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, a liquid supply device 300, and a control device 400, 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 holder for holding a hose tip of the liquid supply device 300. The control device 400 causes the second unmanned aerial vehicle 100-2 and the third unmanned aerial vehicle 100-3 to fly toward a detection point of the intruder X, and causes to capture images of the intruder, and while causing to discharge a liquid toward 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 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 first control unit that controls the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle; A liquid supply device; A second control unit that controls the liquid supply device; A defense system comprising: The liquid supply device includes: a hose portion including a hose base end portion into which liquid flows from a liquid supply source, a hose intermediate portion that serves as a flow path for the liquid, and a hose tip portion that discharges the liquid; a flow rate adjusting unit that adjusts the flow rate of the liquid discharged from the hose tip, 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 holder for holding the hose tip, The first control unit is When the detection unit detects the intruder, the second unmanned aerial vehicle and the third unmanned aerial vehicle are flown toward the detection position of the intruder, and the image capture unit of the second unmanned aerial vehicle is caused to capture an image of the intruder, The second control unit is When the third unmanned aerial vehicle arrives at the detection position, the flow rate adjustment unit is controlled to release the liquid from the hose tip with the hose tip facing toward the intruder.

[0008] The defense system comprises: Further comprising a moving body that moves in the working area, The liquid supply device includes: a tank portion in which the liquid is contained as the liquid supply source, The moving body is A tank holding portion for holding the tank portion is provided, The first control unit is When the detection unit detects the intruder, the moving body can be configured to move together with the third unmanned aerial vehicle.

[0009] In the defense system, the movable body including the tank holding unit is a forklift including a loading device, The tank may be configured to be held by the loading device.

[0010] In the defense system, The tank portion is a first tank for storing a first liquid as the liquid; a second tank configured to store a second liquid different from the first liquid as the liquid, The flow rate adjusting unit is At least one of the first liquid and the second liquid may be configured to flow into the hose proximal end.

[0011] In the defense system, The second control unit is making a first determination as to whether the intruder corresponds to a first intruder or a second intruder; When the intruder corresponds to the first intruder, the first liquid is discharged from the tip of the hose, whereas when the intruder corresponds to the second intruder, the second liquid or a mixture of the first liquid and the second liquid is discharged from the tip of the hose. It can be configured as follows.

[0012] In the defense system, for example, The first intruder is an intruder whose face has been photographed by the photographing unit, The second intruder is an intruder whose face was not photographed by the photographing unit.

[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 first control unit that controls the unmanned aerial vehicle; A liquid supply device; A second control unit that controls the liquid supply device; A detection device for detecting an intruder who has intruded into the work area; A defense system comprising: The liquid supply device includes: a hose portion including a hose base end portion into which liquid flows from a liquid supply source, a hose intermediate portion that serves as a flow path for the liquid, and a hose tip portion that discharges the liquid; a flow rate adjusting unit that adjusts the flow rate of the liquid discharged from the hose tip, The unmanned aerial vehicle is A holder for holding the hose tip, The first control unit is When the detection device detects the intruder, the unmanned aerial vehicle is flown toward the detected position of the intruder, The second control unit is When the unmanned aerial vehicle arrives at the detection position, the flow rate adjustment unit is controlled to release the liquid from the hose tip while the hose tip is facing toward the intruder. 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] 1 is a diagram showing a liquid supply device of the present invention; [Diagram 5] FIG. 2 is a block diagram of a management device according to the present invention. [Figure 6] FIG. 11 is a flow diagram of a defense process performed by the management device of the present invention. [Figure 7] A diagram showing an example of the movement paths of the second unmanned aerial vehicle, the third unmanned aerial vehicle, and the forklift of the present invention. [Figure 8] FIG. 13 is a diagram showing a modified example of the defense system 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), a liquid supply device 300, and a management device 400 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. The work area 10 in this embodiment 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 400, 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 holding 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 in which a speaker 150, an illumination unit 160, and a control unit 180 are provided, 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 holder 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 400. 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 outputs a warning sound under the control of the control unit 180. The warning 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. Note that the second unmanned aerial vehicle 100-2 does not have to be equipped with the speaker 150.

