyze the target object.

[0030] The human detection unit 104 detects the presence or absence of a human by detecting a human face by performing a known face detection process on the image data processed by the image processing unit 103. The human detection unit 104 may recognize a human face that has been detected multiple times by storing a face or clothing of a person once detected in the storage unit 11, and judging the degree of match with the stored face or clothing when a new person is detected. Note that the human detection unit 104 of this embodiment detects a person by image recognition, but may be provided with a human presence sensor that detects a person instead of or in addition to the image recognition. The human presence sensor is, for example, an infrared sensor or an ultrasonic sensor. Then, when a person is detected by the human presence sensor, the human face may be recognized by image recognition.

[0031] The behavior detection unit 105 detects human behavior by applying a known human detection process to the image data processed by the image processing unit 103. The human behavior detected by the behavior detection unit 105 is, for example, behavior that requires vigilance, such as behavior that can lead to arson, and such behavior will be referred to as a behavior requiring vigilance hereinafter. Specific examples of behavior requiring vigilance include staying in one place for a certain period of time, frequently looking around as if concerned about being seen by others, wandering around looking for a place to set fire, and carrying something that can lead to fire or arson, such as fireworks or a lighter. The behavior detection unit 105 detects behavior requiring vigilance based on a video or multiple still images taken by the camera 15 within a predetermined period of time after a person is detected by the human detection unit 104.

[0032] The photography control unit 106 transmits a control signal to the camera 15 to control the photography timing and the photography target of the camera 15. The photography control unit 106 controls the camera 15 to take videos or still images periodically, constantly, or when a specific position is reached while the aerial moving body 1 is moving along the travel route. The photography control unit 106 also causes the camera 15 to take pictures when the flame sensor 16 detects a flame. Note that, in the case where the disaster prevention equipment 2 is a fire alarm equipment, the photography control unit 106 may cause the camera 15 to take pictures based on a signal output from the disaster prevention equipment 2 indicating that a fire has been detected.

[0033] When a person is detected by the person detection unit 104, the cooperation control unit 107 controls one or more of the camera 15, the light 17, and the speaker 18 to warn the person or take a picture of the person. Furthermore, when a flame is detected by the flame sensor 16, the cooperation control unit 107 controls the fire extinguisher 19, or transmits a fire detection signal to the disaster prevention equipment 2 via the communication unit 12, and instructs the disaster prevention equipment 2 to extinguish the fire or report the incident.

[0034] FIG. 3 is a diagram illustrating a travel route 111 according to the first embodiment. An example of travel and monitoring operation of the aerial moving body 1 will be specifically described with reference to FIG. 3. In the example of FIG. 3, there are structures 200 and 201, and trees 202 and 203 within a site to be monitored. One of the travel routes 111 is indicated by a dashed line in FIG. 3. Points A to H scattered on the travel route 111 are locations to be monitored. The locations to be monitored are locations where the aerial moving body 1 performs the above-mentioned monitoring operation.

[0035] The operation of the aerial moving body 1 will be described using an example in which the aerial moving body 1 starts from point A on the travel route 111, passes through points B, C, D, E, F, G, and H in order, and returns to point A. When the aerial moving body 1 starts from point A, it heads for point B. If there is an obstacle such as a tree 202 on the route connecting points A and B in a straight line, the operation control unit 101 detects the obstacle using an image from the camera 15 or a sensor (not shown), and reaches point B by detouring the obstacle. In addition to obstacles that are always present such as the tree 202, for example, obstacles may be temporarily placed at shrines during events such as festivals. By detecting the obstacle and detouring it, damage to the structure 200 caused by debris caused by the aerial moving body 1 colliding with the obstacle can be avoided.

[0036] When the aerial moving body 1 reaches point B, which is a monitoring point, it executes a monitoring operation. The monitoring operation is one or more of the above-mentioned audio output, light output, and operation output. When the monitoring operation at point B is finished, the aerial moving body 1 reaches points C to H in order along the travel route 111, executes a monitoring operation at each monitoring point, and returns to point A, which is the final destination.

