Defense system

Abstract

To provide a defense system capable of capturing images of intruders intruding into a work area such as a factory or warehouse and defending cargo from the intruders.SOLUTION: There is provided a defense system 1 comprising a first unmanned aerial vehicle 100-1, a second unmanned aerial vehicle 100-2, a third unmanned aerial vehicle 100-3, and a control device 300, where the first unmanned aerial vehicle 100-1 includes a detection unit for detecting an intruder X and the second unmanned aerial vehicle 100-2 includes an image capturing unit for capturing images of the intruder X, while the third unmanned aerial vehicle 100-3 includes a water discharge unit for discharging a liquid toward the intruder X. The control device 300 causes the water discharge unit to discharge the liquid while causing the image capturing unit to capture images of the intruder when the intruder X is in a water discharge-permitted area, and causes the image capturing unit to capture images of the intruder without causing the water discharge unit to discharge the liquid when the intruder X is in a water discharge prohibited area.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 is expected to have a deterrent effect on intrusion. Furthermore, if there is a physical means that acts directly on the intruder's body, it will be possible to more reliably protect luggage from the intruder. [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 that is capable of photographing an intruder who has intruded into a work area of ​​a factory, warehouse, etc., and is capable of protecting luggage from the intruder. [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, a second unmanned aerial vehicle and a third unmanned aerial vehicle capable of hovering in a predetermined working area; A management device that controls the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle; 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 third unmanned aerial vehicle, A water discharge unit that discharges liquid toward the intruder is provided, The management device includes: a region setting unit that presets a water discharge permission region in which the discharge of the liquid is permitted and a water discharge prohibition region in which the discharge of the liquid is prohibited in the working region; an area determination unit that, when the detection unit detects the intruder, performs a first determination as to whether the intruder is in the water discharge permitted area or the water discharge prohibited area; and a water-discharge command unit which, when the intruder is in the water-discharge permitted area, causes the water-discharge unit to discharge the liquid and causes the photographing unit to photograph the intruder, and, when the intruder is in the water-discharge prohibited area, causes the water-discharge unit to photograph the intruder without causing the water-discharge unit to discharge the liquid.

[0008] In the defense system, The area determination unit is It is preferable that the first determination is made based on position information of the first unmanned aerial vehicle obtained from the first unmanned aerial vehicle.

[0009] The defense system comprises: The work area further includes a moving body provided with a water blocking board, the moving body moving in the work area; The region setting unit is a boundary area that is not included in either the water discharge permitted area or the water discharge prohibited area is set, The area determination unit is In the first determination, it is determined whether the intruder is in the boundary area; The water discharge command unit is When the intruder is in the boundary area, the moving body and the third unmanned aerial vehicle can be moved so that they face each other with the intruder in between, the liquid can be discharged from the water-discharge section, and the range of the liquid discharged can be limited by the waterproof board.

[0010] In the defense system, the movable body is a forklift equipped with a raisable mast assembly, The water blocking board is provided on the mast assembly, The forklift is The waterproof board can be configured to be raised and lowered by raising and lowering the mast device.

[0011] In the defense system, the moving body is a forklift equipped with a liftable fork, The water barrier is provided on the fork, The forklift is The water blocking board can be raised and lowered by raising and lowering the forks.

[0012] In the defense system, The third unmanned aerial vehicle, a light output unit that outputs visible light toward the intruder; A sound output unit that outputs a warning sound to the intruder, The water discharge command unit is When the intruder is in the water-discharge prohibited area, the light output unit may be configured to output the visible light and / or the sound output unit may be configured to output the warning sound.

[0013] 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 management device for controlling the unmanned aerial vehicle; A detection device for detecting an intruder who has intruded into the work area; A defense system comprising: The unmanned aerial vehicle is A water discharge unit that discharges liquid toward the intruder is provided, The management device includes: a region setting unit that presets a water discharge permission region in which the discharge of the liquid is permitted and a water discharge prohibition region in which the discharge of the liquid is prohibited in the working region; an area determination unit that, when the detection device detects the intruder, performs a first determination as to whether the intruder is in the water discharge permitted area or the water discharge prohibited area; The water-discharge control device is characterized in that it is provided with a water-discharge command unit that causes the water-discharge section to discharge the liquid when the intruder is in the water-discharge permitted area, and that does not cause the water-discharge section to discharge the liquid when the intruder is in the water-discharge prohibited area. Effect of the Invention

[0014] According to the present invention, it is possible to provide a defense system capable of photographing an intruder who has intruded into a work area such as a factory or a warehouse, and of defending luggage from the intruder. [Brief description of the drawings]

[0015] [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 third unmanned aerial vehicle of the present invention, and FIG. 1B is a block diagram of a control unit of the third 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] 1 is a diagram showing a water-discharge permitted area D1, a water-discharge prohibited area D2, and a boundary area D3. [Figure 6] FIG. 11 is a flow diagram of a defense process performed by the management device of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] 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.

