Defense system

Abstract

To provide a defense system capable of tracking a suspicious flying object that has left a work area.SOLUTION: A defense system 1A includes a facility 10, a photographing device 30 that generates photographic data of a work area of the facility 10, an unmanned flying body 100 that generates video data during flight, and a control device 40A. The control device 40A performs first detection control to detect a suspicious flying object X that has entered the work area, second detection control to detect that the suspicious flying object X has left the facility, and tracking control to cause the unmanned flying body 100 to track the suspicious flying object X that has left the facility.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 known as 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, an unmanned aerial vehicle capable of hovering in the air, and a control 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 in 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 guided vehicles (AGVs) have been used instead of manned vehicles to reduce the workload. However, when unmanned systems are used in work areas such as factories or warehouses, there is a risk that items stored on shelves in the work area may be stolen or damaged by an unauthorized person (hereinafter referred to as an intruder).

[0005] Furthermore, a well-prepared intruder may misuse an unmanned aerial vehicle to infiltrate a work area such as a factory or warehouse and secretly photograph the work area using the unmanned aerial vehicle's camera. In this regard, if a suspicious unmanned aerial vehicle (hereinafter referred to as a suspicious aerial vehicle) that has invaded a work area can be captured, it may be possible to identify its owner from the captured suspicious aerial vehicle. Alternatively, it may be possible to identify the owner of the suspicious aerial vehicle by not capturing it and instead tracking the suspicious aerial vehicle as it leaves the work area. [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 tracking a suspicious flying object that has left 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; an imaging device that captures an image of the work area and generates imaging data; an unmanned aerial vehicle that takes videos during flight and generates video data; a control device that controls the unmanned aerial vehicle and acquires the photographic data and the video data; A defense system comprising: The control device A first detection control that detects a suspicious flying object different from the unmanned flying object that has invaded the work area based on the photographic data and / or the video data; A second detection control that detects that the suspicious flying object has left the facility based on the photographic data and / or the video data; The system is characterized by performing tracking control based on the video data, which causes the unmanned aerial vehicle to track the suspicious aerial vehicle that has left the facility.

[0009] In the defense system, The unmanned aerial vehicle is Equipped with a microphone to record sound during flight, The control device During the tracking control, the unmanned aerial vehicle can be configured to perform sound recording control to start recording.

[0010] In the defense system, The unmanned aerial vehicle is The microphone may be configured to include an adjustment unit for adjusting the height of the microphone.

[0011] In the defense system, The unmanned aerial vehicle is The system may be configured to include a jamming radio wave output unit that outputs jamming radio waves to interfere with the suspicious flying object's video transmission communications, and to output the jamming radio waves to the suspicious flying object.

[0012] The defense system comprises: a cargo handling vehicle that performs cargo handling work in the work area under the control of the control device, The loading vehicle is The system may be configured to include a jamming wave output device that outputs jamming waves to interfere with the suspicious flying object's video transmission communications, and to output the jamming waves to the suspicious flying object.

[0013] In the defense system, The facility is: a plurality of openings that, when in an open state, communicate the work area with an area outside the facility and, when in a closed state, isolate the work area from the area outside the facility; The control device When the suspicious flying object is detected, the device can be configured to perform switching control so that a first opening of the multiple openings that is within a predetermined range from the suspicious flying object is opened, while a second opening that is outside the predetermined range from the suspicious flying object is closed.

[0014] The defense system comprises: A guided unmanned aerial vehicle equipped with a capture net, The control device The guided unmanned aerial vehicle may be configured to guide the suspicious aerial vehicle to the first opening or to capture the suspicious aerial vehicle. [Effects of the Invention]

[0015] According to the present invention, a defense system can be provided that is capable of tracking suspicious flying objects that have left a work area. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing a defense system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram of a control device according to the first embodiment. [Figure 3] 1A is a diagram showing an unmanned aerial vehicle of a first embodiment, and FIG. 1B is a block diagram of a control unit of the unmanned aerial vehicle of the first embodiment. [Figure 4] FIG. 4 is a flowchart of the first half of the defense process performed by the control device of the first embodiment. [Figure 5] FIG. 10 is a flowchart of the latter half of the defense process performed by the control device of the first embodiment. [Figure 6] FIG. 10 is a diagram showing a defense system according to a second embodiment. [Figure 7] 10A is a diagram showing an unmanned aerial vehicle according to a second embodiment, and FIG. 10B is a block diagram of a control unit of the unmanned aerial vehicle according to the second embodiment. [Figure 8] 1A is a diagram showing a forklift according to a second embodiment, and FIG. 1B is a block diagram of a control unit of the forklift according to the second embodiment. [Figure 9] FIG. 10 is a flowchart of defense processing performed by a control device according to a second embodiment. [Figure 10] FIG. 10 is a diagram showing a defense system according to a third embodiment. [Figure 11] 10A and 10B are diagrams showing a single unmanned aerial vehicle according to the third embodiment holding a catching net, and two unmanned aerial vehicles according to the third embodiment holding a catching net. [Figure 12] FIG. 11 is a flowchart of defense processing performed by a control device according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] 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.