[0037] When audio is output at a monitoring point, the flying vehicle 1 outputs audio selected from the audio data 112 through the speaker 18. The type of audio to be output may be determined according to the positional relationship between the monitoring point and the structure 200 to be monitored. For example, a plurality of monitoring areas with different distances from the structure 200 are set in advance with the structure 200 at the center, and audio is output differently for monitoring points in monitoring areas close to the structure 200 and monitoring points in monitoring areas far from the structure 200. Specifically, gravel sounds are output at monitoring points far from the structure 200, warning audio such as "Please leave" is output at monitoring points at a medium distance, and stronger warning audio such as "We will report" is output at monitoring points at a close distance. In this way, by varying the audio to be output according to the distance from the structure 200, the degree of intimidation can be reduced for mere passersby, and a strong warning can be issued to intruders who are at a high risk of arson.

[0038] When light output is performed at a surveillance point, the aerial vehicle 1 irradiates light from the light 17. The direction of the light irradiation may be changed by vertical movement, horizontal movement, rotation, or a combination of these to recreate a situation in which a person is moving the light to search. The light 17 may also be made to blink, or the range of irradiation may be repeatedly expanded and contracted. In this way, by changing the manner in which the light is irradiated, it is possible to make an intruder recognize that he or she is being watched by a person, and the intimidating effect against the intruder can be enhanced. This can encourage an intruder plotting arson to leave, thereby enhancing the effect of suppressing arson.

[0039] When performing an action output at a surveillance point, the aerial vehicle 1 performs an action of vertical movement, horizontal movement, rotation, or a combination of these in the sky. By performing such actions in the sky, the aerial vehicle 1 can make an intruder recognize that he is being watched by a person, and can increase the intimidating effect on the intruder. This can encourage an intruder who is plotting arson to leave, and can increase the effect of suppressing arson.

[0040] The monitoring operation to be performed at each monitoring point may be predetermined for each monitoring point, or may be selected from a plurality of monitoring operations according to a predetermined condition. The predetermined condition may be, for example, a date, a day of the week, a time, or a timing of operation consisting of a combination of these, or random. The monitoring operation performed by the aerial moving body 1 at each monitoring point may be different according to the predetermined condition. When performing audio output, light output, or operation output at a certain point, the output content may be made different according to the predetermined condition. Specifically, for example, when light output is performed at point B, the light output mode, such as blinking the light or moving the light up and down, may be made different according to the timing of operation.

[0041] In addition, multiple operation routes 111 may be defined for the structure 200 to be monitored. In the above, the operation route 111 that returns to point A by passing through points A to H in order has been described, but the operation route 111 may include a route that passes through all or some of points A to H in another order. For example, the operation route 111 may include a route that passes through points H, B, A, C, E, D, F, G, and H in this order. One operation route 111 may pass through one point multiple times, or the operation route 111 may include a route that does not pass through some of the multiple points.

[0042] The travel route 111 may be generated randomly or according to the travel timing including the date, day of the week, time, or a combination of these. For example, in FIG. 3, arrows a1, a2, and a3 extending in three different directions are shown at point E. The arrows a1 to a3 indicate the next direction in which the aerial moving body 1 moves after reaching point E. When the aerial moving body 1 reaches point E, the operation control unit 101 selects one of the arrows a1 to a3 according to a predetermined condition and determines the next direction from point E. By performing such a direction determination operation for each point, the aerial moving body 1 generates the travel route 111 while moving. In this case, points A to H are monitoring points and also branching points of the route. Note that a branching point of the route may be provided separately from the monitoring points.

[0043] Fig. 4 is a diagram for explaining the operation when an intruder is detected in the disaster prevention system 100 according to the embodiment 1. An example of the operation of the aerial moving object 1, the disaster prevention facility 2, and the server device 3 will be explained with reference to Fig. 4.

