Defense system

Abstract

To provide a defense system that can capture a suspicious flying object intruding into a working area.SOLUTION: A defense system 1 includes: a facility 10 that has a working area; openings 20 that are provided in the facility 10, communicate the working area and an external area of the facility 10 with each other in an open state, and block the working area and the external area from each other in a closed state; unmanned flying objects 100 that can hover in the air in the working area; and a management device 300 that manages the unmanned flying objects 100. When detecting a suspicious flying object X in the facility, the management device 300 performs switching control of switching between the open state and the closed state of the openings 20, to bring the openings 20 into the closed state.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Conventionally, in a work area such as a factory or a warehouse, an unmanned aerial vehicle called a drone has been used. For example, Patent Document 1 describes a guidance system including a manned transport vehicle operated by an operator, one unmanned aerial vehicle capable of hovering in the air, and a management device for controlling the unmanned aerial vehicle.

[0003] In the guidance system described in Patent Document 1, the unmanned aerial vehicle is provided with a projector that projects a guidance image onto the road surface. The guidance image shows, for example, an arrow indicating a specific direction and is projected onto the road surface in front of the manned transport vehicle. Thereby, the operator operating the manned transport vehicle is guided to the loading / unloading position by checking the guidance image.

[0004] In recent years, the popularity of an unmanned transport system that can reduce the labor load by using an unmanned transport vehicle instead of a manned transport vehicle and making the system unmanned has been progressing. However, when adopting an unmanned system in a work area such as a factory or a warehouse, there is a risk that goods stored on shelves or the like in the work area may be stolen or damaged by a person who has entered the work area without permission (hereinafter referred to as an intruder).

[0005] Furthermore, in the case of a well-prepared intruder, there is a risk of using the unmanned aerial vehicle to enter a work area such as a factory or a warehouse and secretly photographing the work area with the camera of the unmanned aerial vehicle. In this regard, if an unidentified unmanned aerial vehicle (hereinafter referred to as a suspicious flying object) that has entered the work area can be detected, the suspicious flying object can be captured, and the secret photographing of the work area can be interrupted. Also, it may be possible to identify the owner from the captured suspicious flying object.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-52629 Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention has been made in consideration of the above circumstances, and its object is to provide a defense system capable of capturing a suspicious flying object that has invaded a work area. [Means for solving the problem]

[0008] In order to solve the above problems, the defense system according to the present invention comprises: a facility having a work area; at least one opening provided in the facility, which, when in an open state, connects the work area with an area outside the facility and, when in a closed state, isolates the work area from the area outside; At least one unmanned aerial vehicle capable of hovering in the work area; a management device that manages the at least one unmanned aerial vehicle; A defense system comprising: The management device When a suspicious flying object other than the at least one unmanned flying object is detected in the facility, switching control is performed to switch the at least one opening between the open state and the closed state, and the at least one opening is brought to the closed state.

[0009] In the defense system, the at least one opening is a plurality of openings; The management device during the switching control The plurality of openings may be configured to be brought into the closed state at the same time or at different times.

[0010] In the defense system, The at least one opening is a plurality of openings, During the switching control, the management device is configured to calculate the distance between each of the plurality of openings and the suspicious flying object, and close the opening whose distance is equal to or less than a predetermined threshold value.

[0011] In the defense system, During the switching control, the management device acquires the position information of the suspicious flying object at a predetermined cycle, and moves the first unmanned aerial vehicle included in the at least one unmanned aerial vehicle toward the position of the position information. The first unmanned aerial vehicle is configured to perform a first defense operation to interfere with the flight of the suspicious flying object.

[0012] In the defense system, The first unmanned aerial vehicle is provided with a capture net for capturing the suspicious flying object, and as the first defense operation, the capture net can be configured to contact the suspicious flying object.

[0013] In the defense system, includes at least one cargo vehicle that performs a loading and unloading operation under the management of the management device in the work area, During the switching control, the management device moves the first cargo vehicle included in the at least one cargo vehicle toward the position of the position information. The first cargo vehicle is provided with a loading and unloading device for performing the loading and unloading operation, and can be configured to perform a second defense operation to interfere with the flight of the suspicious flying object by bringing the vehicle body or the loading and unloading device into contact with the suspicious flying object.

Advantages of the Invention

[0014] According to the present invention, it is possible to provide a defense system capable of capturing a suspicious flying object that has invaded a work area.