[0018] [First embodiment] 1 shows a defense system 1A according to the first embodiment. The defense system 1A includes a facility 10, an opening 20, an imaging device 30, a control device 40A, and at least one unmanned aerial vehicle 100 (100-1).

[0019] The facility 10 is any building having a work area where forklifts (not shown) and the like perform work, such as a factory or warehouse. The work area of ​​the facility 10 is provided with a plurality of shelves 11, and cargo 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 a control device 40A, or may include both. The work area (for example, the inner wall surface of the facility 10) is provided with a plurality of reflectors (not shown) for laser guidance of forklifts. Note that if forklifts are not laser guided, the plurality of reflectors are not necessary.

[0020] Opening 20 is, for example, an entrance configured to allow unmanned aerial vehicle 100 and / or a forklift to enter and exit. The entrance constituting opening 20 includes, for example, a door unit consisting of a shutter and / or a sliding door, a signal receiving unit that receives a control signal from control device 40A, and an opening / closing drive unit that opens and closes the door unit (switches between an open state and a closed state) in response to the control signal from control device 40A. When opening 20 is in the open state, it connects the work area with an area outside facility 10 (hereinafter referred to as the external area), and when in the closed state, it physically separates the work area from the external area.

[0021] In this embodiment, three openings 20-1, 20-2, and 20-3 are provided as the openings 20 at the positions shown in Fig. 1, but the number, positions, sizes, etc. of the openings 20 can be changed as appropriate depending on the configuration of the facility 10. In addition, the openings 20 may be windows configured to allow the unmanned aerial vehicle 100 to enter and exit.

[0022] The image capturing device 30 is a surveillance camera (e.g., a pan-tilt-zoom camera) that captures video and / or still images of the work area to generate image capturing data, and transmits the image capturing data to the control device 40A. In this embodiment, one image capturing device 30 is provided at each of the three openings 20-1, 20-2, and 20-3. The number and / or installation locations of the image capturing devices 30 can be changed as appropriate. In addition, since the unmanned aerial vehicle 100 can also capture video of the work area, the unmanned aerial vehicle 100 may function as a mobile image capturing device 30.

[0023] When loading and unloading work using a forklift is being performed in the work area, the opening 20 is usually left open. Therefore, there is a risk that a suspicious flying object (hereinafter referred to as a suspicious flying object X) different from the unmanned aerial vehicle 100 may enter the work area through the open opening 20. When the suspicious flying object X enters the work area, the image capturing device 30 transmits image capturing data of the suspicious flying object X to the control device 40A, and the control device 40A detects the suspicious flying object X based on the image capturing data. Details of these operations will be described later.

[0024] As shown in Fig. 2, the control device 40A includes a communication unit 41, a display unit 42, a general control unit 43, a memory unit 44, and a processing unit 45. The control device 40A may also include a remote controller for remotely operating the unmanned aerial vehicle 100. The control device 40A may be provided outside the facility 10 (external area) as shown in Fig. 1, or may be provided in a work area within the facility 10.

[0025] The communication unit 41 communicates wirelessly with the opening 20, the imaging device 30, and the unmanned aerial vehicle 100. For example, the communication unit 41 receives imaging data from the imaging device 30, receives video data from the unmanned aerial vehicle 100, and transmits various commands to the opening 20 and the unmanned aerial vehicle 100.

[0026] The display unit 42 is configured, for example, with a liquid crystal display. The display unit 42 displays the video captured by the imaging device 30 and the video captured by the unmanned aerial vehicle 100. The display unit 42 may also display forklift travel information and loading / unloading work information, may display the travel routes of the unmanned aerial vehicle 100 and forklift along with a model diagram of the work area, or may display the current location of the unmanned aerial vehicle 100 along with a map of the area around the facility 10.