[0044] The aerial mobile body 1 performs operation control to move around the monitoring target according to the operation route 111 (step S1). In the operation control, as described above, the monitoring operation is also performed at each monitoring point. While moving in the sky, the aerial mobile body 1 detects a person by the camera 15 or a human presence sensor (not shown), and detects whether the behavior of the detected person satisfies the condition of a behavior requiring caution (step S2).

[0045] If no alert behavior is detected in the behavior detection in step S2, the aerial vehicle 1 returns to step S1 and continues the operation control. Here, it is assumed that an alert behavior is detected. In this case, the aerial vehicle 1 determines that the person engaging in the alert behavior is a suspicious person (step S3).

[0046] Instead of or in addition to determining a suspicious person based on the detection of a caution-requiring behavior, the suspicious person may be determined by face recognition, body type recognition, clothing recognition, or the like. In this case, a person detected multiple times within a determined period by the person detection unit 104 may be determined to be a suspicious person. Furthermore, when the aerial moving body 1 detects a person in step S2, it may output a voice message urging the person to leave, and if the person continues to be detected even after the voice message is output, the person may be determined to be a suspicious person.

[0047] The aerial moving body 1 that has determined that a suspicious person is present executes a warning operation (step S4). The warning operation is a warning to the suspicious person, and includes audio output to urge the suspicious person to leave, or audio output to notify the suspicious person of an upcoming report. The aerial moving body 1 may also be equipped with a water container (not shown) and perform the warning operation of dripping water droplets from the sky toward the suspicious person. In this way, by performing a warning operation on the suspicious person from the aerial moving body 1, it is possible to deter the suspicious person from starting a fire, even if he or she is plotting arson.

[0048] Next, the aerial moving body 1 transmits a notification signal to the disaster prevention equipment 2 to inform the detection of the suspicious person (step S5). In addition to transmitting the notification signal, the aerial moving body 1 may also notify by audio output, optical output, or both. This allows the manager to be notified of the presence of the suspicious person if there is a manager in the vicinity of the monitored object.

[0049] The disaster prevention equipment 2 that has received the notification signal performs a coordinated operation (step S6). If the disaster prevention equipment 2 is a drencher or a water cannon, the airborne moving body 1 may spray water toward the location where the suspicious person is detected, and the spraying of water functions as a warning to the suspicious person. In this way, the suspicious person can be encouraged to leave, and the fire may also be extinguished. If the disaster prevention equipment 2 is a fire alarm system, the fire alarm system may sound an emergency bell. By sounding the emergency bell, the suspicious person may be deterred from setting fire, and the presence of the suspicious person may be notified to the manager, etc. If the disaster prevention equipment 2 is an emergency phone, the phone is placed to a predetermined contact number by a machine voice, etc. If the disaster prevention equipment 2 is a computer device capable of sending emails, the computer device sends an email to the predetermined email address of the manager, etc., notifying the manager, etc. of the detection of the suspicious person. Instead of an email, the computer device may display a message notifying the manager, etc. of the detection of the suspicious person on an application installed on a terminal such as a smartphone, tablet, or personal computer used by the manager, etc. By reporting or notifying in this manner, a manager or other person can promptly check the site.

[0050] Next, the aerial moving body 1 photographs the suspicious person using the camera 15 (step S7). The aerial moving body 1 may increase its altitude to photograph a wider range of images in order to record the direction in which the suspicious person escapes. The aerial moving body 1 may also have a function for detecting cars in addition to detecting people, detect cars based on images captured by the camera 15, and photograph the detected cars and their license plates. In this way, if a suspicious person uses a car as a getaway vehicle, it becomes easier to identify the getaway vehicle and the suspicious person based on the captured image. The aerial moving body 1 has a function for tracking a specific person, and may photograph the suspicious person while tracking him.

[0051] The aerial moving body 1 transmits the photographed data captured by the camera 15 to the server device 3 (step S8). The aerial moving body 1 may transmit the photographed data each time photographing is performed in step S7, or may transmit the photographed images collectively. Since a suspicious person who notices the photographing of the aerial moving body 1 may damage the aerial moving body 1, it is preferable to transmit the photographed data to the server device 3 each time.