Brief Description of the Drawings

[0015] [Figure 1] FIG. 1 illustrates a defense system of the present invention. [Diagram 2] (A) is a perspective view showing the facility of the present invention, and (B) is a view showing the opening of the present invention. [Diagram 3] 1A is a diagram showing an unmanned aerial vehicle of the present invention, and FIG. 1B is a block diagram of a control unit of the unmanned aerial vehicle. [Figure 4] (A) A diagram showing the case where a capture net is held by one unmanned aerial vehicle. (A) A diagram showing the case where a capture net is held by two unmanned aerial vehicles. [Figure 5] 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 6] FIG. 2 is a block diagram of a management device according to the present invention. [Figure 7] FIG. 10 is a flow chart 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 this embodiment. The defense system 1 includes a facility 10, at least one unmanned aerial vehicle 100, at least one forklift 200 (corresponding to the "loading vehicle" of the present invention), and a management device 300 that manages the at least one unmanned aerial vehicle 100 and the at least one forklift 200.

[0018] Facility 10 is any building having a work area, such as a factory or a warehouse. A plurality of shelves 11 are provided in the work area of facility 10, and goods are stored on the shelves 11. The shelves 11 may be fixed stationary shelves, movable shelves configured to be movable under the control of the management device 300, or may include both. A plurality of reflectors (not shown) for laser guiding the forklift 200 are provided on the work area (for example, the inner wall surface of facility 10). Note that when the forklift 200 is not laser-guided, the plurality of reflectors are unnecessary. In addition, at least one opening 20 and a photographing device 30 are provided in the facility 10.

[0019] At least one opening 20 is, for example, an entrance / exit configured such that the unmanned aerial vehicle 100 and the forklift 200 can enter and exit. The entrance / exit constituting the opening 20 includes, for example, a door portion composed of a shutter and / or a sliding door, a signal receiving portion that receives a control signal from the management device 300, and an opening / closing drive portion that opens and closes (switches between an open state and a closed state) the door portion in accordance with the control signal of the management device 300. When the opening 20 is in the open state, it communicates the work area with the area outside the facility 10 (hereinafter referred to as the external area), while when it is in the closed state, it physically blocks the work area and the external area.

[0020] In the present embodiment, as at least one opening 20, three openings 20-1, 20-2, and 20-3 are provided at the positions shown in FIG. 1. However, the number, position, size, etc. of the openings 20 can be appropriately changed according to the configuration of the facility 10. In addition, at least one opening 20 may include a window configured such that the unmanned aerial vehicle 100 can enter and exit.

[0021] The imaging device 30 is a surveillance camera (e.g., a pan-tilt-zoom camera), which captures moving images and / or still images of the work area to generate image data and transmits the image data to the management device 300. In the present embodiment, one imaging device 30 is provided for each of the three openings 20-1, 20-2, and 20-3. The number and / or installation location of the imaging devices 30 can be changed as appropriate. Further, the unmanned aerial vehicle 100 may be made to function as a movable imaging device 30.

[0022] When a handling operation or the like is being performed by the forklift 200 in the work area, the opening 20 is usually in an open state. For this reason, as shown in Fig. 2(A), there is a risk that a suspicious flying object X different from the unmanned aerial vehicle 100 may enter the work area of the facility 10 from the open opening 20. When the suspicious flying object X enters the work area, as shown in Fig. 2(B), the imaging device 30 captures the suspicious flying object X. The imaging device 30 transmits the image data of the suspicious flying object X to the management device 300, and the management device 300 detects the suspicious flying object X based on the image data. Next, the management device 300 closes the opening 20 to confine the suspicious flying object X inside the facility 10. Details of these series of operations will be described later.

[0023] As shown in Fig. 1, at least one unmanned aerial vehicle 100 includes an unmanned aerial vehicle 100-1 and an unmanned aerial vehicle 100-2. The unmanned aerial vehicles 100-1 and 100-2 are for preventing the flight of the suspicious flying object X and correspond to the "first unmanned aerial vehicle" of the present invention. Since the unmanned aerial vehicles 100-1 and 100-2 have the same configuration, the following description of the configuration will be made with respect to the unmanned aerial vehicle 100-1.

[0024] As shown in Fig. 3(A), the unmanned aerial vehicle 100-1 includes a main body portion 110, a rotary wing 120, legs 130, a camera 140, a holding portion 150, and a control portion 160. The unmanned aerial vehicle 100-1 of the present embodiment is a drone, and the unmanned aerial vehicle 100-2 of the present embodiment is also a drone. Further, the suspicious flying object X is also a drone.