[0027] The overall control unit 43 manages the travel and loading / unloading operations of the forklift. For example, the overall control unit 43 creates a schedule for loading / unloading operations by the forklift and determines a travel route to ensure smooth loading / unloading operations. The overall control unit 43 notifies the forklift of the travel route via the communication unit 41. Furthermore, when the unmanned aerial vehicle 100 is to perform support operations for the forklift (for example, guiding a manned forklift), the overall control unit 43 manages the flight of the unmanned aerial vehicle 100. For example, the overall control unit 43 creates a flight schedule for the unmanned aerial vehicle 100 and determines a travel route to ensure smooth execution of the support operations. The overall control unit 43 notifies the unmanned aerial vehicle 100 of the travel route via the communication unit 41.

[0028] The memory unit 44 is configured to store programs and various data for operating the control device 40A. The various data stored in the memory unit 44 include an identification ID and photographic data for the unmanned aerial vehicle 100. The identification ID is a unique ID assigned in advance to 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 set by the manufacturer. The identification ID may be, for example, a remote ID. The photographic data is data related to a photograph of the exterior of the unmanned aerial vehicle 100.

[0029] The processing unit 45 is configured to perform defense processing to detect a suspicious flying object X that has entered the work area and to track a suspicious flying object X that has left the work area. The defense processing includes first detection control, second detection control, tracking control, etc. Details of each control will be described later.

[0030] As shown in Figure 3(A), the unmanned aerial vehicle 100 (100-1) includes an airframe 110, a camera 120, a sound recording unit 130, and a control unit 140. The unmanned aerial vehicle 100 of this embodiment is a drone, and the suspicious aerial vehicle X is also a drone.

[0031] The airframe 110 comprises a main body 111, multiple arms 112 (four in this embodiment) extending radially from the main body 111, rotors 113 provided at the upper tip of each arm 112, and a pair of left and right legs 114 provided on the underside of the main body 111. The main body 111 houses a control unit 140 and a battery (not shown). The battery supplies power to each part of the unmanned aerial vehicle 100.

[0032] The camera 120 is provided on the front side of the main body 111. The camera 120 takes videos during flight under the control of the control unit 140, and transmits the video data of the taken videos to the control device 40A. The camera 120 may further include an infrared sensor and a light that emits light when taking pictures. The installation position of the camera 120 can be changed as appropriate.

[0033] The sound recording unit 130 is provided below the main body unit 111. The sound recording unit 130 includes a microphone 131, an adjustment unit 132, and a housing unit 133. The microphone 131 records sound during flight. The adjustment unit 132 adjusts the height of the microphone 131. The housing unit 133 is fixed to the below of the main body unit 111, holds the adjustment unit 132, and houses the microphone 131.

[0034] The adjustment unit 132 includes, for example, a rope and a winding device. One end of the rope is fixed to the microphone 131, and the other end of the rope is fixed to the winding device. The winding device rotates in a first direction (forward rotation) to wind the rope and shorten the distance between the microphone 131 and the main body unit 111, and rotates in a second direction (reverse rotation) to let out the rope and lengthen the distance between the microphone 131 and the main body unit 111.

[0035] 3(B), the control unit 140 includes a position information acquisition unit 141, a flight control unit 142, a camera control unit 143, a transmission unit 144, and a sound recording control unit 145. The control unit 140 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.

[0036] The position information acquisition unit 141 is configured to acquire position information of the aircraft 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 141 outputs the acquired position information to the flight control unit 142 and transmits the position information to the control device 40A. Note that the position information acquisition unit 141 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 141 may identify the direction in which its own camera 120 is facing and transmit information regarding the direction to the control device 40A together with the position information. Alternatively, the control device 40A may analyze video data from the camera 120 to identify the direction in which the camera 120 is facing.

[0037] The flight control unit 142 performs flight control of the airframe 110 based on the position information from the position information acquisition unit 141 and the movement command (flight command) from the control device 40A. Specifically, the flight control unit 142 controls the rotation of the rotors 113 as part of the flight control of the airframe 110. The flight control unit 142 includes four electric motors for rotating the rotors 113 at a predetermined rotation speed and a speed determination unit for determining the rotation speeds of the four electric motors. For example, if the rotation speeds of the four electric motors are set to the same speed, the unmanned aerial vehicle 100 will hover (stop in mid-air). If the rotation speeds of the four electric motors are increased simultaneously and by the same amount from that state, the unmanned aerial vehicle 100 will ascend. If the rotation speeds of the four electric motors are changed at different rates, the direction of travel of the unmanned aerial vehicle 100 can be changed. This allows the unmanned aerial vehicle 100 to fly to its destination along the movement path (flight path) determined by the control device 40A.