[0052] When the server device 3 receives the photographed data, it stores the photographed data in a storage device (step S9). The photographed data stored in the server device 3 can be used to identify or track a suspicious person. By storing the photographed data photographed by the aerial moving body 1 in the server device 3 located away from the aerial moving body 1, the photographed data can be protected even if an attack is launched on the aerial moving body 1 by a suspicious person.

[0053] After the warning operation is performed in step S4, the processes of steps S2 and S3 may be performed again, and steps S5 and S6 may be performed only if it is determined that the suspicious person is still present. That is, only if there is a suspicious person who does not leave even after the aerial moving body 1 performs a warning operation, a coordinated operation by the disaster prevention equipment 2 is performed. In this way, when the suspicious person leaves due to the warning operation in step S4, the disaster prevention equipment 2 is not operated unnecessarily. Even if the operations of steps S5 and S6 are not performed, the processes of steps S7 to S9 may be performed to record information about the suspicious person.

[0054] Fig. 5 illustrates an operation performed when a fire is detected in the disaster prevention system 100 according to the embodiment 1. An example of the operation of the aerial vehicle 1, the disaster prevention equipment 2, and the server device 3 will be described with reference to Fig. 5.

[0055] The aerial moving body 1 performs operation control to move in the vicinity of the monitored object according to the travel route 111 (step S11). In the operation control, as described above, monitoring operations are also performed at each monitoring point. The aerial moving body 1 detects the presence or absence of a fire using the flame sensor 16 while moving in the sky (step S12). If a fire is not detected, the aerial moving body 1 returns to step S11 and continues the operation control. Here, it is assumed that the aerial moving body 1 detects a fire. In this case, the aerial moving body 1 reports that a fire has occurred (step S13). The fire report is performed by optical output from the light 17, audio output from the speaker 18, or a combination of these. By reporting the detection of a fire in this manner, it is possible to inform the manager of the monitored object or passersby of the occurrence of a fire and encourage them to extinguish the fire at an early stage.

[0056] Next, the aerial moving body 1 performs initial fire extinguishing (step S14). In initial fire extinguishing, the aerial moving body 1 spreads a fire extinguishing agent by the fire extinguisher sprayer 19. At this time, the direction of spreading the fire extinguishing agent by the fire extinguisher sprayer 19 can be determined based on the image captured by the camera 15 or based on the position of the flame detected by the flame sensor 16. In this way, the efficiency of fire extinguishing can be improved.

[0057] When a fire is detected, the aerial vehicle 1 may detect a person as described in step S2 of Fig. 4, and may also detect whether the behavior of the detected person satisfies the conditions for a possible arsonist. When a person satisfying the conditions for a possible arsonist is detected, the aerial vehicle 1 may spray fluorescent paint on the person. In this case, the aerial vehicle 1 uses a fluorescent paint sprayer equipped with fluorescent paint and a container for storing it.

[0058] Next, the aerial vehicle 1 notifies the disaster prevention equipment 2 of the detection of the fire and transmits a coordination signal requesting coordination regarding fire extinguishing or disaster prevention (step S15).

[0059] The disaster prevention equipment 2 that has received the linking signal performs a linking operation related to extinguishing the fire or reporting (step S16). If the disaster prevention equipment 2 is a drencher or a water cannon, it will spray water toward the location where the aerial vehicle 1 detected the fire. In this way, initial fire extinguishing can be realized. The drencher or water cannon may spray water toward a location to prevent the fire from spreading to a location where it is particularly desired to prevent burning, such as an important wooden cultural property. The location to which water is sprayed is determined in advance for each structure 200 to be monitored, and is stored in the control device of the disaster prevention equipment 2 or set in the disaster prevention equipment 2. If the disaster prevention equipment 2 is a fire alarm system, the fire alarm system may sound an emergency bell. By sounding the emergency bell, it is possible to notify the manager or the like of the occurrence of a fire. If the disaster prevention equipment 2 is an emergency electric field, it will call 110, 119, and a predetermined contact number by mechanical voice or the like. In this way, it is possible to quickly extinguish the fire and capture the arsonist. If the disaster prevention equipment 2 is a computer device capable of sending e-mails, the computer device sends an e-mail notifying the fire detection to a predetermined e-mail address of the manager, etc. Instead of sending an e-mail, the computer device may display a message notifying the fire detection on an application installed on a terminal such as a smartphone, tablet, or personal computer used by the manager, etc.

