Defense system

Abstract

To provide a defense system capable of photographing an intruder who enters a working area in a factory, a warehouse or the like.SOLUTION: A defense system 1 comprises a first unmanned flying body 100-1, a second unmanned flying body 100-2, a moving body 200, and a management device 300, with the first unmanned flying body 100-1 comprising a detection part for detecting an intruder X who enters a working area 10, the second unmanned flying body 100-2 comprising a photographing part for photographing the intruder X, and the moving body 200 comprising an illumination part for outputting a dazzling light for obstructing a visual field of the intruder X. When the first unmanned flying body 100-1 detects the intruder X, the management device 300 makes the moving body 200 output the dazzling light until the second unmanned flying body 100-2 photographs the intruder X.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a defense system using an unmanned aerial vehicle. [Background technology]

[0002] Conventionally, unmanned aerial vehicles called drones have been used in work areas such as factories or warehouses. For example, Patent Document 1 describes a guidance system that includes a manned guided vehicle operated by an operator, one unmanned aerial vehicle capable of stopping in the air, and a management device that controls the unmanned aerial vehicle.

[0003] In the guidance system described in Patent Document 1, the unmanned aerial vehicle is equipped with a projector that projects a guidance image onto a road surface. The guidance image, for example, displays an arrow pointing to a specific direction, and is projected onto the road surface in front of the manned guided vehicle. As a result, an operator operating the manned guided vehicle can be guided to the loading position by checking the guidance image.

[0004] In recent years, unmanned transport systems that can reduce the workload by using unmanned transport vehicles instead of manned transport vehicles are becoming more widespread. However, when unmanned systems are used in work areas such as factories or warehouses, there is a risk that a person who invades the work area without permission (hereinafter referred to as an intruder) may steal or destroy luggage stored on shelves in the work area. In this regard, if an intruder can be photographed, it will be possible to identify the intruder, which will be expected to have a deterrent effect on intrusion and protect the luggage. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-52629 A Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a defense system capable of photographing an intruder who has entered a work area such as a factory or warehouse. [Means for solving the problem]

[0007] In order to solve the above problem, a defense system according to one embodiment of the present invention comprises: A first unmanned aerial vehicle and a second unmanned aerial vehicle capable of hovering in a predetermined working area; A moving body that moves in the working area; A management device that controls the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the moving body; A defense system comprising: The first unmanned aerial vehicle, a detection unit for detecting an intruder who has intruded into the working area, The second unmanned aerial vehicle, a photographing unit for photographing the intruder, The moving body is A lighting unit that outputs dazzling light to block the view of the intruder, The management device includes: When the detection unit of the first unmanned aerial vehicle detects the intruder, the lighting unit of the moving body is caused to output the dazzling light until the photographing unit of the second unmanned aerial vehicle photographs the intruder.

[0008] In this configuration, until the second unmanned aerial vehicle's imaging unit photographs the intruder, the lighting unit of the moving body outputs dazzling light (visible light) to block the intruder's view, making it difficult for the intruder to notice the presence of the second unmanned aerial vehicle, thereby enabling the second unmanned aerial vehicle to photograph the intruder.

[0009] In the defense system, The lighting unit of the moving body includes: As the dazzling light, a flashing light that repeatedly turns on and off at a predetermined cycle is output, The management device includes: The second unmanned aerial vehicle can be configured to have the imaging unit capture an image of the intruder at least at the timing of turning the light on and / or turning the light off.

[0010] In the defense system, The management device includes: When the detection unit of the first unmanned aerial vehicle detects the intruder, determining a first movement path for the second unmanned aerial vehicle to approach the intruder and a second movement path for the moving vehicle to approach the intruder; It is preferable that an obstacle larger than the second unmanned aerial vehicle exists between the end point of the first movement path and the intruder.

[0011] In the defense system, The management device includes: When the working area is viewed in a planar view, the first movement path and the second movement path can be configured to be determined so as to satisfy the condition that the intruder is present in a triangular area whose vertices are the first unmanned aerial vehicle, the end point of the first movement path, and the end point of the second movement path.

[0012] In the defense system, The management device includes: The lighting unit of the moving body can be configured to output the dazzling light even after the imaging unit of the second unmanned aerial vehicle has captured an image of the intruder.

[0013] In the defense system, the moving body is a forklift equipped with a fork, The management device includes: The lighting unit of the forklift may be configured to output the dazzling light and to raise and lower the forks at a predetermined timing.