[0025] The illumination unit 160 outputs visible light and is, for example, composed of at least one LED light. The visible light output from the illumination unit 160 may change its output state. For example, the visible light may be a constantly lit light or a flashing light. The illumination unit 160 may also include an irradiation angle adjustment mechanism that can change the irradiation angle of the visible light. The first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 may not include the illumination unit 160.

[0026] Holding portion 170 holds hose tip portion 313, which will be described later. Holding portion 170 is formed with hole 171 through which hose tip portion 313 is inserted. Holding portion 170 fixes hose tip portion 313 in a state in which hose tip portion 313 is inserted into hole 171. In other words, hole 171 is a fixing means for fixing hose tip portion 313. Note that the fixing means is not limited to hole 171, and any configuration can be adopted.

[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, and a lighting control unit 185. 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 400. 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 400 by including it in the position information. Alternatively, the management device 400 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 400. 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 400. 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 400. 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 400 is unstable.

[0031] The alarm unit 184 outputs an alarm sound from the speaker 150 based on an alarm command from the management device 400. The management device 400, 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 need 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] 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, and a control unit 260. In this embodiment, the forklift 200 is an unmanned forklift of a laser guidance type.

[0034] 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.

[0035] The loading device 220 corresponds to the "tank holding unit" of the present invention, and 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 260. In addition, the fork 222 is provided with a liquid supply device 300. The loading device 220 may include an attachment for holding the liquid supply device 300 in addition to or instead of the fork 222.

[0036] 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 400 while acquiring current location information related to the current location of the vehicle body 210.

[0037] 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 260. 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 260. 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 lighting, slow blinking, medium blinking, fast blinking, and off.

[0038] 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 260. 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).

[0039] 3(B), the control unit 260 includes a position estimation unit 261, a travel control unit 262, a loading / unloading control unit 263, a lighting control unit 264, and a sound source control unit 265. The control unit 260 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.

[0040] The position estimation unit 261 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 261 corresponds to a calculation unit of the laser scanner 230. The position estimation unit 261 outputs the acquired position information to the traveling control unit 262, and transmits the position information to the management device 400. Note that the position estimation unit 261 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.

[0041] The travel control unit 262 controls the travel of the vehicle body 210 based on the position information of the position estimation unit 261 and the movement command (travel command) of the management device 400. This allows the forklift 200 to travel to the destination according to the travel route determined by the management device 400.

[0042] The cargo handling control unit 263 controls the cargo handling of the cargo handling device 220 based on the cargo handling command of the management device 400. The cargo handling command in this embodiment includes, in addition to normal cargo handling commands related to the movement of luggage, etc., a command to raise and lower the mast 221 and the fork 222 in order to move the liquid supply device 300 up and down.

[0043] The illumination control unit 264 controls the on / off (lighting / extinguishing) of the illumination unit 240. If the illumination unit 240 has an illumination angle adjustment mechanism, the illumination control unit 264 controls the illumination angle adjustment mechanism to vary the illumination 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 264 controls the change of the output state of the notification light.

[0044] The sound source control unit 265 controls the sound source unit 250. Specifically, the sound source control unit 265 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.

[0045] 3(A) and 4, liquid supplying device 300 includes hose portion 310, tank portion 320, and flow rate adjusting portion 330. Tank portion 320 contains first liquid L1 and second liquid L2, which correspond to the "liquid" of the present invention. Flow rate adjusting portion 330 is also contained in tank portion 320.

[0046] The hose section 310 comprises a hose base end 311 into which the first liquid L1 and / or the second liquid L2 flow from the tank section 320, a hose middle section 312 which serves as a flow path for the first liquid L1 and / or the second liquid L2, and a hose tip section 313 which discharges the first liquid L1 and / or the second liquid L2.