[0060] Next, the flying object 1 collects information about the surroundings (step S17). Specifically, the flying object 1 uses the camera 15 to capture images of the surroundings of the place where the fire was detected. The flying object 1 may increase in altitude to capture images of a wide range, and in this way, it is possible to capture an image of an arsonist if there is one. The flying object 1 may also capture images of the surroundings of the place where the fire was detected from multiple directions, and in this way, it is possible to capture an image of an arsonist if there is one among the onlookers. The flying object 1 may detect a person using the person detection unit 104 and capture an image of the place where the person was detected using the camera 15, and in this way, it is possible to capture an image of an arsonist if there is one. The flying object 1 may also capture images of cars and their license plates, as in step S7 of FIG. 4. The flying object 1 may also be equipped with a microphone (not shown) to collect sound as information.

[0061] The aerial mobile body 1 transmits the collected information, specifically, the photographed data captured by the camera 15, to the server device 3 (step S18). The photographed data stored in the server device 3 can be used to identify or track an arsonist who may be present at the scene of the fire. By storing the photographed data captured by the aerial mobile body 1 in the server device 3 located away from the aerial mobile body 1, the photographed data can be protected even if an attack is launched on the aerial mobile body 1 by an arsonist.

[0062] In addition, in steps S11 to S18, a case where the aerial moving body 1 detects a fire has been described as an example. However, if the disaster prevention equipment 2 is a fire alarm equipment, the aerial moving body 1 may start operation control to move in the vicinity of a monitoring target based on a signal indicating that a fire has been detected output from the disaster prevention equipment 2 to the aerial moving body 1. Also, if the aerial moving body 1 that has received a signal indicating that a fire has been detected is under operation control, it may perform an action such as increasing the operation speed and moving along the operation route 111, changing the operation route 111, or moving to a location where a fire has been detected.

[0063] Embodiment 2 In the first embodiment, an example was shown in which the aerial moving body 1 judges a suspicious person. In the present embodiment, a disaster prevention system 100A that allows a person to judge a suspicious person will be described. In the present embodiment, the differences from the first embodiment will be mainly described, and the same reference numerals will be used to designate the same components as those in the first embodiment, and the description thereof will be omitted.

[0064] 6 is a diagram illustrating a configuration example of a disaster prevention system 100A according to embodiment 2. The disaster prevention system 100A includes an administrator terminal 5 in addition to an aerial vehicle 1, a disaster prevention facility 2, and a server device 3.

[0065] The administrator terminal 5 is an operation terminal used by an administrator X of the structure 200 to be monitored. The administrator terminal 5 includes a display, an input unit such as a keyboard or a touch panel, a storage device, and a communication interface for communicating with the aerial moving body 1 via the network 4, and transmits and receives information to and from the aerial moving body 1. The administrator terminal 5 is a smartphone, a tablet computer, a laptop computer, a stationary computer, or a dedicated terminal.

[0066] In the disaster prevention system 100A of this embodiment, when the aerial moving body 1 detects a person, the image captured by the camera 15 is transmitted to the administrator terminal 5. The administrator terminal 5 displays the image captured by the aerial moving body 1 and uses this image to determine whether the administrator X is a suspicious person. Then, the administrator X who has determined that the administrator X is a suspicious person instructs the aerial moving body 1 from the administrator terminal 5 to deal with the suspicious person. A specific example will be described below with reference to FIG. 7.