[0014] In the defense system, The moving body may be a third unmanned aerial vehicle capable of hovering in the air.

[0015] A defense system according to another embodiment of the present invention includes: An unmanned aerial vehicle capable of hovering in a predetermined work area; A moving body that moves in the working area; A management device that controls the unmanned aerial vehicle and the mobile vehicle; A defense system comprising: The unmanned aerial vehicle is a photographing unit for photographing an intruder who has invaded the work area; The moving body is A lighting unit that outputs dazzling light to block the view of the intruder, The management device includes: The method is characterized in that the lighting unit of the moving body outputs the dazzling light while the unmanned aerial vehicle is flying toward the intruder and while the photographing unit of the unmanned aerial vehicle is photographing the intruder. Effect of the Invention

[0016] According to the present invention, it is possible to provide a defense system capable of photographing an intruder who has invaded a work area such as a factory or a warehouse. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing an example of a defense system of the present invention. [Diagram 2] 1A is a diagram showing a first unmanned aerial vehicle of the present invention, and FIG. 1B is a block diagram of a control unit of the first unmanned aerial vehicle. [Diagram 3] 1A is a diagram showing a forklift according to the present invention, and FIG. 1B is a block diagram showing a control unit of the forklift. [Figure 4] FIG. 2 is a block diagram of a management device according to the present invention. [Diagram 5] FIG. 11 is a flow diagram of a defense process performed by the management device of the present invention. [Figure 6] A diagram showing an example of the movement path of the second unmanned aerial vehicle and forklift of the present invention. [Figure 7]13A is a diagram showing a third unmanned aerial vehicle according to a modified example, and FIG. 13B is a block diagram of a control unit of the third unmanned aerial vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a defense system according to the present invention will be described with reference to the accompanying drawings.

[0019] 1 shows a defense system 1 according to one embodiment of the present invention. The defense system 1 is a system capable of photographing an intruder X who has invaded a predetermined work area 10 without permission.

[0020] The defense system 1 in this embodiment is composed of multiple unmanned aerial vehicles 100, at least one forklift 200 (corresponding to the ``mobile body'' of the present invention), and a management device 300 that controls the multiple unmanned aerial vehicles 100 and the at least one forklift 200.

[0021] The work area 10 is an area where the unmanned aerial vehicle 100 and / or the forklift 200 perform work. In this embodiment, the work area 10 is an area within any facility, including a factory or a warehouse. The work area 10 is provided with a plurality of shelves 11, and luggage is stored on the shelves 11. The shelves 11 may be fixed shelves, or may be movable shelves configured to be movable under the control of the management device 300, or may include both. In addition, the work area 10 (for example, the wall surface of the facility) is provided with a plurality of reflectors 12 for laser guidance of the forklift 200. Note that if the forklift 200 is not laser guided, the plurality of reflectors 12 can be omitted.

[0022] The multiple unmanned aerial vehicles 100 include at least one first unmanned aerial vehicle 100-1 and at least one second unmanned aerial vehicle 100-2. In this embodiment, the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 have different roles but the same configuration. The following description of the configuration will be given only for the first unmanned aerial vehicle 100-1.

[0023] 2(A), the first unmanned aerial vehicle 100-1 includes a main body 110, a rotor 120, legs 130, a camera 140, a speaker 150, and a control unit 160. In this embodiment, the first unmanned aerial vehicle 100-1 is a drone.

[0024] The main body 110 includes a body provided with a speaker 150 and a control unit 160, and a plurality of arms (four in this embodiment) extending radially from the body. A rotor 120 is provided at the upper tip of each arm, and a pair of legs 130 and a camera 140 are provided at the lower part of the body.

[0025] Under the control of the control unit 160, the camera 140 captures video and / or still images during flight and transmits image data of the captured images to the management device 300. The camera 140 may further include an infrared sensor and a light that emits light when capturing images. The camera 140 of the first unmanned aerial vehicle 100-1 corresponds to the "detection unit" of the present invention, and the camera 140 of the second unmanned aerial vehicle 100-2 corresponds to the "capture unit" of the present invention.

[0026] The speaker 150 outputs an alarm sound under the control of the control unit 160. The alarm sound may be a message sound that prompts the intruder X to leave the working area 10, or may be a simple sound effect, or may be both.

[0027] 2(B), the control unit 160 includes a position information acquisition unit 161, a flight control unit 162, a camera control unit 163, and an alarm unit 164. The control unit 160 may be configured, for example, by a digital circuit using a microcontroller or a DSP, or may be configured by a circuit that combines a digital circuit and an analog circuit.