[0038] The camera control unit 143 causes the camera 120 to capture video during flight and transmits the video data to the control device 40A. If the camera 120 is equipped with an infrared sensor and / or lighting, the camera control unit 143 also controls the infrared sensor and / or lighting. The camera control unit 143 also includes a storage unit for saving the captured video. This allows the captured video to be saved even if communication with the control device 40A is unstable.

[0039] The transmitting unit 144 transmits transmission information related to the identification ID at a predetermined cycle (for example, once per second). The transmission information related to the identification ID is transmitted to the control device 40A via a receiving unit (not shown). In this embodiment, one receiving unit is provided for each of the three openings 20-1, 20-2, and 20-3, but the receiving units can be provided in any location. For example, the receiving unit can also be provided in the control device 40A.

[0040] The recording control unit 145 controls the recording unit 130. For example, the recording control unit 145 turns on the microphone 131 to perform recording, or turns off the microphone 131 to stop recording. The recording control unit 145 also transmits the audio data recorded by the recording unit 130 to the control device 40A, and controls the adjustment unit 132 to adjust the height of the microphone 131.

[0041] 4 and 5 show the defense processing performed by the processing unit 45. FIG.

[0042] Having started the defense processing, the processing unit 45 starts receiving the image capture data from the image capture device 30 and starts receiving the video data from the unmanned aerial vehicle 100 via the communication unit 41 (S101). If the processing unit 45 is receiving the image capture data and video data at the time of step S101 (for example, if it has been receiving data since before the defense processing started), it continues receiving the data.

[0043] Next, the processing unit 45 detects flying objects contained in the photographic data and / or video data (S102). The processing unit 45 detects flying objects contained in the photographic data and / or video data by analyzing the data using a known method. In step S102, it is sufficient to determine whether or not the data is a flying object.

[0044] If the processing unit 45 cannot detect a flying object from the data (NO in S102), it returns to the processing of step S101, whereas if the processing unit 45 can detect a flying object from the data (YES in S102), it acquires transmitted information from the flying object via a receiving unit provided in the opening 20 (S103).

[0045] The processing unit 45 compares the identification ID included in the transmitted information of the flying object with the identification ID stored in the memory unit 44 (S104). If the identification ID in the transmitted information corresponds to (matches) the identification ID in the memory unit 44 (YES in S104), the processing unit 45 determines that the flying object is the unmanned aerial vehicle 100 and returns to the processing of step S101. On the other hand, if the identification ID in the transmitted information does not correspond to (does not match) the identification ID in the memory unit 44 (NO in S104), the processing unit 45 proceeds to the processing of step S105. If the processing unit 45 was unable to acquire transmitted information from the flying object in step S103, the processing unit 45 also determines NO in step S104 and proceeds to the processing of step S105.

[0046] In step S105, the processing unit 45 compares the data in which the flying object was detected in step S102 with the photographic data stored in the memory unit 44 (S105). If the flying object included in the data corresponds to (matches) the unmanned aerial vehicle 100 included in the photographic data (YES in S105), the processing unit 45 determines that the flying object is the unmanned aerial vehicle 100 and returns to the processing of step S101. If the results are NO in step S104 and YES in step S105, it is considered that the processing unit 45 was unable to obtain transmission information from the unmanned aerial vehicle 100 due to some kind of communication failure, a malfunction of the transmitting unit 144, etc.

[0047] The accuracy of the matching in step S105 can be improved by previously attaching a unique identification sticker to the unmanned aerial vehicle 100. The processing unit 45 may also calculate the match rate between the data in which the flying object was detected and the photographic data, and determine that there is a match if the match rate is a predetermined value (e.g., 90%) or higher, and determine that there is no match if the match rate is less than the predetermined value.

[0048] In step S105, if the flying object included in the shooting data and / or video data does not correspond to (does not match) the unmanned aerial vehicle 100 (NO in S105), the processing unit 45 identifies the flying object as a suspicious aerial vehicle X (S106). The processing of the above steps S101 to S106 corresponds to the "first detection control" of the present invention.