[0017] 1 shows a defense system 1 according to one embodiment of the present invention. The defense system 1 is a system that can photograph an intruder X who has intruded into a predetermined work area 10 without permission, and can also defend luggage from the intruder X.

[0018] 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.

[0019] 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.

[0020] The multiple unmanned aerial vehicles 100 include at least one first unmanned aerial vehicle 100-1, at least one second unmanned aerial vehicle 100-2, and at least one third unmanned aerial vehicle 100-3. In this embodiment, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 have different roles, but most of their configurations are the same. The following description of the configuration will be given for the third unmanned aerial vehicle 100-3.

[0021] As shown in FIG. 2(A), the third unmanned aerial vehicle 100-3 includes a main body 110, a rotor 120, legs 130, a camera 140, a speaker 150, a lighting unit 160, a water discharge unit 170, and a control unit 180. In this embodiment, the third unmanned aerial vehicle 100-3 is a drone. In this embodiment, the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 are also drones.

[0022] The main body 110 includes a body provided with a speaker 150, an illumination unit 160, and a control unit 180, 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. A water discharge unit 170 is provided between the pair of legs 130.

[0023] Under the control of the control unit 180, 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.

[0024] The speaker 150 corresponds to the "sound output unit" of the present invention, and outputs a warning sound under the control of the control unit 180. The warning sound may be a message sound urging the intruder X to leave the working area 10, or may simply be a sound effect, or may be both. Note that the second unmanned aerial vehicle 100-2 does not have to be equipped with the speaker 150.

[0025] The lighting unit 160 corresponds to the "light output unit" of the present invention, and outputs visible light that blocks the view of the intruder X. The lighting unit 160 is composed of, for example, at least one LED light. The visible light output from the lighting unit 160 may change its output state. For example, it may be a light that is always on, or a light that flashes. The lighting unit 160 may also be equipped with an irradiation angle adjustment mechanism that can change the irradiation angle of the visible light. Note that the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 may not be equipped with the lighting unit 160.

[0026] The water-discharging section 170 includes a storage section 171 that stores the liquid L, a water-discharging nozzle 172 for discharging the liquid L, and a water-discharging mechanism (not shown) for sending the liquid L from the storage section 171 to the water-discharging nozzle 172. The water-discharging mechanism includes, for example, a flow path that connects the storage section 171 and the water-discharging nozzle 172, a pump provided in the flow path, a driving means (for example, an electric motor) that drives the pump, and a control valve provided in the flow path. The liquid L in this embodiment is water (for example, tap water).

[0027] 2(B), the control unit 180 includes a position information acquisition unit 181, a flight control unit 182, a camera control unit 183, an alarm unit 184, a lighting control unit 185, and a water discharge control unit 186. The control unit 180 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 181 is configured to be able to acquire the position information of the main body unit 110, 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 181 outputs the acquired position information to the flight control unit 182 and transmits the position information to the management device 300. Note that the position information acquisition unit 181 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 181 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 182 performs flight control of the main body unit 110 based on the position information of the position information acquisition unit 181 and the movement command (flight command) of the management device 300. Specifically, the flight control unit 182 performs rotation control of the rotor 120 as flight control of the main body unit 110. The flight control unit 182 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 third unmanned aerial vehicle 100-3 hovers (stops in the air), and when the rotation speeds of the four electric motors are simultaneously increased to the same extent from that state, the third unmanned aerial vehicle 100-3 rises, and when the rotation speeds of the four electric motors are changed at different rates, the traveling direction of the third unmanned aerial vehicle 100-3 can be changed. As a result, the third unmanned aerial vehicle 100-3 can fly to the destination according to the movement route (flight route) determined by the management device 300. The same applies to first unmanned aerial vehicle 100-1 and second unmanned aerial vehicle 100-2.