[0028] The position information acquisition unit 161 is configured to be able to acquire the position information of the first unmanned aerial vehicle 100-1, and for example, uses a satellite positioning system such as GPS. The position information includes, for example, latitude information, longitude information, and altitude information. The position information acquisition unit 161 outputs the acquired position information to the flight control unit 162 and transmits the position information to the management device 300. The position information acquisition unit 161 is not limited to a satellite positioning system such as GPS, and can adopt any known configuration, for example, the configuration described in Patent Document 1. However, when the configuration described in Patent Document 1 is adopted, it is necessary to provide a ceiling marker on the ceiling of the working area 10. Furthermore, the position information acquisition unit 161 may identify the direction in which its own camera 140 is facing, and transmit information regarding the direction to the management device 300 by including it in the position information. Alternatively, the management device 300 may analyze the image data of the camera 140 to identify the direction in which the camera 140 is facing.

[0029] The flight control unit 162 performs flight control of the main body unit 110 based on the position information of the position information acquisition unit 161 and the movement command (flight command) of the management device 300. Specifically, the flight control unit 162 performs rotation control of the rotor 120 as flight control of the main body unit 110. The flight control unit 162 includes a processing unit that determines the rotation speed of the four electric motors, and four electric motors for rotating the rotor 120 at the determined rotation speed. For example, when the rotation speeds of the four electric motors are set to the same, the first unmanned aerial vehicle 100-1 hovers (stops in the air), and when the rotation speeds of the four electric motors are increased from that state by the same amount at the same time, the first unmanned aerial vehicle 100-1 rises, and when the rotation speeds of the four electric motors are changed at different rates, the direction of travel of the first unmanned aerial vehicle 100-1 can be changed. As a result, the first unmanned aerial vehicle 100-1 can fly to the destination according to the movement route (flight route) determined by the management device 300.

[0030] The camera control unit 163 causes the camera 140 to take video and / or still images during flight and transmits the image data to the management device 300. If the camera 140 is equipped with an infrared sensor and / or lighting, the camera control unit 163 also controls the infrared sensor and / or lighting. The camera control unit 163 also includes a storage unit for saving the taken video and / or still images. This allows the taken video and / or still images to be saved even when communication with the management device 300 is unstable.

[0031] If an intruder X is included in the image captured by the camera 140, the alarm unit 164 outputs an alarm sound from the speaker 150 based on an alarm command from the management device 300. For example, the management device 300 compares the image of a person captured by the camera 140 with an image of a person registered in advance (e.g., an employee permitted to enter and exit the work area 10), and if the two do not match, it determines that the person captured by the camera 140 is the intruder X and transmits an alarm command to the first unmanned aerial vehicle 100-1 to cause the speaker 150 to output an alarm sound.

[0032] As shown in Fig. 3(A), the forklift 200 includes a vehicle body 210, a loading device 220, a laser scanner 230 provided on the upper part of the vehicle body 210, an illumination unit 240, and a control unit 250. In this embodiment, the forklift 200 is an unmanned forklift using a laser guidance system. Note that the forklift 200 may be an unmanned forklift using a system other than a laser guidance system as long as it can perform unmanned traveling, or may be a manned / unmanned forklift that can switch between manned and unmanned traveling.

[0033] The loading / unloading device 220 includes a mast and a fork. The fork moves up and down along the mast under the control of the control unit 250.

[0034] The laser scanner 230 includes a laser light source and a calculation unit. The laser scanner 230 projects a laser around the surrounding area while rotating the laser light source, and detects reflected light from a plurality of reflectors 12 provided in the working area 10. The calculation unit of the laser scanner 230 stores the positions of the reflectors 12 on a predetermined map, and calculates the current location (self-position) of the vehicle body 210 based on the principle of triangulation. In this way, the forklift 200 travels along the travel route determined by the management device 300 while acquiring current location information related to the current location of the vehicle body 210.

[0035] The lighting unit 240 outputs dazzling light L (visible light) for blocking the view of the intruder X. The lighting unit 240 is configured, for example, with at least one LED light.

[0036] The illumination unit 240 includes an illumination angle adjustment mechanism, and can vary the illumination angle of the dazzling light L under the control of the control unit 250. For example, as shown in Fig. 3(A), the illumination unit 240 can illuminate the dazzling light L toward the road surface in the forward direction of the vehicle body 210 (L1), or illuminate the dazzling light L toward the front in the forward direction (L2). Note that the dazzling light L in the L1 state also functions as a notification light for notifying a worker in the work area 10 of the presence of the forklift 200 under normal circumstances.