[0025] The main body 110 includes an airframe provided with a camera 140, a holding unit 150, and a control unit 160, and a plurality (four in this embodiment) of arms extending radially from the airframe. A rotary wing 120 is provided at the upper end of the tip of each arm, and a pair of legs 130 are provided at the lower part of the airframe.

[0026] Under the control of the control unit 160, the camera 140 captures video and / or still images during flight and transmits the image data of the captured images to the management device 300. Therefore, the camera 140 can also be used as the imaging device 30. The camera 140 may further include an infrared sensor and illumination for irradiating light during imaging.

[0027] The holding unit 150 is configured to sandwich and hold the capture net 151. As shown in FIG. 4(A), when the capture net 151 is held by one unmanned aerial vehicle 100-1, the holding unit 150 of the unmanned aerial vehicle 100-1 holds the center of the upper end of the capture net 151. As shown in FIG. 4(B), when the capture net 151 is held by two unmanned aerial vehicles 100-1 and 100-2, the holding unit 150 of the unmanned aerial vehicle 100-1 holds the string part attached to the left side of the upper end of the capture net 151, and the holding unit 150 of the unmanned aerial vehicle 100-2 holds the string part attached to the right side of the upper end of the capture net 151. Note that the holding unit 150 can adopt any known configuration as long as it can hold the capture net 151 during flight.

[0028] The capture net 151 is a net for obstructing the flight of the suspicious aircraft X or capturing the suspicious aircraft X. In this embodiment, the capture net 151 is a rectangular net, but its shape and size can be changed as appropriate. Also, for the material of the capture net 151, any material can be adopted as long as it does not break when it comes into contact with the suspicious aircraft X.

[0029] 3(B), the control unit 160 includes a position information acquisition unit 161, a flight control unit 162, a camera control unit 163, a capture net control unit 164, and a transmission unit 165. The control unit 160 may be configured, for example, by a digital circuit using a microcontroller or a DSP, or may be configured by a circuit that combines a digital circuit and an analog circuit.

[0030] The position information acquisition unit 161 is configured to acquire position information of the main body unit 110, for example, using a satellite positioning system such as GPS. The position information includes, for example, latitude information, longitude information, and altitude information. The position information acquisition unit 161 outputs the acquired position information to the flight control unit 162 and transmits the position information to the management device 300. Note that the position information acquisition unit 161 is not limited to a satellite positioning system such as GPS, and any known configuration can be adopted, for example, the configuration described in Patent Document 1. However, if the configuration described in Patent Document 1 is adopted, a ceiling marker must be installed on the ceiling of the facility 10. Furthermore, the position information acquisition unit 161 may identify the direction in which its own camera 140 is facing and transmit information regarding the direction to the management device 300 together with the position information. Alternatively, the management device 300 may analyze image data from the camera 140 to identify the direction in which the camera 140 is facing.

[0031] The flight control unit 162 performs flight control of the main body unit 110 based on the position information of the position information acquisition unit 161 and the movement command (flight command) of the management device 300. Specifically, the flight control unit 162 performs rotation control of the rotary wings 120 as flight control of the main body unit 110. The flight control unit 162 includes a processing unit that determines the rotation speeds of the four electric motors, and the four electric motors for rotating the rotary wings 120 at the determined rotation speeds. For example, if the rotation speeds of the four electric motors are made the same, the unmanned aerial vehicle 100-1 hovers (stops in the air), and if the rotation speeds of the four electric motors are simultaneously increased by the same degree from that state, the unmanned aerial vehicle 100-1 ascends, and if the rotation speeds of the four electric motors are changed at different rates, the traveling direction of the unmanned aerial vehicle 100-1 can be changed. Thereby, the unmanned aerial vehicle 100-1 can fly to the destination according to the movement route (flight route) determined by the management device 300. The same applies to the unmanned aerial vehicle 100-2.

[0032] The camera control unit 163 causes the camera 140 to capture a video and / or a still image during flight and transmit the image data to the management device 300. When the camera 140 is equipped with an infrared sensor and / or lighting, the camera control unit 163 also controls the infrared sensor and / or lighting. Further, the camera control unit 163 includes a storage unit that stores the captured video and / or still image. Thereby, even when the communication with the management device 300 is unstable, the captured video and / or still image can be stored.