[0047] As shown in FIG. 4, the tank portion 320 includes a first tank 321 that contains a first liquid L1, a second tank 322 that contains a second liquid L2, a first flow path portion 323 that connects the first tank 321 to the flow rate adjustment portion 330, a second flow path portion 324 that connects the second tank 322 to the flow rate adjustment portion 330, a third flow path portion 325 that connects the flow rate adjustment portion 330 to the hose base end portion 311, and a pump 326 provided in the third flow path portion 325.

[0048] The pump 326 is provided with a driving means (for example, an electric motor) not shown. The pump 326 causes the first liquid L1 and / or the second liquid L2 to flow from the first tank 321 and / or the second tank 322 into the third flow path portion 325 via the flow rate adjustment portion 330, and delivers the liquid to the hose base end portion 311. The position of the pump 326 is not limited to the position in FIG. 4, and can be changed as appropriate.

[0049] The flow rate adjustment unit 330 adjusts the flow rate of the first liquid L1 and / or the second liquid L2. The flow rate adjustment unit 330 includes, for example, a first control valve provided at a connection portion between the first flow path portion 323 and the third flow path portion 325, and a second control valve provided at a connection portion between the second flow path portion 324 and the third flow path portion 325.

[0050] The first control valve and the second control valve can adjust the opening degree based on a water discharge command from the management device 400. In this embodiment, the sum of the opening degree of the first control valve and the opening degree of the second control valve is adjusted to a maximum of 100%. For example, when the opening degree of the first control valve is 100% and the opening degree of the second control valve is 0%, the first liquid L1 flows in the third flow path portion 325. When the opening degree of the first control valve is 0% and the opening degree of the second control valve is 100%, the second liquid L2 flows in the third flow path portion 325. When the opening degree of the first control valve is 50% and the opening degree of the second control valve is 50%, a mixture of the first liquid L1 and the second liquid L2 flows in the third flow path portion 325.

[0051] The first liquid L1 and the second liquid L2 are different types of liquid. The first liquid L1 in this embodiment is water (e.g., tap water). The second liquid L2 in this embodiment is a solution or dispersion. The solution or dispersion of the second liquid L2 is, 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). The solution or dispersion may also be a special paint such as fluorescent paint or magnetic paint. In this way, by using the above-mentioned special paint to spray water on the intruder X, it is made easier to find the intruder X even if he or she is lost sight of him or her.

[0052] 5, the management device 400 includes a communication unit 401, a display unit 402, a general control unit 403, a mode setting unit 404, and a defense processing unit 405 (a first control unit 405A and a second control unit 405B). The management device 400 is preferably provided outside the work area 10 as shown in FIG. 1, but may be provided inside the work area 10.

[0053] The communication unit 401 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 401 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.

[0054] The display unit 402 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 402. The display unit 402 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.

[0055] The overall control unit 403 manages the travel and loading / unloading operation of the forklift 200. For example, the overall control unit 403 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 403 notifies the forklift 200 of the travel route via the communication unit 401.

[0056] 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 403 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 403 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 403 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 401.

[0057] The mode setting unit 404 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 working 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 working 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 without holding the tank unit 320 of the liquid supply device 300.

[0058] The defense processing unit 405 includes a first control unit 405 A and a second control unit 405 B. The defense processing unit 405 functions when the first mode (defense mode) is set in the mode setting unit 404, for example.

[0059] When the first mode (defense mode) is set in the mode setting unit 404, the first control unit 405A and the second control unit 405B perform the defense processing shown in Fig. 6. During the defense processing, the first control unit 405A 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 401. During the defense processing, the second control unit 405B transmits a water discharge command to the liquid supply device 300 via the communication unit 401.

[0060] 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.

[0061] At the start of the defense process shown in Fig. 6, the first unmanned aerial vehicle 100-1 is taking video during flight with the camera 140. The first control unit 405A 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).