[0030] The camera control unit 183 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 183 also controls the infrared sensor and / or lighting. The camera control unit 183 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] The alarm unit 184 outputs an alarm sound from the speaker 150 based on an alarm command from the management device 300. The management device 300, for example, compares an image of a person captured by the camera 140 with an image of a person registered in advance (for example, an employee permitted to enter and exit the work area 10), and if the two do not match, determines that the person captured by the camera 140 is an intruder X, and transmits an alarm command to the alarm unit 184 to cause the speaker 150 to output an alarm sound. Note that if the second unmanned aerial vehicle 100-2 does not have the speaker 150, it does not have to have the alarm unit 184.

[0032] The lighting control unit 185 controls the on / off (on / off) of the lighting unit 160. If the lighting unit 160 has an irradiation angle adjustment mechanism, the lighting control unit 185 controls the irradiation angle adjustment mechanism to vary the irradiation angle of visible light. If the lighting unit 160 is configured to be able to change the output state of visible light, the lighting control unit 185 controls to change the output state of visible light. Note that if the first unmanned aerial vehicle 100-1 and / or the second unmanned aerial vehicle 100-2 does not have to have the lighting unit 160, it does not have to have the lighting control unit 185.

[0033] The water discharge control unit 186 controls the water discharge unit 170 based on a water discharge command from the management device 300. The water discharge control unit 186 controls, for example, the valves, pumps, and driving means of the water discharge mechanism to control the timing of water discharge and the flow rate of the liquid L to be discharged.

[0034] 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, a lighting unit 240, a sound source unit 250, a waterproof plate 260, and a control unit 270. In this embodiment, the forklift 200 is an unmanned forklift of a laser guidance type.

[0035] In addition, the forklift 200 may be an unmanned forklift other than a laser-guided forklift as long as it is capable of unmanned running, or may be a manned / unmanned forklift that is capable of switching between manned and unmanned running.

[0036] The cargo handling device 220 includes a mast 221 and a fork 222. The fork 222 moves up and down along the mast 221 under the control of the control unit 270. In addition, a water blocking board 260 is provided on the mast 221 and / or the fork 222.

[0037] 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.

[0038] The illumination unit 240 is, for example, composed of at least one LED light, and irradiates notification light toward the road surface in the forward direction of the vehicle body 210 under the control of the control unit 270. The illumination unit 240 may also include an illumination angle adjustment mechanism that varies the illumination angle of the notification light, and may be configured to change the output state of the notification light under the control of the control unit 270. The output state of the notification light is obtained by changing the blinking speed of the notification light, and includes, for example, five patterns: constant illumination, slow blinking, medium blinking, fast blinking, and off.

[0039] The sound source unit 250 is composed of, for example, at least one speaker, and outputs a warning sound under the control of the control unit 270. The warning sound includes, for example, an alarm sound that is output when an obstacle (for example, luggage placed on the road surface) is detected by an obstacle sensor provided in the vehicle body 210, and a melody that is output while traveling (to alert workers in the work area 10).

[0040] The waterproof board 260 is intended to prevent the liquid L discharged by the third unmanned air vehicle 100-3 from splashing on luggage (for example, luggage stored on the shelf 11). The waterproof board 260 includes at least one plate-shaped member, which is formed of a material that does not allow the liquid L to pass through (for example, a resin material or a metal material). The height dimension of the waterproof board 260 may be smaller than the mast 221 as shown in FIG. 3(A), or may be larger than the mast 221.

[0041] The waterproof board 260 may be provided directly on the mast 221 and / or the forks 222, or may be provided on the upper surface of a pallet that can be transported by the forks 222. In the latter case, the waterproof board 260 may be provided as side boards on the outer periphery (for example, the four sides, front, back, left and right) of the upper surface of the pallet so as to cover the periphery of the cargo placed on the pallet. In other words, the pallet is the base part of the waterproof board 260, and the side boards are the main body part of the waterproof board 260. In this configuration, the waterproof board 260 also functions as a waterproof pallet. Alternatively, the waterproof board 260 may be configured by fixing one plate-shaped member to the center of the upper surface of the pallet.

[0042] 3(B), the control unit 270 includes a position estimation unit 271, a travel control unit 272, a loading / unloading control unit 273, a lighting control unit 274, and a sound source control unit 275. The control unit 270 may be configured, for example, by a digital circuit using a microcontroller or a DSP, or may be configured by a circuit combining a digital circuit and an analog circuit.