[0033] The capture net control unit 164 controls the holding unit 150. Specifically, the capture net control unit 164 switches between a first state in which the holding unit 150 holds the capture net 151 and a second state in which the holding unit 150 releases (does not hold) the capture net 151. For example, when a sensor for detecting the weight of the capture net 151 is provided in the holding unit 150, when the capture net 151 captures the unidentified flying object X, the detection value of the sensor increases by the weight of the unidentified flying object X. The capture net control unit 164 determines that the unidentified flying object X has been captured based on the increase in the detection value of the sensor, and switches the holding unit 150 from the first state to the second state after a predetermined time has elapsed. Thereafter, an operator or forklift 200 inside the facility 10 collects the unidentified flying object X together with the capture net 151.

[0034] The transmitting unit 165 transmits transmission information regarding the identification ID at a predetermined cycle (for example, once per second). The identification ID is a unique ID assigned in advance for each unmanned aerial vehicle 100, and includes, for example, a registration symbol issued by the Ministry of Land, Infrastructure, Transport and Tourism and / or a manufacturing number determined by the manufacturer. The identification ID may be, for example, a Remote ID. The transmission information regarding the identification ID is transmitted to the management device 300 via a receiving unit (not shown). In the present embodiment, one receiving unit is provided at each of the three openings 20-1, 20-2, and 20-3, but it can be provided at any location. For example, a receiving unit can also be provided in the management device 300.

[0035] As shown in FIG. 5(A), the forklift 200 includes a vehicle body 210, a cargo handling device 220, a laser scanner 230 provided on the upper part of the vehicle body 210, and a control unit 240. In addition to normal cargo handling operations, the forklift 200 performs operations to interfere with the flight of the unidentified flying object X, and thus corresponds to the "first cargo vehicle" of the present invention.

[0036] The cargo handling device 220 includes a mast 221 and forks 222. The forks 222 perform a lifting and lowering operation along the mast 221 under the control of the control unit 240. In addition to the forks 222, or instead of the forks 222, the cargo handling device 220 may be provided with another attachment.

[0037] The laser scanner 230 includes a laser light source and a computing unit. The laser scanner 230 projects a laser around while rotating the laser light source, and detects the reflected light from a plurality of reflectors provided in the facility 10. The computing unit of the laser scanner 230 stores the positions of the reflectors on a predetermined map, and calculates the current location (self-location) of the vehicle body 210 based on the principle of triangulation. In this way, the forklift 200 travels along the movement route determined by the management device 300 while acquiring the current location information regarding the current location of the vehicle body 210.

[0038] As shown in FIG. 5(B), the control unit 240 includes a position estimation unit 241, a travel control unit 242, and a handling control unit 243. The control unit 240 may be configured by a digital circuit using, for example, a microcontroller, a DSP, etc., or may be configured by a circuit combining a digital circuit and an analog circuit.

[0039] The position estimation unit 241 recognizes the current location (self-location) of the vehicle body 210 and acquires the position information regarding the current location of the vehicle body 210. In the present embodiment, the position estimation unit 241 corresponds to the computing unit of the laser scanner 230. The position estimation unit 241 outputs the acquired position information to the travel control unit 242 and transmits the position information to the management device 300. Note that the position estimation unit 241 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 the own position by these methods, the laser scanner 230 is unnecessary.

[0040] The travel control unit 242 performs travel control of the vehicle body 210 based on the position information of the position estimation unit 241 and the movement command (travel command) of the management device 300. Thereby, the forklift 200 can travel to the destination along the movement route determined by the management device 300.

[0041] The handling control unit 243 performs handling control of the handling device 220 based on the handling commands of the management device 300. The handling commands in this embodiment include commands to raise and lower the mast 221 and the fork 222 in order to interfere with the flight of the suspicious flying object X, in addition to the normal handling commands related to the movement of goods and the like.

[0042] As shown in FIG. 6, the management device 300 includes a communication unit 301, a display unit 302, an overall control unit 303, and a defense processing unit 304. The management device 300 may be provided outside the facility 10 (external area) as shown in FIG. 1, or may be provided in the work area within the facility 10.

[0043] The communication unit 301 performs wireless communication with the opening 20, the imaging device 30, the unmanned aerial vehicles 100-1, 100-2, and the forklift 200. For example, the communication unit 301 receives image data from the imaging device 30 and the unmanned aerial vehicles 100-1, 100-2, and transmits various commands to the opening 20, the unmanned aerial vehicles 100-1, 100-2, and the forklift 200.