[0067] Fig. 7 is a diagram for explaining the operation when a person is detected in the disaster prevention system 100A according to the second embodiment. The airborne moving body 1 performs operation control to move around the monitoring target in the same manner as in the first embodiment (step S20). The operation route 111 of the airborne moving body 1 may be determined as described in the first embodiment, or may be selected using the manager terminal 5. In the operation control, a monitoring operation is also performed at each monitoring point. The airborne moving body 1 detects a person by the camera 15 or a human sensor (not shown) while moving in the sky (step S21).

[0068] If no person is detected in step S21, the aerial moving body 1 returns to step S20 and continues the operation control. Here, it is assumed that a person is detected. In this case, the aerial moving body 1 photographs the person with the camera 15 and transmits the photographed image to the manager terminal 5 (step S22).

[0069] When the administrator terminal 5 receives the captured image, it displays the captured image (step S23). The captured image is displayed using a dedicated application or a general-purpose application such as a browser that is pre-installed on the administrator terminal 5. The administrator looks at the displayed captured image and decides whether or not to call out to the person in the image. If the administrator determines that the person in the captured image is not a suspicious person or that there is no need to call out to them, he or she closes the display screen and ends the operation of the administrator terminal 5. However, here it is assumed that the administrator has determined that the person in the captured image is a suspicious person or may be a suspicious person and that it is necessary to call out to them.

[0070] The administrator terminal 5 accepts an operation to transmit the warning audio, and transmits the warning audio to the aerial moving body 1 based on the operation (step S24). The warning audio to be transmitted may be audio data pre-stored in the storage device of the administrator terminal 5. In this case, the administrator selects an appropriate one from multiple pieces of audio data stored in the administrator terminal 5, and transmits the selected audio data as the warning audio to the aerial moving body 1. The administrator terminal 5 may also be equipped with a microphone, and audio data of words uttered by the administrator collected by the microphone may be transmitted to the aerial moving body 1 as the warning audio. In this way, a warning audio appropriate to the situation can be transmitted, making it possible to effectively speak to suspicious people.

[0071] When the aerial moving body 1 receives the warning sound, it outputs the received warning sound from the speaker 18 (step S25). After that, the aerial moving body 1 photographs the location where the person was detected in step S21 and the person if a person was detected, and transmits the photographed image to the administrator terminal 5 (step S26).

[0072] When the administrator terminal 5 receives the captured image, it displays the captured image (step S27). The administrator looks at the displayed captured image and judges whether the suspicious person is still present or whether the suspicious person is behaving in a suspicious manner that may lead to arson, for example. If it is determined that the suspicious person has left or is not a suspicious person, the administrator closes the display screen and ends the operation of the administrator terminal 5, but here it is assumed that the suspicious person has not left.

[0073] Next, the administrator terminal 5 receives an instruction for an exit promotion operation (step S28). An exit promotion operation is an operation performed by the aerial moving body 1 to encourage the suspicious person to leave. The administrator terminal 5 displays one or more exit promotion operations stored in the storage device, and the administrator selects one of them. The administrator terminal 5 transmits an instruction for the selected exit promotion operation to the aerial moving body 1.

[0074] The airborne moving body 1 that has received the instruction to perform the exit promotion operation executes the exit promotion operation according to the instruction (step S29). The exit promotion operation is, for example, output of a warning sound from the speaker 18. In this case, a warning sound different from the warning sound output in step S25 may be output, and by outputting a plurality of types of warning sounds in this way, the suspicious person can be made to feel strongly that he or she is being watched, which leads to the promotion of exit. The exit promotion operation may also be a sound that notifies an emergency, such as an emergency bell or siren, from the speaker 18. The exit promotion operation may also be light irradiation by the light 17. The airborne moving body 1 may also be equipped with a water sprayer (not shown), and may perform the exit promotion operation by spraying water from the sky toward the suspicious person. The airborne moving body 1 may also transmit a signal to the disaster prevention equipment 2, and the disaster prevention equipment 2 that has received the signal may execute the cooperation operation described in step S6 of FIG. 4 as the exit promotion operation.