[0037] The illumination unit 240 changes the output state of the dazzling light L under the control of the control unit 250. The output state of the dazzling light L is obtained by changing the blinking speed of the dazzling light L, and includes, for example, five patterns of constant lighting, slow blinking, medium blinking, fast blinking, and off. When the dazzling light L is a blinking light, the dazzling light L repeats turning on and off at a predetermined cycle set in advance.

[0038] 3(B), the control unit 250 includes a position estimation unit 251, a traveling control unit 252, a loading / unloading control unit 253, and a lighting control unit 254. The control unit 250 may be configured, for example, by a digital circuit using a microcontroller or a DSP, or may be configured by a circuit that combines a digital circuit and an analog circuit.

[0039] The position estimation unit 251 recognizes the current location (self-position) of the vehicle body 210, and acquires position information related to the current location of the vehicle body 210. In this embodiment, the position estimation unit 251 corresponds to a calculation unit of the laser scanner 230. The position estimation unit 251 outputs the acquired position information to the travel control unit 252, and transmits the position information to the management device 300. Note that the position estimation unit 251 may acquire its own position using a satellite positioning system such as GPS, or may acquire its own position using a system such as an electromagnetic induction sensor. When acquiring its own position using these methods, the laser scanner 230 is not necessary.

[0040] The travel control unit 252 performs travel control of the vehicle body 210 based on the position information of the position estimation unit 251 and a movement command (travel command) from the management device 300. This enables the forklift 200 to travel to the destination according to the travel route determined by the management device 300.

[0041] The loading / unloading control unit 253 controls the loading / unloading device 220 based on the loading / unloading command from the management device 300. The loading / unloading command in this embodiment includes, in addition to normal loading / unloading commands related to the movement of luggage, a command to raise and lower the forks to attract the attention of the intruder X.

[0042] The illumination control unit 254 controls the illumination unit 240. Specifically, the illumination control unit 254 controls to vary the irradiation angle of the illusion light L and to vary the output state of the illusion light L.

[0043] 4, the management device 300 includes a communication unit 301, a display unit 302, a general control unit 303, a mode setting unit 304, and a defense processing unit 305. The management device 300 is preferably provided outside the work area 10 as shown in FIG. 1, but may be provided inside the work area 10.

[0044] The communication unit 301 wirelessly communicates with the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the forklift 200. For example, the communication unit 301 receives image data from the camera 140 from the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2, and transmits various commands to the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the forklift 200.

[0045] The display unit 302 is configured, for example, with a liquid crystal display. Images captured by the cameras 140 of the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 are displayed on the display unit 302. The display unit 302 may also display travel information and loading / unloading work information of the forklift 200, or may display the travel paths of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the forklift 200 together with a model diagram of the work area 10.

[0046] The overall control unit 303 manages the travel and loading / unloading operation of the forklift 200. For example, the overall control unit 303 creates a schedule for the loading / unloading operation of the forklift 200 and determines a travel route for smoothly performing the loading / unloading operation. The overall control unit 303 notifies the forklift 200 of the travel route via the communication unit 301.

[0047] When the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 are made to perform support work for a manned forklift (not shown) (for example, guiding the manned forklift), the overall control unit 303 manages the flight of the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2. The overall control unit 303, for example, creates a flight schedule for the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 and determines a movement route for smoothly performing the support work. The overall control unit 303 notifies the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 of the movement route via the communication unit 301.

[0048] The mode setting unit 304 sets the mode of the defense system 1 to either a first mode (defense mode) or a second mode (normal mode). The first mode (defense mode) is a mode for photographing an intruder X who has invaded the work area 10. The second mode (normal mode) is a mode in which it is not necessary to photograph the intruder X, for example, a mode when there are multiple workers in the work area 10 and the possibility of the intruder X invading is low.

[0049] When the first mode (defense mode) is set in the mode setting unit 304, the defense processing unit 305 performs the defense processing shown in Fig. 5. For ease of explanation, it is assumed that the first unmanned aerial vehicle 100-1 is flying in a predetermined area of ​​the working area 10, and the second unmanned aerial vehicle 100-2 and the forklift 200 are waiting at a predetermined waiting location in the working area 10 at the start of the defense processing.