[0043] The position estimation unit 271 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 271 corresponds to a calculation unit of the laser scanner 230. The position estimation unit 271 outputs the acquired position information to the traveling control unit 272, and transmits the position information to the management device 300. Note that the position estimation unit 271 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.

[0044] The travel control unit 272 performs travel control of the vehicle body 210 based on the position information of the position estimation unit 271 and a movement command (travel command) from the management device 300. This allows the forklift 200 to travel to the destination according to the travel route determined by the management device 300.

[0045] The loading / unloading control unit 273 controls the loading / unloading operation of 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, etc., commands to raise and lower the mast 221 and the forks 222 in order to move the water blocking board 260 up and down.

[0046] The illumination control unit 274 controls the on / off (lighting / extinguishing) of the illumination unit 240. If the illumination unit 240 has an irradiation angle adjustment mechanism, the illumination control unit 274 controls the irradiation angle adjustment mechanism to vary the irradiation angle of the notification light. In addition, if the illumination unit 240 is configured to be able to change the output state of the notification light, the illumination control unit 274 controls to change the output state of the notification light.

[0047] The sound source control unit 275 controls the sound source unit 250. Specifically, the sound source control unit 275 causes the sound source unit 250 to output a warning sound in response to a sensor signal from an obstacle sensor and a running state.

[0048] 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 (area setting unit 305a, area determination unit 305b, water discharge command unit 305c). 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.

[0049] The communication unit 301 wirelessly communicates with the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200. For example, the communication unit 301 receives image data of the camera 140 from the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3, and transmits various commands to the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200.

[0050] 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, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 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, the third unmanned aerial vehicle 100-3, and the forklift 200 together with a model diagram of the work area 10.

[0051] 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.

[0052] When the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 are made to perform support work for a manned forklift (not shown) (for example, guiding a manned forklift), the overall control unit 303 manages the flight of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3. For example, the overall control unit 303 creates a flight schedule for the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3, and determines a movement route for smoothly performing the support work. The overall control unit 303 notifies the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 of the movement route via the communication unit 301.

[0053] 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, when there are multiple workers in the work area 10 and the possibility of the intruder X invading is low. Note that in the second mode (normal mode), it is preferable for the forklift 200 to travel and perform loading and unloading operations with the waterproof board 260 removed.

[0054] The defense processing unit 305 includes an area setting unit 305a, an area determination unit 305b, and a water discharge command unit 305c. The defense processing unit 305 functions, for example, when the first mode (defense mode) is set in the mode setting unit 304.

[0055] 5, the area setting unit 305a predefines a water-discharge permitted area D1 in which the discharge of liquid L is permitted, a water-discharge prohibited area D2 in which the discharge of liquid L is prohibited, and a boundary area D3 in the working area 10. The water-discharge permitted area D1 is, for example, an area where the shelves 11 are provided, an area where luggage is placed (excluding the shelves 11), and areas in the vicinity of these. The water-discharge prohibited area D2 is an area that is a predetermined distance or more away from the water-discharge permitted area D1. The boundary area D3 is an area that is not included in either the water-discharge permitted area D1 or the water-discharge prohibited area D2.

[0056] The area determination unit 305b performs a first determination as to whether the intruder X is in the water-discharge permitted area D1, the water-discharge prohibited area D2, or the boundary area D3, in response to a determination command from the water-discharge command unit 305c. The first determination will be described later.

[0057] When the first mode (defense mode) is set in the mode setting unit 304, the water discharge command unit 305c performs the defense processing shown in Fig. 6. During the defense processing, the water discharge command unit 305c transmits various commands to the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 via the communication unit 301.

[0058] For simplicity's sake, it is assumed that at the start of the defense processing, the first unmanned aerial vehicle 100-1 is flying in a designated area of ​​the work area 10, and the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200 are waiting at designated waiting locations in the work area 10.

[0059] At the start of the defense process shown in Figure 6, the first unmanned aerial vehicle 100-1 is taking video during flight with the camera 140. The water discharge command unit 305c 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).

[0060] If the image data shows the intruder X, the water discharge command unit 305c determines that the first unmanned aerial vehicle 100-1 has detected the intruder X (YES in S1). On the other hand, if the image data does not show the intruder X, the water discharge command unit 305c determines that the first unmanned aerial vehicle 100-1 has not detected the intruder X (NO in S1).