[0049] The processing unit 45, which has detected the suspicious aerial vehicle X through the first detection control, issues various commands based on preset settings (S107). The settings include, for example, having the unmanned aerial vehicle 100 take video of the suspicious aerial vehicle X, or having the unmanned aerial vehicle 100 wait in a predetermined location (for example, an area outside the facility 10) (in preparation for the tracking control described below).

[0050] Next, the processing unit 45 detects the departure of the suspicious air vehicle X based on the photographic data and / or video data (S108). The processing unit 45 detects that the suspicious air vehicle X has left the facility 10 by analyzing the photographic data and / or video data using a known method. For example, if the suspicious air vehicle X moves to an area outside the facility 10 through the opening 20, that is, if the data indicates that the suspicious air vehicle X is present in an external area, the processing unit 45 determines that the suspicious air vehicle X has left the facility 10. The processing of step S108 corresponds to the "second detection control" of the present invention.

[0051] The processing unit 45, which has detected the departure of the suspicious aerial vehicle X through the second detection control, starts tracking control to have the unmanned aerial vehicle 100 track the suspicious aerial vehicle X that has left the facility 10 (S109). Having started tracking control, the processing unit 45 causes the unmanned aerial vehicle 100 to take video of the suspicious aerial vehicle X and acquires video data showing the suspicious aerial vehicle X from the unmanned aerial vehicle 100 (S110).

[0052] Next, the processing unit 45 determines the movement path (flight path) of the unmanned aerial vehicle 100 based on the video data (S111). Specifically, the processing unit 45 can calculate the position of the suspicious aerial vehicle X from the position information of the unmanned aerial vehicle 100, the direction in which the camera 120 of the unmanned aerial vehicle 100 is facing, the size of the suspicious aerial vehicle X in the video data, etc. Having calculated the position of the suspicious aerial vehicle X, the processing unit 45 determines the movement path of the unmanned aerial vehicle 100 so that the distance between the suspicious aerial vehicle X and the unmanned aerial vehicle 100 is a predetermined distance. The processing unit 45 may determine the movement path so that the unmanned aerial vehicle 100 flies above the suspicious aerial vehicle X. The movement path may also be determined by the overall control unit 43.

[0053] In addition, if the control device 40A is equipped with a remote controller for remotely operating the unmanned aerial vehicle 100, the operator of the defense system 1A may remotely operate the unmanned aerial vehicle 100 while watching the video (video showing the suspicious aerial vehicle X) displayed on the display unit 42. In this case, the operator of the defense system 1A may use the remote controller to perform the processes from step S111 onwards, including determining the travel route. The remote controller is provided with a switch for starting / stopping video recording, a switch for starting / stopping audio recording by the microphone 131, a control switch for the adjustment unit 132, etc.

[0054] Having determined the travel route in step S111, the processing unit 45 flies the unmanned aerial vehicle 100 according to the travel route. The unmanned aerial vehicle 100 continuously captures video of the suspicious aerial vehicle X while in flight. The processing unit 45 detects the owner of the suspicious aerial vehicle X based on the video data (S112). The processing of step S112 corresponds to the "third detection control" of the present invention.

[0055] In step S112, the processing unit 45 determines whether the video of the video data satisfies a preset condition. The condition may be, for example, (1) the suspicious aircraft X stops and a person holds the suspicious aircraft X, (2) the suspicious aircraft X enters a car, or (3) the suspicious aircraft X enters a building. In the case of (1), the processing unit 45 detects the person holding the suspicious aircraft X as the owner of the suspicious aircraft X. In the case of (2), the processing unit 45 detects the car into which the suspicious aircraft X entered as the owner of the suspicious aircraft X. In the case of (3), the processing unit 45 detects the building into which the suspicious aircraft X entered as the owner of the suspicious aircraft X. Note that these conditions are merely examples, and the operator of the defense system 1A can arbitrarily set conditions in the control device 40A.

[0056] If the processing unit 45 cannot detect the owner of the suspicious air vehicle X (NO in S112), it returns to the processing of step S110, and if the processing unit 45 can detect the owner of the suspicious air vehicle X (YES in S112), it proceeds to the processing of step S113. In step S113, the processing unit 45 causes the unmanned air vehicle 100 to take a video of the owner, and acquires video data showing the owner from the unmanned air vehicle 100 (S113). As described above, the owner is a person, a vehicle, or a building.