[0044] The display unit 302 is composed of, for example, a liquid crystal display. The display unit 302 displays the image captured by the imaging device 30 and the images captured by the cameras 140 of the unmanned aerial vehicles 100-1, 100-2. In addition, the display unit 302 may display the running information and handling work information of the forklift 200, or may display the moving routes of the unmanned aerial vehicles 100-1, 100-2 and the forklift 200 together with the model diagram of the work area.

[0045] The overall control unit 303 manages the running and handling work of the forklift 200. The overall control unit 303, for example, creates a schedule for the handling work of the forklift 200 and determines a moving route for smoothly performing the handling work. The overall control unit 303 notifies the forklift 200 of the moving route via the communication unit 301.

[0046] When the unmanned aircraft 100-1 and 100-2 are made to perform support work (for example, guiding a manned forklift) of a manned forklift not shown in the figure, the overall control unit 303 manages the flight of the unmanned aircraft 100-1 and 100-2. The overall control unit 303, for example, creates a flight schedule for the unmanned aircraft 100-1 and 100-2 and determines a movement route for smoothly performing the support work. The overall control unit 303 notifies the movement route to the unmanned aircraft 100-1 and 100-2 via the communication unit 301.

[0047] The defense processing unit 304 includes a storage unit 304A, a detection unit 304B, and a processing unit 304C. The defense processing unit 304 mainly performs control for detecting the suspicious aircraft X and control for capturing the suspicious aircraft X.

[0048] The storage unit 304A stores in advance the respective identification IDs of the unmanned aircraft 100-1 and 100-2 and the respective photo data of the unmanned aircraft 100-1 and 100-2. When the defense system 1 includes unmanned aircraft 100 other than the unmanned aircraft 100-1 and 100-2, their identification IDs and photo data are also stored in the storage unit 304A.

[0049] The detection unit 304B detects a flying object included in the image data by analyzing the image data generated by the imaging device 30 by a known method. Regarding the detection of the flying object, it is only necessary to be able to determine whether it is a flying object, and the determination of whether the flying object is the unmanned aircraft 100-1 or 100-2 or the suspicious aircraft X is performed by the processing unit 304C.

[0050] As described above, the processing unit 304C identifies whether the flying object included in the image data of the imaging device 30 is the unmanned aircraft 100-1 or 100-2 or the suspicious aircraft X. Specifically, the processing unit 304C performs the following sub-processing and main processing.

[0051] During the sub - process, the processing unit 304C collates the identification ID included in the transmission information of the flying object with the identification ID stored in the storage unit 304A. When the flying object is the unmanned aerial vehicle 100 - 1 or 100 - 2, the identification ID included in the transmission information corresponds to (matches) the identification ID stored in the storage unit 304A. When the flying object is the suspicious flying object X, the identification ID included in the transmission information does not correspond to (does not match) the identification ID stored in the storage unit 304A. Note that when the suspicious flying object X does not transmit transmission information, the processing unit 304C cannot obtain the transmission information from the suspicious flying object X.

[0052] During the main process, the processing unit 304C collates the image data of the imaging device 30 with the photo data stored in the storage unit 304A. When the flying object is the unmanned aerial vehicle 100 - 1 or 100 - 2, the flying object included in the image data corresponds to (matches) the unmanned aerial vehicles 100 - 1 and 100 - 2 included in the photo data. When the flying object is the suspicious flying object X, since the flying object included in the image data does not correspond to (does not match) the unmanned aerial vehicles 100 - 1 and 100 - 2 included in the photo data, the processing unit 304C identifies the flying object as the suspicious flying object X. Note that by pre - attaching an identification seal unique to the unmanned aerial vehicles 100 - 1 and 100 - 2, it is possible to make it easier for the processing unit 304C to collate. Also, the processing unit 304C may calculate the matching rate between the flying object in the image data and the photo data, and determine that they match when the matching rate is equal to or higher than a predetermined value (for example, 90%), and determine that they do not match when the matching rate is less than the predetermined value.

[0053] The processing unit 304C further performs switching control. During the switching control, the processing unit 304C closes the opening 20 from the open state to the closed state to confine the suspicious flying object X inside the facility 10, and transmits a capture command to the unmanned aerial vehicles 100 - 1, 100 - 2 and the forklift 200 in order to capture the suspicious flying object X.