[0062] If the image data shows the intruder X, the first control unit 405A 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 first control unit 405A determines that the first unmanned aerial vehicle 100-1 has not detected the intruder X (NO in S1).

[0063] If the first control unit 405A 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 movement commands to the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200 (S2).

[0064] The first control unit 405A 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 first control unit 405A 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.

[0065] As shown in FIG. 7, 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.

[0066] 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).

[0067] 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 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 will be able to reliably spray the first liquid L1 and / or the second liquid L2 on the intruder X.

[0068] 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.

[0069] The fourth condition is that the distance between movement path R2 and movement path R3 is not greater than a predetermined distance in a plan view. By satisfying this condition, hose middle section 312 can move with its length (linear distance) shortened. For example, hose middle section 312 can be wound around a take-up reel (not shown) provided in liquid supplying device 300 to shorten its linear distance.

[0070] In FIG. 7, the first control unit 405A determines the movement routes R2 and R3 so that the forklift 200 runs parallel to the third unmanned aerial vehicle 100-3 in a plan view, but if the forklift 200 is moved together with the third unmanned aerial vehicle 100-3, the movement routes R2 and R3 can be changed as appropriate. For example, the first control unit 405A may determine the movement routes R2 and R3 so that the third unmanned aerial vehicle 100-3 flies directly above the forklift 200, or may determine the movement route R3 of the forklift 200 so that the forklift 200 moves with the third unmanned aerial vehicle 100-3 placed on a predetermined position (for example, on top of the head guard). In the latter case, the third unmanned aerial vehicle 100-3 flies toward the terminal point A2 at the time (or immediately before) the forklift 200 arrives at the terminal point A3.

[0071] After performing the process of step S2, the first control unit 405A 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 end points A1, A2, and A3, respectively (S3). The first control unit 405A 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.

[0072] 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 first control unit 405A sends a photography command to the second unmanned aerial vehicle 100-2 (S4).

[0073] 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).

[0074] In this case, the first control unit 405A 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 first control unit 405A 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 a position higher than the shelf 11, or to land 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 first control unit 405A can determine whether or not the intruder X can be photographed at the destination point A1 based on the image data of the video.

[0075] 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 second control unit 405B. 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.

[0076] After the first control unit 405A performs the process of step S4, the second control unit 405B performs the first judgment (S5). In the first judgment, the second control unit 405B judges whether the intruder X corresponds to the first intruder or the second intruder. In the second control unit 405B, conditions corresponding to the first intruder and conditions corresponding to the second intruder are preset. The first intruder in this embodiment is an intruder X whose face has been photographed by the camera 140 of the second unmanned aerial vehicle 100-2. The second intruder in this embodiment is an intruder X whose face has not been photographed by the camera 140 of the second unmanned aerial vehicle 100-2 (for example, an intruder X wearing a mask, or an intruder X wearing sunglasses and a mask, etc.). The second control unit 405B performs the first judgment based on the image data received from the second unmanned aerial vehicle 100-2.

[0077] The second control unit 405B transmits a first water discharge command to the liquid supplying device 300 when the intruder X corresponds to the first intruder, and transmits a second water discharge command to the liquid supplying device 300 when the intruder X corresponds to the second intruder. The first water discharge command is a water discharge command for discharging the first liquid L1 from the hose tip 313. The second water discharge command is a water discharge command for discharging the second liquid L2 from the hose tip 313. The second water discharge command may be a water discharge command for discharging a mixed liquid of the first liquid L1 and the second liquid L2 from the hose tip 313. Furthermore, the first water discharge command and / or the second water discharge command may include at least one of a command for outputting visible light from the lighting unit 160 toward the intruder X and a command for outputting a warning sound from the speaker 150.

[0078] The first control unit 405A may send a movement command to the second unmanned aerial vehicle 100-2 to return to the waiting location (starting point of the movement route R1) in parallel with the processing of step S6 by the second control unit 405B. Since the intruder X is distracted by the water spraying by 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.