[0057] In conjunction with the processing of step S113, the processing unit 45 performs sound recording control and causes the unmanned aerial vehicle 100 to start recording with the microphone 131 (S114). At this time, in order to prevent the owner from noticing the presence of the unmanned aerial vehicle 100, it is preferable that the processing unit 45 hovers the unmanned aerial vehicle 100 in the air above the owner and controls the adjustment unit 132 to lower only the microphone 131. In the cases of (2) and (3) above, for example, the microphone 131 is lowered near a window of a car or building.

[0058] Next, the processing unit 45 determines whether to continue control (S115). For example, the processing unit 45 determines to continue control if the recording time is within a predetermined time (YES in S115). Here, if the owner is traveling with the suspicious aircraft X, the processing unit 45 may determine the movement route of the unmanned aerial vehicle 100 as in step S111 and cause the unmanned aerial vehicle 100 to track the owner.

[0059] For example, if the recording time exceeds a predetermined time, the processing unit 45 determines not to continue the control (NO in S115), ends the tracking control, and ends the series of defense processing. After ending the defense processing, the processing unit 45 returns the unmanned aerial vehicle 100 to the facility 10.

[0060] As described above, the defense system 1A according to this embodiment can detect a suspicious flying object X that has entered a work area and can track a suspicious flying object X that has left the work area. Furthermore, since video data and audio data related to the owner of the suspicious flying object X can be obtained, evidence that the suspicious flying object X has been misused can be secured.

[0061] [Second embodiment] Figure 6 shows a defense system 1B according to the second embodiment. The defense system 1B includes a facility 10, an opening 20, an imaging device 30, a control device 40B, an unmanned aerial vehicle 100 (a first unmanned aerial vehicle 100-1 and a second unmanned aerial vehicle 100-2), and a forklift 200 (corresponding to the "cargo handling vehicle" of the present invention). Components with the same configuration as those in the first embodiment are given the same reference numerals, and their description will be omitted.

[0062] The first unmanned aerial vehicle 100-1 has the same configuration as the unmanned aerial vehicle 100 (100-1) of the first embodiment. The second unmanned aerial vehicle 100-2 has the same configuration as the unmanned aerial vehicle 100 (100-1) of the first embodiment, except that it has a jamming radio wave output unit 150 and a control unit 140' instead of the control unit 140, as shown in Figure 7.

[0063] The jamming radio wave output unit 150 is configured to output jamming radio waves to the suspicious flying object X. The jamming radio waves are mainly intended to jam the video transmission communication of the suspicious flying object X. In other words, the jamming radio wave output unit 150 outputs jamming radio waves to prevent the video of the work area secretly taken by the suspicious flying object X from being uploaded to the cloud or the like. The jamming radio wave output unit 150 includes, for example, a radio wave transmission circuit (including an antenna) that transmits jamming radio waves in a predetermined frequency band. The jamming radio wave output unit 150 may also include a reflector that imparts directionality to the jamming radio waves transmitted by the radio wave transmission circuit.

[0064] The control unit 140' has the same configuration as the control unit 140 of the first embodiment, except that it includes a radio wave control unit 146. The radio wave control unit 146 controls the jamming radio wave output unit 150. Specifically, the radio wave control unit 146 controls the on / off of the jamming radio wave output unit 150 under the control of the control device 40B. The jamming radio wave output unit 150 outputs jamming radio waves when in the on state, and does not output jamming radio waves when in the off state. Furthermore, the radio wave control unit 146 controls the frequency modulation of the jamming radio waves and the intensity modulation of the jamming radio waves under the control of the control device 40B.

[0065] The control device 40B has the same configuration as the control device 40A of the first embodiment, except that various data for the unmanned aerial vehicle is stored in the memory unit 44, the control device 40B issues control commands to the radio control unit 146, and the control device 40B issues driving commands and loading / unloading commands to the forklift 200.

[0066] The memory unit 44 pre-stores various data for unmanned aerial vehicles other than the unmanned aerial vehicle 100 (first unmanned aerial vehicle 100-1 and second unmanned aerial vehicle 100-2). The various data stores photographic data of the unmanned aerial vehicle, the frequency band for communication for operating the unmanned aerial vehicle, and the frequency band for communication for transmitting video of the unmanned aerial vehicle, all of which are associated with one another. In other words, if the unmanned aerial vehicle can be identified from the photographic data, the frequency band for communication for operating the unmanned aerial vehicle and the frequency band for communication for transmitting video of the unmanned aerial vehicle can also be identified.