[0050] At the start of the defense process shown in FIG. 5, the first unmanned aerial vehicle 100-1 is taking video of itself while flying with the camera 140. The defense processing unit 305 receives image data from the camera 140 from the first unmanned aerial vehicle 100-1 in real time and determines whether the first unmanned aerial vehicle 100-1 has detected an intruder X (S1). If the image data shows the intruder X, the defense processing unit 305 determines that the first unmanned aerial vehicle 100-1 has detected the intruder X (YES in S1). If the image data does not show the intruder X, the defense processing unit 305 determines that the first unmanned aerial vehicle 100-1 has not detected the intruder X (NO in S1).

[0051] The defense processing unit 305, which has determined YES in step S1, transmits an alarm command to the first unmanned aerial vehicle 100-1 (S2). Upon receiving the alarm command, the first unmanned aerial vehicle 100-1 outputs an alarm sound from the speaker 150 to the intruder X. It is preferable that the first unmanned aerial vehicle 100-1 continue outputting the alarm sound until the intruder X leaves the working area 10.

[0052] Next, the defense processing unit 305 determines the movement route of the second unmanned aerial vehicle 100-2 and the forklift 200, and transmits a movement command to the second unmanned aerial vehicle 100-2 and the forklift 200 (S3).

[0053] As shown in FIG. 6, the defense processing unit 305 determines a first movement route R1 for the second unmanned aerial vehicle 100-2 to approach the intruder X, and a second movement route R2 for the forklift 200 to approach the intruder X. Here, the defense processing unit 305 can acquire the position information (position coordinates) of the intruder X by analyzing the image data captured by the first unmanned aerial vehicle 100-1 by a known method. In addition, when the first unmanned aerial vehicle 100-1 is equipped with a distance sensor (e.g., LiDAR, millimeter wave radar, or stereo camera) for measuring the distance to the target object (intruder X), the defense processing unit 305 may calculate the position coordinates of the intruder X based on the position information (acquired from the position information acquisition unit 161) of the first unmanned aerial vehicle 100-1, information on the measurement result measured by the distance sensor, and the direction in which the first unmanned aerial vehicle 100-1 (camera 140) is facing.

[0054] The first movement route R1 and the second movement route R2 are determined so as to satisfy at least the following first condition, second condition, third condition, and fourth condition.

[0055] The first condition is that an obstacle (in this embodiment, shelf 11) larger than the second unmanned aerial vehicle 100-2 exists between the end point A1 of the first movement route R1 of the second unmanned aerial vehicle 100-2 and the intruder X. By satisfying this condition, the second unmanned aerial vehicle 100-2 is hidden by the shelf 11, and it is expected that the second unmanned aerial vehicle 100-2 will be less likely to be discovered by the intruder X. It is preferable that the end point A1 is set at a location where the second unmanned aerial vehicle 100-2 can photograph the intruder X while hiding (for example, a location where the front of the second unmanned aerial vehicle 100-2 is between the luggage stored on the shelf 11).

[0056] The second condition is that the above-mentioned obstacle (the shelf 11 in this embodiment) does not exist between the end point A2 of the second movement path R2 of the forklift 200 and the intruder X. By satisfying this condition, the forklift 200 can attract the attention of the intruder X more than the second unmanned aerial vehicle 100-2, so similarly to the above, it can be expected that the second unmanned aerial vehicle 100-2 will be less likely to be discovered by the intruder X.

[0057] The third condition is that the timing at which the second unmanned aerial vehicle 100-2 arrives at the terminal point A1 is later than the timing at which the forklift 200 arrives at the terminal point A2. By satisfying this condition, it is expected that the second unmanned aerial vehicle 100-2 can be prevented from arriving at the terminal point A1 first and causing the intruder X to notice the presence of the second unmanned aerial vehicle 100-2. In order to satisfy the third condition, the defense processing unit 305 may include a command regarding the flight speed of the second unmanned aerial vehicle 100-2 and the travel speed of the forklift 200 in the movement command.

[0058] The fourth condition is that in a plan view, intruder X is present in a triangular area T whose vertices are first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2 (end point A1), and forklift 200 (end point A2). By satisfying this condition, intruder X can be surrounded by first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2 (shelf 11 where second unmanned aerial vehicle 100-2 is hidden), and forklift 200. This is expected to have the effect of ensuring that intruder X can be photographed.

[0059] After performing the process of step S3, the defense processing unit 305 transmits a light output command to the forklift 200 (S4). The forklift 200 that has received the light output command travels along the second movement route R2 to the end point A2 while emitting the dazzling light L.