[0079] 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.

[0080] 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, the third unmanned aerial vehicle 100-3 releases the first liquid L1 and / or the second liquid L2 toward the intruder X, and the forklift 200 transports the tank section 320, with the four vehicles sharing the same role.

[0081] This can divert the attention of the intruder X, making it difficult for him 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 first liquid L1 and / or the second liquid L2 onto the intruder X, so that the liquid can be applied directly to the body of the intruder X (wetting it, in this embodiment), causing the intruder X to retreat. Therefore, according to the defense system 1 of this embodiment, it is possible to more reliably defend luggage from the intruder X.

[0082] Furthermore, in the defense system 1 according to this embodiment, the type of liquid (first liquid L1 or second liquid L2) discharged from the hose tip 313 is changed depending on the type of intruder X (first intruder or second intruder). For example, according to the defense system 1 according to this embodiment, the second liquid L2, which is more effective in driving away an intruder X who is considered to be highly malicious, that is, an intruder X whose face could not be photographed by the camera 140 of the second unmanned air vehicle 100-2 (for example, an intruder X wearing a mask, etc.), is discharged. Therefore, according to the defense system 1 according to this embodiment, luggage can be defended against malicious intruders X.

[0083] The conditions for being a first intruder and the conditions for being a second intruder can be changed as appropriate. For example, the number of intruders X included in the image data received from the second unmanned aerial vehicle 100-2 may be used as a condition. For example, if there is one intruder X, the one intruder X may be determined as a first intruder, whereas if there are multiple intruders X, the multiple intruders X may be determined as second intruders.

[0084] 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.

[0085] [Variations] 8 shows a defense system 1' according to a modified example. The defense system 1' has the same configuration as the defense system 1 of the above embodiment, except that the defense system 1' does not include a forklift 200 and that the tank unit 320 of the liquid supply device 300 is fixed to the road surface of the work area 10.

[0086] The defense system 1' of the modified example has the same effects as the defense system 1 of the above embodiment, except for the effect of being able to transport the tank section 320 (for example, the effect of being able to move the hose tip section 313 while shortening the linear distance of the hose middle section 312).

[0087] [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 specified work area, a first control unit for controlling the unmanned aerial vehicle, a liquid supply device, a second control unit for controlling the liquid supply device, and a detection device for detecting an intruder who has entered the work area, wherein the liquid supply device comprises a hose section consisting of a hose base end into which liquid flows in from a liquid supply source, a hose middle section which serves as a flow path for the liquid, and a hose tip end which discharges the liquid, and a flow rate adjustment unit for adjusting the flow rate of liquid discharged from the hose tip end, the unmanned aerial vehicle comprises a holding section which holds the hose tip end, and when the detection device detects an intruder, the first control unit flies the unmanned aerial vehicle toward the detection position of the intruder, and when the unmanned aerial vehicle arrives at the detection position, the second control unit controls the flow rate adjustment unit to discharge liquid from the hose tip end with the hose tip facing toward the intruder, and the configuration can be modified as appropriate.

[0088] 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 400 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.

[0089] 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 the camera 140 and the 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 the intruder X and take a picture of the intruder X. Furthermore, instead of the forklift 200, for example, a fourth unmanned aerial vehicle capable of transporting the tank unit 320 may be used.

[0090] The moving body of the present invention may be a moving body other than a forklift, or may be an unmanned flying object such as a drone. However, the moving body that transports the tank portion of the liquid supplying device is preferably a forklift.

[0091] In the above embodiment, the first liquid L1 and the second liquid L2 are used as the liquids of the present invention, but only one of them may be used. Also, when the defense system of the present invention includes two third unmanned aerial vehicles 100-3 and two forklifts 200, only the first liquid L1 may be stored in the tank section 320 carried by the first forklift 200, and only the second liquid L2 may be stored in the tank section 320 carried by the second forklift 200.