[0054] 7 shows a series of defense processes performed by management device 300. For ease of explanation, it is assumed that unmanned aerial vehicles 100-1, 100-2 and forklift 200 are waiting at predetermined waiting locations in the work area when defense processes begin.

[0055] The photographing device 30 photographs the work area, generates image data, and transmits the image data to the management device 300. The management device 300 receives the image data of the photographing device 30 in real time via the communication unit 301 (S101).

[0056] The management device 300 that has received the image data detects the flying object contained in the image data using the detection unit 304B (S102). If the management device 300 cannot detect the flying object from the image data (NO in S102), it returns to the processing of step S101, while if the management device 300 can detect the flying object from the image data (YES in S102), it acquires the transmission information from the flying object via the receiving unit (S103).

[0057] Next, the processing unit 304C of the management device 300 performs a sub-process and compares the identification ID included in the transmitted information of the flying object with the identification ID stored in the memory unit 304A (S104). If the identification ID of the transmitted information corresponds to (matches) the identification ID in the memory unit 304A (YES in S104), the management device 300 determines that the flying object is the unmanned aerial vehicle 100-1 or 100-2 and returns to the processing of step S101. On the other hand, if the identification ID of the transmitted information does not correspond to (does not match) the identification ID in the memory unit 304A (NO in S104), the management device 300 proceeds to the processing of step S105. If the management device 300 was unable to acquire transmitted information from the flying object in step S103, it also determines NO in step S104 and proceeds to the processing of step S105.

[0058] In step S105, the processing unit 304C of the management device 300 performs main processing and collates the image data of the flying object detected by the detection unit 304B in step S102 with the photo data of the unmanned aerial vehicles 100-1 and 100-2 stored in the storage unit 304A (S105). If the flying object included in the image data corresponds to (matches) the unmanned aerial vehicle 100-1 or the unmanned aerial vehicle 100-2 included in the photo data (YES in S105), the management device 300 determines that the flying object is the unmanned aerial vehicle 100-1 or 100-2 and returns to the processing of step S101. Note that when NO in step S104 and YES in step S105, the management device 300 is considered to be unable to obtain transmission information from the unmanned aerial vehicles 100-1 and 100-2 due to some communication failure, a failure of the transmission unit 165, or the like.

[0059] If the flying object included in the image data does not correspond to (does not match) the unmanned aerial vehicles 100-1 and 100-2 included in the photo data (NO in S105), the processing unit 304C of the management device 300 identifies the flying object as a suspicious flying object X (S106). The processing unit 304C that has identified the flying object as the suspicious flying object X performs switching control and transmits a capture command to the unmanned aerial vehicles 100-1 and 100-2 and the forklift 200 (S107).

[0060] During switching control, the processing unit 304C controls the opening 20 to change the opening 20 from the open state to the closed state. The processing unit 304C of the present embodiment performs either the first switching control for closing the openings 20-1 to 20-3 in the same timing or the second switching control for closing the openings 20-1 to 20-3 at different timings. Whether to perform the first switching control or the second switching control can be set in advance in the management device 300.

[0061] The processing unit 304C for the first switching control transmits control signals for closing to the openings 20-1 to 20-3 at the same timing. As a result, the openings 20-1 to 20-3 are closed at the same timing.

[0062] The processing unit 304C for the second switching control transmits control signals for closing the openings 20-1 to 20-3 at different timings. The processing unit 304C may sequentially transmit the control signals in a preset order, or may perform a predetermined calculation to determine the transmission timing.

[0063] As an example of determining the transmission timing by a predetermined calculation, the processing unit 304C calculates the distances between the openings 20-1 to 20-3 and the suspicious flying object X, and can close the openings 20-1 to 20-3 whose calculated distances are equal to or less than a predetermined threshold value. For example, the processing unit 304C acquires the position information (position coordinates) of the suspicious flying object X by analyzing the image data generated by the imaging device 30 by a known method. Alternatively, when the imaging device 30 is provided with a distance sensor (for example, LiDAR, millimeter wave radar, or stereo camera) for measuring the distance to the suspicious flying object X, the processing unit 304C may calculate the position coordinates of the suspicious flying object X based on the position information of the imaging device 30 (assumed to be pre-stored in the storage unit 304A), the information regarding the measurement result measured by the distance sensor, and the direction in which the imaging device 30 is facing. The processing unit 304C can calculate the distances between the openings 20-1 to 20-3 and the suspicious flying object X using the position coordinates obtained as described above.