[0060] Even after arriving at the destination A2, the forklift 200 continues to output the dazzling light L. In this example, the dazzling light L is a blinking light. The forklift 200 may directly irradiate the dazzling light L to the intruder X, or may indirectly irradiate the dazzling light L to the intruder X by reflecting the dazzling light L on the road surface or on the shelf 11. Whether to irradiate the light directly or indirectly can be preset in the management device 300, for example. After arriving at the destination A2, the forklift 200 may output the dazzling light L and perform a lifting operation to lift and lower the fork to attract the attention of the intruder X.

[0061] Next, the defense processing unit 305 determines whether the second unmanned aerial vehicle 100-2 is able to photograph the intruder X (S5). While checking the position information of the second unmanned aerial vehicle 100-2, if the second unmanned aerial vehicle 100-2 arrives at the destination point A1, the defense processing unit 305 determines that the second unmanned aerial vehicle 100-2 is able to photograph the intruder X (YES in S5).

[0062] On the other hand, if the second unmanned aerial vehicle 100-2 has not arrived at the end point A1, the defense processing unit 305 determines that the second unmanned aerial vehicle 100-2 cannot photograph the intruder X (NO in S5), and proceeds to the processing of step S3. If the intruder X moves, the defense processing unit 305 determines new first movement route R1 and second movement route R2 according to the position of the intruder X, and transmits a movement command (S3).

[0063] When the second unmanned aerial vehicle 100-2 arrives at the terminal point A1, the defense processing unit 305, which has determined YES in step S5, sends a photographing command to the second unmanned aerial vehicle 100-2 (S6). Here, even if the second unmanned aerial vehicle 100-2 arrives at the terminal point A1, it may not be possible to photograph the intruder X at the terminal point A1 due to the influence of luggage loaded on the shelf 11 between the second unmanned aerial vehicle 100-2 and the intruder X (for example, luggage being placed in a state shifted from the designated place, etc.).

[0064] In this case, the defense processing unit 305 transmits a movement command to move the intruder X to a location where it can be photographed, and transmits a photographing command after the second unmanned aerial vehicle 100-2 has moved. For example, the defense processing unit 305 transmits a movement command to raise or lower the second unmanned aerial vehicle 100-2 to move it to the front of the shelf 11 where there is no luggage, to move it to a position higher than the shelf 11, or to land it on the shelf 11, and transmits a photographing command after the second unmanned aerial vehicle 100-2 has moved. Since the second unmanned aerial vehicle 100-2 can fly to the destination point A1 while photographing a video, the defense processing unit 305 can determine whether or not it is possible to photograph the intruder X at the destination point A1 based on the image data of the video.

[0065] Furthermore, in this case, since there is a risk that the intruder X may become aware of the presence of the second unmanned aerial vehicle 100-2, it is preferable that the defense processing unit 305 transmits a command to the forklift 200 at the end point A2 to perform a loading operation, thereby attracting the attention of the intruder X to the forklift 200. The loading operation may be a lifting operation that simply lifts and lowers the fork, regardless of the load. That is, the forklift 200 lifts and lowers the fork while outputting the dazzling light L.

[0066] The second unmanned aerial vehicle 100-2, which has received the shooting command, takes still images of the intruder X. The shooting command sets the shooting time and / or the number of shots to be taken, and the second unmanned aerial vehicle 100-2 takes still images for the set shooting time and / or number of shots and transmits the image data to the defense processing unit 305.

[0067] In addition, in the photographing command, the photographing timing is set so that a still image of the intruder X is photographed at least at one of the timings when the dazzling light L is turned on and when it is turned off. In this embodiment, the photographing timing is set so that a plurality of still images of the intruder X are photographed both when the dazzling light L is turned on and when it is turned off. Therefore, in this embodiment, the intruder X can be photographed reliably.

[0068] In this embodiment, the second unmanned aerial vehicle 100-2 captures still images of the intruder X, but may capture video of the intruder X, or may capture both still images and video. The video may be a continuation of the video captured during flight along the first movement route R1.

[0069] The defense processing unit 305, which has received the image data of the intruder X, sends a standby command to the first unmanned aerial vehicle 100-1 and the forklift 200 to stay where they are, while sending a movement command to the second unmanned aerial vehicle 100-2 to return to the standby location (the starting point of the first movement route R1) (S7). The first unmanned aerial vehicle 100-1 continues to output a warning sound to the intruder X, and the forklift 200 continues to output the dazzling light L and / or raise and lower the fork. This allows the second unmanned aerial vehicle 100-2 to return to the standby location without being noticed by the intruder X.