[0067] Here, the frequency band for operation communication is the frequency band used for communication to transmit commands (commands to move the unmanned aerial vehicle) between the unmanned aerial vehicle and a remote controller. The frequency band for video transmission communication is the frequency band used for communication to transmit (e.g., upload to the cloud) video captured by the unmanned aerial vehicle. Although the two may share the same frequency band, different frequency bands are generally used to prevent interference. For example, a higher frequency band is used for video transmission communication than for operation communication.

[0068] As shown in FIG. 8(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 jamming wave output device 240, and a control unit 250.

[0069] The cargo handling device 220 includes a mast 221 and a fork 222. The fork 222 moves up and down along the mast 221 under the control of the control unit 250. The cargo handling device 220 may include another attachment in addition to or instead of the fork 222.

[0070] The laser scanner 230 includes a laser light source and a calculation unit. The laser scanner 230 projects a laser beam around the surrounding area while rotating the laser light source, and detects the light reflected from a plurality of reflectors installed in the facility 10. The calculation unit of the laser scanner 230 stores the positions of the reflectors 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 control device 40B while acquiring current location information related to the current location of the vehicle body 210.

[0071] The jamming radio wave output device 240 is configured to output jamming radio waves to the suspicious air vehicle X, similar to the jamming radio wave output unit 150 of the second unmanned air vehicle 100-2. In this embodiment, the jamming radio wave output device 240 is attached to the vehicle body 210 or the loading and unloading device 220 so as to output jamming radio waves upward. The jamming radio wave output device 240 may be larger than the jamming radio wave output unit 150. The jamming radio wave output device 240 has the same function as the jamming radio wave output unit 150.

[0072] 8(B), the control unit 250 includes a position estimation unit 251, a travel control unit 252, a cargo handling control unit 253, and a jamming radio wave control unit 254. The control unit 250 may be configured, for example, by a digital circuit using a microcontroller or a DSP, or may be configured by a circuit that combines a digital circuit and an analog circuit.

[0073] The position estimation unit 251 recognizes the current location (self-position) of the vehicle body 210 and acquires position information related to the current location of the vehicle body 210. In this embodiment, the position estimation unit 251 corresponds to the calculation unit of the laser scanner 230. The position estimation unit 251 outputs the acquired position information to the traveling control unit 252 and transmits the position information to the control device 40B. Note that the position estimation unit 251 may acquire its own position using a satellite positioning system such as GPS, or may acquire its own position using a system such as an electromagnetic induction sensor. When acquiring its own position using these methods, the laser scanner 230 is not required.

[0074] The travel control unit 252 controls the travel of the vehicle body 210 based on the position information from the position estimation unit 251 and the movement command (travel command) from the control device 40B. This allows the forklift 200 to travel to the destination according to the travel route determined by the control device 40B.

[0075] The cargo handling control unit 253 controls the cargo handling of the cargo handling device 220 based on cargo handling commands from the control device 40B. The cargo handling commands in this embodiment include commands to raise and lower the mast 221 and the forks 222, for example.

[0076] The jamming radio wave control unit 254 controls the jamming radio wave output device 240. Specifically, the jamming radio wave control unit 254 controls the on / off of the jamming radio wave output device 240 under the control of the control device 40B. The jamming radio wave output device 240 outputs jamming radio waves when in the on state, and does not output jamming radio waves when in the off state. Furthermore, the jamming radio wave control unit 254 controls the frequency modulation of jamming radio waves and the intensity modulation of jamming radio waves under the control of the control device 40B.

[0077] 9 shows the defense processing performed by the processing unit 45 of the control device 40B. The defense processing of this embodiment includes the processing of step S107B instead of the processing of step S107 of the first embodiment. The other processing is the same as in the first embodiment, so explanations will be omitted. In the tracking control of S109 to S115, the processing unit 45 causes the first unmanned aerial vehicle 100-1 to track the suspicious aerial vehicle X.

[0078] In step S107B, the processing unit 45 issues various commands based on preset settings (S107B). The settings include the settings in the first embodiment as well as settings related to jamming radio waves.

[0079] Specifically, the processing unit 45 determines whether the suspicious air vehicle X corresponds to an unmanned air vehicle stored in the memory unit 44, and if so, reads out the frequency band for operation communication and the frequency band for video transmission communication of that unmanned air vehicle. Next, the processing unit 45 issues a control command to the second unmanned air vehicle 100-2 to output jamming radio waves, and also issues a control command to the forklift 200 to output jamming radio waves. In accordance with the control command, the second unmanned air vehicle 100-2 and the forklift 200 output jamming radio waves to the suspicious air vehicle X. The jamming radio waves are controlled to have a frequency in the frequency band for video transmission communication. Furthermore, the output of jamming radio waves by the second unmanned air vehicle 100-2 and the forklift 200 continues, for example, until the departure of the suspicious air vehicle X is detected in step S108.