[0061] If the water discharge command unit 305c determines YES in step S1, it acquires the position information (position coordinates) of the intruder X, determines the movement routes of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200, and sends a movement command to the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200 (S2).

[0062] The water discharge command unit 305c acquires the position information (position coordinates) of the intruder X by analyzing the image data captured by the first unmanned aerial vehicle 100-1 using a known method. Alternatively, if 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 (intruder X), the water discharge command unit 305c may calculate the position coordinates of the intruder X based on the position information of the first unmanned aerial vehicle 100-1 (acquired from the position information acquisition unit 181), information related to the measurement results measured by the distance sensor, and the direction in which the first unmanned aerial vehicle 100-1 (camera 140) is facing.

[0063] As shown in FIG. 5, the movement routes R1 to R3 of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200 are determined so as to satisfy, for example, the following first condition, second condition, third condition and fourth condition.

[0064] 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 movement path 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).

[0065] The second condition is that the obstacle (the shelf 11 in this embodiment) does not exist between the end point A2 of the movement path R2 of the third unmanned aerial vehicle 100-3 and the intruder X. By satisfying this condition, it is expected that the third unmanned aerial vehicle 100-3 can reliably hit the liquid L on the intruder X.

[0066] The third condition is that the above-mentioned obstacle (the shelf 11 in this embodiment) does not exist between the end point A3 of the movement path R3 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 that the second unmanned aerial vehicle 100-2 is expected to be less likely to be discovered by the intruder X.

[0067] The fourth condition is that the intruder X is present on a straight line connecting the end point A2 and the end point A3. More specifically, the end point A2 and the end point A3 are set at positions where the tip of the water-discharging nozzle 172 faces the largest surface of the water-discharging board 260 and where the liquid L would directly hit the water-discharging board 260 if the intruder X was not present. By satisfying this condition, even if the intruder X avoids the liquid L discharged from the third unmanned aerial vehicle 100-3, the liquid L will hit the water-discharging board 260, so that the effect of limiting the discharge range of the liquid L can be expected. For example, in the case of FIG. 5, the splashing of the liquid L into the water-discharging prohibited area D2 can be suppressed.

[0068] After processing step S2, the water discharge command unit 305c determines whether the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 have completed their movements, i.e., whether they have arrived at the destinations A1, A2, and A3, respectively (S3). The water discharge command unit 305c performs the determination of step S3 based on the position information of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200.

[0069] When the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200 arrive at the destination points A1, A2 and A3, respectively (YES in S3), the water discharge command unit 305c sends a photography command to the second unmanned aerial vehicle 100-2 (S4).

[0070] Even if the second unmanned aerial vehicle 100-2 arrives at the destination point A1, it may not be possible to photograph the intruder X at the destination point A1 due to the influence of luggage stacked on the shelf 11 between the second unmanned aerial vehicle 100-2 and the intruder X (for example, luggage being placed in a position shifted from its designated location).

[0071] In this case, the water discharge command unit 305c transmits a movement command to move the second unmanned aerial vehicle 100-2 to a location where the intruder X can be photographed, and transmits a photographing command after the second unmanned aerial vehicle 100-2 has moved. For example, the water discharge command unit 305c 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 water discharge command unit 305c can determine whether or not the intruder X can be photographed at the destination point A1 based on the image data of the video.

[0072] The second unmanned aerial vehicle 100-2, which has received the image capture command, captures still images of the intruder X. The image capture command sets the image capture time and / or the number of images to be captured, and the second unmanned aerial vehicle 100-2 captures still images for the set image capture time and / or number of images, and transmits the image data to the water discharge command unit 305c. 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 travel route R1.

[0073] After performing the process of step S4, the water discharge command unit 305c outputs a judgment command to cause the area judgment unit 305b to perform a first judgment (S5). In the first judgment, the area judgment unit 305b judges whether the intruder X is in the water discharge permitted area D1, the water discharge prohibited area D2, or the boundary area D3.