[0070] As described above, in the defense system 1, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the forklift 200 form a group to deal with the intruder X. For this reason, in the defense system 1, it is preferable to increase the number of groups of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the forklift 200 according to the number of intruders X. For example, it is preferable that three groups of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the forklift 200 deal with three intruders X in different locations in the work area 10.

[0071] In addition, in the defense system 1, the first unmanned aerial vehicle 100-1 issues a warning to the intruder X, the second unmanned aerial vehicle 100-2 photographs the intruder X, and the forklift 200 outputs the dazzling light L, so that the roles are shared among the three. Therefore, even if the first unmanned aerial vehicle 100-1 is destroyed by the intruder X and is no longer able to output the warning sound, the forklift 200 can continue to output the dazzling light L, making it difficult for the intruder X to notice the presence of the second unmanned aerial vehicle 100-2. Therefore, according to the defense system 1 of this embodiment, the second unmanned aerial vehicle 100-2 can photograph the intruder X.

[0072] Although the embodiment of the defense system according to the present invention has been described above, the present invention is not limited to the above embodiment.

[0073] [Variations] For example, in the defense system 1, a third unmanned aerial vehicle 100-3 shown in FIG. 7(A) can be used instead of the forklift 200. The third unmanned aerial vehicle 100-3 has the same configuration as the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 of the above embodiment, except for the control unit 160' and the lighting unit 170.

[0074] As shown in Figure 7 (B), the control unit 160' of the third unmanned aerial vehicle 100-3 has the same configuration as the control unit 160 of the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 in the above embodiments, except that it is equipped with a lighting control unit 165.

[0075] The lighting unit 170 has the same function as the lighting unit 240 of the forklift 200 of the above embodiment. That is, the lighting unit 170 outputs dazzling light L (visible light) for blocking the view of the intruder X. The lighting unit 170 is composed of, for example, at least one LED light (in this modified example, multiple LED lights).

[0076] The illumination unit 170 includes an irradiation angle adjustment mechanism, and can vary the irradiation angle of the dazzling light L under the control of the illumination control unit 165. Furthermore, the illumination unit 170 changes the output state of the dazzling light L under the control of the illumination control unit 165. The output state of the dazzling light L is obtained by changing the blinking speed of the dazzling light L, and includes, for example, five patterns of constant lighting, slow blinking, medium blinking, fast blinking, and off. When the dazzling light L is a blinking light, the dazzling light L is repeatedly turned on and off at a predetermined cycle set in advance.

[0077] The lighting control unit 165 has the same function as the lighting control unit 254 of the forklift 200 of the above embodiment. That is, the lighting control unit 165 performs control to vary the irradiation angle of the dazzling light L and control to vary the output state of the dazzling light L.

[0078] In the defense system according to the modified example, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 work together to deal with the intruder X. The three share the roles of the first unmanned aerial vehicle 100-1 issuing a warning to the intruder X, the second unmanned aerial vehicle 100-2 taking pictures of the intruder X, and the third unmanned aerial vehicle 100-3 outputting the dazzling light L. Therefore, even if the first unmanned aerial vehicle 100-1 is destroyed by the intruder X and is no longer able to output the warning sound, the third unmanned aerial vehicle 100-3 can continue to output the dazzling light L, making it difficult for the intruder X to notice the presence of the second unmanned aerial vehicle 100-2.

[0079] Furthermore, since the third unmanned aerial vehicle 100-3 is smaller in size than the forklift 200, from the standpoint of attracting the attention of the intruder X, the defense system 1 using the forklift 200 makes it more reliable for the second unmanned aerial vehicle 100-2 to photograph the intruder X.

[0080] [Other variations] The defense system of the present invention is a defense system comprising an unmanned aerial vehicle capable of hovering in the air in a designated work area, a moving vehicle that moves in the work area, and a management device that controls the unmanned aerial vehicle and the moving vehicle, wherein the unmanned aerial vehicle is equipped with a photographing unit for photographing an intruder who has entered the work area, and the moving vehicle is equipped with a lighting unit that outputs dazzling light to block the intruder's view, and the management device can be configured as appropriate so long as it causes the lighting unit of the moving vehicle to output the dazzling light while the unmanned aerial vehicle is flying towards the intruder and while the photographing unit of the unmanned aerial vehicle is photographing the intruder.