[0064] For example, when the suspicious flying object X enters from the opening 20-1, passes near the opening 20-2, and flies toward the opening 20-3, the processing unit 304C closes the openings 20-1, 20-2, and 20-3 in this order. Further, when the processing unit 304C once closes the openings 20-1 to 20-3, even if the above distance becomes larger than the threshold value as the suspicious flying object X flies, it is preferable to keep the closed state in order to confine the suspicious flying object X within the facility 10.

[0065] If a notification means (e.g., a rotating light, a display, and / or an alarm) is provided on the facility 10 (e.g., an outer wall of the facility 10), it is preferable that the processing unit 304C performs switching control to close the opening 20 and at the same time controls the notification means to notify workers outside the facility 10 of the presence of the suspicious flying object X. Furthermore, the processing unit 304C may also transmit a message or the like notifying an external device (e.g., a PC and / or a smartphone) of the presence of the suspicious flying object X via the communication unit 301 at the same time as performing the switching control.

[0066] Upon receiving the capture command, the unmanned aerial vehicles 100-1 and 100-2 fly toward the suspicious aerial vehicle X according to the movement route determined by the management device 300. The unmanned aerial vehicles 100-1 and 100-2 may each hold a capture net 151 as shown in FIG. 4(A), or may each hold a capture net 151 together as shown in FIG. 4(B). The unmanned aerial vehicles 100-1 and 100-2 bring the capture net 151 into contact with the suspicious aerial vehicle X (corresponding to the "first defense action" of the present invention) to prevent the flight of the suspicious aerial vehicle X or capture the suspicious aerial vehicle X.

[0067] Upon receiving the capture command, the forklift 200 travels toward the suspicious flying object X according to the travel route determined by the management device 300. The forklift 200 prevents the suspicious flying object X from flying by bringing the vehicle body 210 or the loading device 220 into contact with the suspicious flying object X (corresponding to the "second defense action" of the present invention).

[0068] The processing unit 304C of the management device 300 confirms that the suspicious aerial vehicle X has been captured and terminates the defense process (S108). The processing unit 304C can confirm that the suspicious aerial vehicle X has been captured based on image data from the cameras 140 of the unmanned aerial vehicles 100-1 and 100-2 and the detection values of the sensors that detect the weight of the capture nets 151 attached to the unmanned aerial vehicles 100-1 and 100-2. The captured suspicious aerial vehicle X is collected by a worker in the facility 10 or by the forklift 200.

[0069] According to the defense system 1 according to this embodiment, when a suspicious flying object X is detected, the processing unit 304C of the management device 300 performs switching control to close the openings 20-1 to 20-3, so that the suspicious flying object X can be confined within the facility 10. Further, according to the defense system 1 according to this embodiment, in a state where the suspicious flying object X is confined within the facility 10, the unmanned aerial vehicles 100-1 and 100-2 perform the first defense operation, and the forklift 200 performs the second defense operation, so that the flight of the suspicious flying object X can be more surely obstructed and the suspicious flying object X can be captured.

[0070] According to the defense system 1 according to this embodiment, since the processing unit 304C performs main processing for collating the image data of the imaging device 30 and the photo data stored in the storage unit 304A, the detection of the suspicious flying object X can be surely performed. Further, according to the defense system 1 according to this embodiment, before the main processing, the processing unit 304C performs sub-processing for collating the identification ID included in the transmission information of the flying object with the identification ID stored in the storage unit 304A, so that the frequency of performing the main processing can be reduced and the control load can be reduced.

[0071] As described above, the embodiment of the defense system according to the present invention has been described, but the present invention is not limited to the above embodiment.

[0072] The defense system according to the present invention includes a facility having a work area, at least one opening provided in the facility that communicates the work area and the external area of the facility when in an open state and blocks the work area and the external area when in a closed state, at least one unmanned aerial vehicle capable of hovering in the work area, and a management device that manages the at least one unmanned aerial vehicle. The management device performs switching control for switching between the open state and the closed state of the at least one opening when a suspicious flying object different from the at least one unmanned aerial vehicle is detected in the facility. If the at least one opening is to be closed, the configuration can be appropriately changed.

[0073] For example, in the above embodiment, the processing unit 304C of the management device 300 performs the sub-processing (S103 to S104) and the main process (S105) to identify the suspicious flying object X, but it may also perform only the main process (S105). In other words, steps S103 to S104 can be omitted.