[0075] In this way, the disaster prevention system 100A of this embodiment allows the administrator using the administrator terminal 5 to determine whether or not a suspicious person is present, making it possible to make flexible decisions. Also, in this embodiment, the administrator can use the administrator terminal 5 to specify the warning sound and exit urging action to be issued to suspicious people, so that suspicious people can be more effectively urged to leave and arson can be suppressed.

[0076] It is also possible to combine the first and second embodiments and use the determination of a suspicious person by the flying object 1 and the subsequent warning operation, etc., together with the output of a warning sound based on an instruction from the manager terminal 5. In this case, for example, when the flying object 1 determines a suspicious person in step S3 of Fig. 4, the image captured at that time is transmitted to the manager terminal 5, and the manager terminal 5 executes the operation of step S23 and thereafter. In this way, it is possible to realize a flexible and more accurate promotion of the departure of suspicious people and prevention of arson. [Explanation of symbols]

[0077] 1 Aerial vehicle, 2 Disaster prevention equipment, 3 Server device, 4 Network, 5 Administrator terminal, 10 Control unit, 11 Memory unit, 12 Communication unit, 13 Position sensor, 14 Drive unit, 15 Camera, 16 Flame sensor, 17 Light, 18 Speaker, 19 Fire extinguisher, 100 Disaster prevention system, 100A Disaster prevention system, 101 Operation control unit, 102 Monitoring control unit, 103 Image processing unit, 104 Person detection unit, 105 Behavior detection unit, 106 Photography control unit, 107 Coordination control unit, 111 Operation route, 112 Voice data, 200 Structure, 201 Structure, 202 Tree, 203 Tree.

Claims

1. a traffic control unit that controls traffic according to a traffic route in the vicinity of a structure to be monitored; and a monitoring control unit that, when the vehicle reaches a monitoring point included in the travel route, executes a monitoring operation including at least one of a sound output, a light output, and an operation output that is predetermined in correspondence with the monitoring point. Aerial mobile.

2. A plurality of the travel routes are provided for one of the monitoring targets, The operation control unit selects one of the plurality of operation routes according to operation timing or randomly, and controls operation according to the selected operation route. The aerial vehicle according to claim 1.

3. The audio output includes an output of a human voice or footsteps, The light output includes a light output that moves the light irradiation direction up and down, moves horizontally, rotates, or a combination thereof; The motion output includes vertical movement, horizontal movement, rotation, or a combination of these motions of the aerial moving body. The aerial vehicle according to claim 1 or 2.

4. A camera and A person detection unit that detects a person; a behavior detection unit that, when a person is detected by the person detection unit, detects a behavior of the detected person based on an image captured by the camera, The monitoring control unit executes a warning operation to warn a person when the detected behavior of the person satisfies a predetermined condition. The aerial vehicle according to claim 1 or 2.

5. A flame sensor; When the flame sensor detects a fire, a camera is provided to capture an image of the area where the fire is detected. The aerial vehicle according to claim 1 or 2.

6. A disaster prevention system comprising the aerial moving body according to claim 1 or 2 and disaster prevention equipment communicatively connected to the aerial moving body, The aerial vehicle is A flame sensor; A communication unit that communicates with the disaster prevention equipment, When the flame sensor detects a fire, the communication unit transmits a link signal to the disaster prevention equipment, When the disaster prevention equipment receives the linking signal, the disaster prevention equipment executes a linking operation related to fire extinguishing or reporting. Disaster prevention system.

7. A disaster prevention system comprising the aerial moving body according to claim 1 or 2 and an administrator terminal communicatively connected to the aerial moving body, The aerial vehicle is A camera and A communication unit that communicates with the administrator terminal; A speaker is provided. The communication unit transmits the image captured by the camera to the administrator terminal, The administrator terminal displays the captured image and receives an input of a warning sound, The aerial moving object outputs the warning sound inputted at the manager terminal from the speaker. Disaster prevention system.

Images