[0081] For example, the management device may be configured to be capable of data communication with a surveillance camera (e.g., a pan-tilt-zoom camera) placed in the work area. When the management device 300 of the above embodiment is configured to be capable of data communication with the surveillance camera, the surveillance camera detects the intruder X, so that the first unmanned aerial vehicle 100-1 can be omitted in the defense system 1 of the above embodiment.

[0082] In addition, the moving body of the present invention may be a moving body other than a forklift, or an air vehicle other than a drone. However, from the viewpoint of attracting the attention of an intruder, a forklift is suitable as a moving body because it can perform a lifting and lowering operation of a fork. In other words, the forklift, under the control of the management device, can make it difficult for an intruder to notice the presence of the unmanned air vehicle by outputting dazzling light L (and in some cases, further performing a lifting and lowering operation of the fork) at least until the unmanned air vehicle photographs the intruder. [Explanation of symbols]

[0083] 1. Defense Systems 10 working area 11 Shelves 12 Reflector 100 Unmanned Aerial Vehicles 110 Main body 120 Rotor 130 Legs 140 Camera 150 Speaker 160 Control section 161 Location information acquisition unit 162 Flight Control Unit 163 Camera control unit 164 Alarm section 165 Lighting control unit 170 Lighting Department 200 Forklift 210 Body 220 Cargo handling equipment 230 Laser Scanner 240 Lighting Department 250 Control section 251 Position estimation part 252 Driving control unit 253 Cargo Handling Control Unit 254 Lighting control unit 300 Management device 301 Communications Department 302 Display section 303 General Control Unit 304 Mode setting section 305 Defense Department

Claims

1. A first unmanned aerial vehicle and a second unmanned aerial vehicle capable of hovering in the air in a predetermined working area; A moving body that moves in the working area; A management device that controls the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the moving body; A defense system comprising: The first unmanned aerial vehicle is a detection unit for detecting an intruder who has intruded into the working area, The second unmanned aerial vehicle, a photographing unit for photographing the intruder, The moving body is A lighting unit that outputs dazzling light to block the view of the intruder, The management device includes: When the detection unit of the first unmanned aerial vehicle detects the intruder, the illumination unit of the moving body outputs the dazzling light until the image capture unit of the second unmanned aerial vehicle captures an image of the intruder. A defense system characterized by:

2. The lighting unit of the moving body includes: As the dazzling light, a flashing light that repeatedly turns on and off at a predetermined cycle is output, The management device includes: The second unmanned aerial vehicle is caused to photograph the intruder at least at one of the timings of the turning on and the turning off.

2. The defense system according to claim 1 .

3. The management device includes: When the detection unit of the first unmanned aerial vehicle detects the intruder, determining a first movement path for the second unmanned aerial vehicle to approach the intruder and a second movement path for the moving vehicle to approach the intruder; An obstacle larger than the second unmanned aerial vehicle is present between the end point of the first movement path and the intruder.

2. The defense system according to claim 1 .

4. The management device includes: The first movement path and the second movement path are determined so as to satisfy a condition that, when the working area is viewed in a plan view, the intruder is present in a triangular area having vertices of the first unmanned aerial vehicle, the end point of the first movement path, and the end point of the second movement path.

4. The defense system according to claim 3.

5. The management device includes: The illumination unit of the moving body outputs the dazzling light even after the image capturing unit of the second unmanned aerial vehicle captures the image of the intruder.

2. The defense system according to claim 1 .

6. the moving body is a forklift equipped with a fork, The management device includes: The illumination unit of the forklift is caused to output the dazzling light, and the fork is caused to ascend and descend at a predetermined timing.

2. The defense system according to claim 1 .

7. The moving body is a third unmanned aerial vehicle capable of hovering in the air.

2. The defense system according to claim 1 .

8. An unmanned aerial vehicle capable of hovering in a predetermined work area; A moving body that moves in the working area; A management device that controls the unmanned aerial vehicle and the mobile vehicle; A defense system comprising: The unmanned aerial vehicle is a photographing unit for photographing an intruder who has invaded the work area, The moving body is A lighting unit that outputs dazzling light to block the view of the intruder, The management device includes: While the unmanned aerial vehicle is flying toward the intruder and while the image capturing unit of the unmanned aerial vehicle is capturing an image of the intruder, the dazzling light is output to the lighting unit of the moving body. A defense system characterized by:

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