[0074] The water discharge command unit 305c transmits a water discharge command to the third unmanned aerial vehicle 100-3 when the intruder X is in the water discharge permission area D1 or the boundary area D3, while transmitting a light output command and / or a sound output command to the third unmanned aerial vehicle 100-3 when the intruder X is in the water discharge prohibited area D2 (S6). The third unmanned aerial vehicle 100-3 discharges liquid L from the water discharge unit 170 when it receives a water discharge command, outputs visible light from the lighting unit 160 when it receives a light output command, and outputs a warning sound from the speaker 150 when it receives a sound output command. Note that when the intruder X is in the boundary area D3, the water discharge command unit 305c may transmit a water discharge command to reduce the flow rate of the liquid L to be discharged compared to when the intruder X is in the water discharge permission area D1.

[0075] In the processing of step S6, the water discharge command unit 305c may send a movement command to the second unmanned aerial vehicle 100-2 to return to the waiting location (the starting point of the movement route R1). Since the intruder X is distracted by the water discharge of the third unmanned aerial vehicle 100-3, the second unmanned aerial vehicle 100-2 can return to the waiting location without being noticed by the intruder X.

[0076] As described above, in the defense system 1, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, 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, the third unmanned aerial vehicle 100-3, 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, the third unmanned aerial vehicle 100-3, and the forklift 200 deal with three intruders X in different locations in the work area 10.

[0077] In the defense system 1, the first unmanned aerial vehicle 100-1 issues a warning to intruder X, the second unmanned aerial vehicle 100-2 photographs the intruder X, the third unmanned aerial vehicle 100-3 releases liquid L at the intruder X, and the forklift 200 limits the range of release of liquid L (protects cargo from liquid L), with the four vehicles sharing different roles.

[0078] Therefore, the attention of the intruder X can be dispersed, 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. Also, as described above, the third unmanned aerial vehicle 100-3 releases the liquid L on the intruder X, so that the liquid L can be directly applied to the body of the intruder X (wetting it in this embodiment), and the intruder X can be driven away. Therefore, according to the defense system 1 of this embodiment, it is possible to more reliably defend the luggage from the intruder X. Furthermore, in the defense system 1 of this embodiment, when the intruder X is in the water discharge prohibited area D2, the third unmanned aerial vehicle 100-3 does not release the liquid L, so that the luggage stored in the water discharge prohibited area D2 can be protected from the liquid L.

[0079] 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.

[0080] The defense system of the present invention is a defense system comprising an unmanned aerial vehicle capable of hovering in the air in a specified work area, a management device for controlling the unmanned aerial vehicle, and a detection device for detecting an intruder who has entered the work area, wherein the unmanned aerial vehicle is equipped with a water-discharge unit that discharges liquid toward the intruder, and the management device is equipped with an area setting unit that pre-sets in the work area a water-discharge permitted area in which discharge of liquid is permitted and a water-discharge prohibited area in which discharge of liquid is prohibited, an area determination unit that makes a first determination whether the intruder is in the water-discharge permitted area or the water-discharge prohibited area when the detection device detects an intruder, and a water-discharge command unit that causes the water-discharge unit to discharge liquid if the intruder is in the water-discharge permitted area, but does not cause the water-discharge unit to discharge liquid if the intruder is in the water-discharge prohibited area.The configuration can be modified as appropriate.

[0081] For example, the management device may be configured to be capable of data communication with a detection device such as a surveillance camera (e.g., a pan-tilt-zoom camera) arranged in the work area. When the management device 300 of the above embodiment is configured to be capable of data communication with the detection device, the surveillance camera detects the intruder X, so that the defense system 1 of the above embodiment does not need to include the first unmanned aerial vehicle 100-1.

[0082] In the defense system 1 of the above embodiment, instead of the second unmanned aerial vehicle 100-2, for example, a second forklift equipped with a camera 140 and a camera control unit 183 may be used. Also, in the defense system 1 of the above embodiment, instead of the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2, the above detection device may be used to warn of the intruder X and take a picture of the intruder X. Furthermore, instead of the forklift 200, for example, a fourth unmanned aerial vehicle equipped with a waterproof board 260 may be used.

[0083] The moving body of the present invention may be a moving body other than a forklift, or may be an unmanned aerial vehicle such as a drone. However, it is preferable that the moving body equipped with the water blocking board is a forklift.

[0084] In the above embodiment, the area setting unit 305a pre-sets a water-discharge permission area D1 in which the discharge of liquid L is permitted, a water-discharge prohibition area D2 in which the discharge of liquid L is prohibited, and a boundary area D3 in the working area 10, but it is also possible to set only the water-discharge permission area D1 and the water-discharge prohibition area D2.