[0092] When the liquid of the present invention is water (for example, tap water) alone, the liquid supply device does not need to include a tank unit. In this case, the base end of the hose is connected to a liquid supply source (for example, a water faucet). [Explanation of symbols]

[0093] 1,1' Defense System 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 Holding part 171 Hole 180 Control Unit 200 Forklift 210 Body 220 Cargo handling equipment 230 Laser Scanner 240 Lighting Department 250 Sound Source Section 260 Control Unit 300 Liquid supply device 310 Hose part 311 Hose base end 312 Hose middle section 313 Hose tip 320 Tank section 321 First Tank 322 No. 2 Tank 323 First flow path section 324 Second flow path section 325 Third flow path section 326 Pump 330 Flow rate adjustment section 400 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 first control unit that controls the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle; A liquid supply device; A second control unit that controls the liquid supply device; A defense system comprising: The liquid supply device includes: a hose portion including a hose base end portion into which liquid flows from a liquid supply source, a hose intermediate portion that serves as a flow path for the liquid, and a hose tip portion that discharges the liquid; a flow rate adjusting unit that adjusts the flow rate of the liquid discharged from the hose tip, 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 holder for holding the hose tip, The first control unit is When the detection unit detects the intruder, the second unmanned aerial vehicle and the third unmanned aerial vehicle are flown toward the detection position of the intruder, and the image capture unit of the second unmanned aerial vehicle is caused to capture an image of the intruder, The second control unit is When the third unmanned aerial vehicle arrives at the detection position, the flow rate adjusting unit is controlled to discharge the liquid from the hose tip end in a state where the hose tip end is facing the intruder. A defense system characterized by:

2. Further comprising a moving body that moves in the working area, The liquid supply device includes: a tank portion in which the liquid is contained as the liquid supply source, The moving body is A tank holding portion for holding the tank portion is provided, The first control unit is When the detection unit detects the intruder, the moving body is moved together with the third unmanned aerial vehicle.

2. The defense system according to claim 1 .

3. the movable body including the tank holding unit is a forklift including a loading device, The tank portion is held by the loading device.

3. The defense system according to claim 2.

4. The tank portion is a first tank for storing a first liquid as the liquid; a second tank configured to store a second liquid different from the first liquid as the liquid, The flow rate adjusting unit is At least one of the first liquid and the second liquid is caused to flow into the hose base end portion.

3. The defense system according to claim 2.

5. The second control unit is making a first determination as to whether the intruder corresponds to a first intruder or a second intruder; When the intruder corresponds to the first intruder, the first liquid is discharged from the tip of the hose, whereas when the intruder corresponds to the second intruder, the second liquid or a mixture of the first liquid and the second liquid is discharged from the tip of the hose.

5. The defense system according to claim 4.

6. The first intruder is an intruder whose face has been photographed by the photographing unit, The second intruder is an intruder whose face was not photographed by the photographing unit.

6. The defense system according to claim 5.

7. An unmanned aerial vehicle capable of hovering in a predetermined work area; A first control unit that controls the unmanned aerial vehicle; A liquid supply device; A second control unit that controls the liquid supply device; A detection device for detecting an intruder who has intruded into the work area; A defense system comprising: The liquid supply device includes: a hose portion including a hose base end portion into which liquid flows from a liquid supply source, a hose intermediate portion that serves as a flow path for the liquid, and a hose tip portion that discharges the liquid; a flow rate adjusting unit that adjusts the flow rate of the liquid discharged from the hose tip, The unmanned aerial vehicle is A holder for holding the hose tip, The first control unit is When the detection device detects the intruder, the unmanned aerial vehicle is flown toward the detected position of the intruder, The second control unit is When the unmanned aerial vehicle arrives at the detection position, the flow rate adjusting unit is controlled to discharge the liquid from the hose tip end with the hose tip end facing the intruder. A defense system characterized by:

Images