[0074] In the above embodiment, in step S107, the processing unit 304C of the management device 300 performs switching control to close the openings 20-1 to 20-3 and sends a capture command to the unmanned aerial vehicles 100-1, 100-2 and the forklift 200. However, it is also possible to perform only switching control to close the openings 20-1 to 20-3. By performing switching control, the suspicious aerial vehicle X can be confined within the facility 10.

[0075] The processing unit 304C in the above embodiment is configured to selectively perform either a first switching control that closes the openings 20-1 to 20-3 at the same timing, or a second switching control that closes the openings 20-1 to 20-3 at different timings, as switching control, but it may perform only the first switching control or only the second switching control.

[0076] In the above embodiment, the unmanned aerial vehicles 100-1 and 100-2 bring the capture net 151 into contact with the suspicious aerial vehicle X as the first defense action, but if they are not holding the capture net 151, they may also bring themselves (for example, their aircraft) into contact with the suspicious aerial vehicle X as the first defense action. Furthermore, the unmanned aerial vehicles 100-1 and 100-2 may hold an obstacle other than the capture net 151 (for example, a plate) as long as it can prevent the flight of the suspicious aerial vehicle X.

[0077] The forklift 200 in the above embodiment is a laser-guided unmanned forklift, but it may be an unmanned forklift other than a laser-guided one, or a manned / unmanned forklift that can switch between manned and unmanned running modes. The cargo handling vehicle of the present invention is not limited to a forklift, and may be a vehicle other than a forklift (for example, an unmanned guided vehicle) that performs some cargo handling operation.

Description of Symbols

[0078] 1 Defense System 10 Facility 11 Shelf 20 Opening 30 Photographing Device 100 Unmanned Aerial Vehicle 110 Main Body 120 Rotor 130 Leg 140 Camera 150 Holding Part 151 Capture Net 160 Control Unit 161 Position Information Acquisition Unit 162 Flight Control Unit 163 Camera Control Unit 164 Capture Net Control Unit 165 Transmitter 200 Forklift 210 Vehicle Body 220 Cargo Handling Device 221 Mast 222 Fork 230 Laser Scanner 240 Control Unit 241 Position Estimation Unit 242 Travel Control Unit 243 Cargo Handling Control Unit 300 Management Device 301 Communication Unit 302 Display Unit 303 Overall Control Unit 304 Defense Processing Unit

Claims

1. A facility having a work area, At least one opening provided in the facility, which communicates the work area and the external area of the facility when in an open state and blocks the work area and the external area when in a closed state, At least one unmanned aerial vehicle capable of hovering in the work area, A management device for managing the at least one unmanned aerial vehicle, A defense system comprising: The management device, When detecting a suspicious flying object different from the at least one unmanned aerial vehicle in the facility, performs switching control to switch between the open state and the closed state of the at least one opening, and sets the at least one opening to the closed state A defense system characterized by the above.

2. The at least one opening is a plurality of openings, During the switching control, the management device, Sets the plurality of openings to the closed state at the same timing or different timings The defense system according to claim 1, characterized by the above.

3. The at least one opening is a plurality of openings, During the switching control, the management device, Calculates the distance between each opening of the plurality of openings and the suspicious flying object, and sets the opening whose distance is equal to or less than a predetermined threshold value to the closed state The defense system according to claim 1, characterized by the above.

4. During the switching control, the management device, Acquires the position information of the suspicious flying object at a predetermined period, and moves the first unmanned aerial vehicle included in the at least one unmanned aerial vehicle toward the position of the position information, The first unmanned aerial vehicle, Performs a first defense operation to obstruct the flight of the suspicious flying object The defense system according to claim 1, characterized by the above.

5. The first unmanned aerial vehicle, Is provided with a capture net for capturing the suspicious flying object, and as the first defense operation, contacts the capture net with the suspicious flying object The defense system according to claim 4, characterized by the above.

6. Including at least one loading vehicle that performs loading and unloading operations under the management of the management device in the work area, During the switching control, the management device, Moves the first loading vehicle included in the at least one loading vehicle toward the position of the position information, The first loading vehicle, Is provided with a loading and unloading device for performing the loading and unloading operations, and performs a second defense operation to obstruct the flight of the suspicious flying object by contacting the vehicle body or the loading and unloading device with the suspicious flying object The defense system according to claim 4, characterized by the above.

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