[0085] In the above embodiment, water (e.g., tap water) is used as the liquid L, but any solution or dispersion may be used. As the solution or dispersion, for example, a solution that emits a pungent odor and / or a solution that emits light of a specific wavelength (e.g., a solution containing a phosphorescent material that emits light in response to ultraviolet light) may be used. In addition, special paint such as fluorescent paint or magnetic paint may be used as the solution or dispersion. In this way, by using the above-mentioned special paint, water is sprayed on an intruder, making it easier to find the intruder even if the intruder is lost. In addition, when the defense system of the present invention includes two third unmanned aerial vehicles 100-3, the first one may spray water as the liquid L, and the second one may spray a solution or dispersion as the liquid L. [Explanation of symbols]

[0086] 1. Defense Systems 10 work area 11 Shelves 12 Reflector 100 Unmanned Aerial Vehicles 110 Main body 120 Rotor 130 Legs 140 Camera 150 Speaker 160 Lighting Department 170 Water discharge part 171 Storage unit 172 Water nozzle 180 Control Unit 200 Forklift 210 Body 220 Cargo handling equipment 221 Mast 222 Fork 230 Laser Scanner 240 Lighting Department 250 Sound Source Section 260 Waterproof board 270 Control Unit 300 Management device

Claims

1. A first unmanned aerial vehicle, a second unmanned aerial vehicle and a third unmanned aerial vehicle capable of hovering in a predetermined working area; A management device that controls the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle; 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 third unmanned aerial vehicle, A water discharge unit that discharges liquid toward the intruder is provided, The management device includes: a region setting unit that presets a water discharge permission region in which the discharge of the liquid is permitted and a water discharge prohibition region in which the discharge of the liquid is prohibited in the working region; an area determination unit that, when the detection unit detects the intruder, performs a first determination as to whether the intruder is in the water discharge permitted area or the water discharge prohibited area; and a water-discharge command unit that, when the intruder is in the water-discharge permitted area, causes the water-discharge unit to discharge the liquid and causes the photographing unit to photograph the intruder, and, when the intruder is in the water-discharge prohibited area, causes the water-discharge unit to photograph the intruder without discharging the liquid. A defense system characterized by:

2. The area determination unit is The first determination is made based on position information of the first unmanned aerial vehicle acquired from the first unmanned aerial vehicle.

2. The defense system according to claim 1 .

3. The work area further includes a moving body provided with a water blocking board, the moving body moving in the work area; The region setting unit is a boundary area that is not included in either the water discharge permitted area or the water discharge prohibited area is set, The area determination unit is In the first determination, it is determined whether the intruder is in the boundary area; The water discharge command unit is When the intruder is in the boundary area, the moving body and the third unmanned aerial vehicle are moved so that they face each other with the intruder in between, the liquid is discharged from the water discharge section, and the range of the liquid discharged is limited by the waterproof board.

2. The defense system according to claim 1 .

4. the moving body is a forklift equipped with a liftable fork, The water barrier is provided on the fork, The forklift is The fork is raised and lowered to raise and lower the water blocking board.

4. The defense system according to claim 3.

5. The third unmanned aerial vehicle, a light output unit that outputs visible light toward the intruder; A sound output unit that outputs a warning sound to the intruder, The water discharge command unit is When the intruder is in the water discharge prohibited area, the light output unit is caused to output the visible light and / or the sound output unit is caused to output the warning sound.

2. The defense system according to claim 1 .

6. An unmanned aerial vehicle capable of hovering in a predetermined work area; A management device for controlling the unmanned aerial vehicle; A detection device for detecting an intruder who has intruded into the work area; A defense system comprising: The unmanned aerial vehicle is A water discharge unit that discharges liquid toward the intruder is provided, The management device includes: a region setting unit that presets a water discharge permission region in which the discharge of the liquid is permitted and a water discharge prohibition region in which the discharge of the liquid is prohibited in the working region; an area determination unit that, when the detection device detects the intruder, performs a first determination as to whether the intruder is in the water discharge permitted area or the water discharge prohibited area; and a water discharge command unit that causes the water discharge unit to discharge the liquid when the intruder is in the water discharge permitted area, and does not cause the water discharge unit to discharge the liquid when the intruder is in the water discharge prohibited area. A defense system characterized by:

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