[0080] In addition to the effects of the first embodiment, the defense system 1B according to this embodiment can prevent the video of the work area secretly taken by the suspicious flying object X from being uploaded to the cloud or the like.

[0081] If the frequency band for communication for operating the suspicious air vehicle X and the frequency band for communication for transmitting video are the same, and priority is given to identifying the owner of the suspicious air vehicle X, it is preferable to have the second unmanned air vehicle 100-2 and / or the forklift 200 output jamming radio waves to the extent that the suspicious air vehicle X does not become inoperable. For example, the processing unit 45 may issue a control command to output jamming radio waves intermittently at a predetermined cycle.

[0082] In addition, if the first unmanned aerial vehicle 100-1 is equipped with a jamming radio wave output unit 150 and a radio wave control unit 146, the processing unit 45 may issue a control command to the first unmanned aerial vehicle 100-1 to output jamming radio waves while the first unmanned aerial vehicle 100-1 is tracking the suspicious aerial vehicle X.

[0083] [Third embodiment] Figure 10 shows a defense system 1C according to the third embodiment. The defense system 1C includes a facility 10, an opening 20, an imaging device 30, a control device 40C, unmanned aerial vehicles 100 (first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2, third unmanned aerial vehicle 100-3), and a forklift 200. Components with the same configuration as those in the second embodiment are given the same reference numerals, and their description will be omitted.

[0084] As shown in Figure 11(A), the third unmanned aerial vehicle 100-3 has the same configuration as the unmanned aerial vehicle 100 (100-1) of the first embodiment, except that it is equipped with a capture net 160 and a net holding unit 161, and does not have a sound recording unit 130 and a sound recording control unit 145. The third unmanned aerial vehicle 100-3 corresponds to the "guiding unmanned aerial vehicle" of the present invention.

[0085] The capture net 160 is a net for restricting the flight of the suspicious flying object X and capturing the suspicious flying object X. In this embodiment, the capture net 160 is a rectangular net, but the shape and size thereof can be changed as appropriate. Furthermore, any material can be used for the capture net 160 as long as it will not tear when it comes into contact with the suspicious flying object X.

[0086] The net holding unit 161 is configured to hold the capture net 160. As shown in FIG. 11(A), when a single third unmanned aerial vehicle 100-3 holds the capture net 160, the third unmanned aerial vehicle 100-3 holds the capture net 160 by clamping the center of the top end of the net with the net holding unit 161. As shown in FIG. 11(B), when two third unmanned aerial vehicles 100-3 hold the capture net 160, the left third unmanned aerial vehicle 100-3 holds the string attached to the left top end of the capture net 160 with the net holding unit 161, and the right third unmanned aerial vehicle 100-3 holds the string attached to the right top end of the capture net 160 with the net holding unit 161. Any known configuration can be adopted for the net holding unit 161 as long as it can hold the capture net 160 during flight.

[0087] The control device 40C has the same configuration as the control device 40B of the second embodiment, except that it issues commands to the third unmanned aerial vehicle 100-3 and controls the switching of the opening 20.

[0088] During switching control, the processing unit 45 opens the first openings 20 that are within a predetermined range from the suspicious flying object X, while closing the second openings that are outside the predetermined range from the suspicious flying object X. The predetermined range can be set appropriately in the control device 40C.

[0089] For example, when the suspicious aircraft X is located at the position shown in Figure 10, the first openings within a predetermined range from the suspicious aircraft X are openings 20-1 and 20-2, and the second opening outside the predetermined range from the suspicious aircraft X is opening 20-3. In this case, the processing unit 45 opens openings 20-1 and 20-2 while closing opening 20-3. Furthermore, the processing unit 45 controls the third unmanned air vehicle 100-3 to restrict the path of the suspicious aircraft X and guide the suspicious aircraft X to the open openings 20-1 and 20-2.

[0090] 12 shows the defense process performed by the processing unit 45 of the control device 40C. The defense process of this embodiment is the same as that of the second embodiment, except that it includes the process of step S107C.

[0091] In step S107C, the processing unit 45 performs switching control and causes the third unmanned air vehicle 100-3 to restrict the path of the suspicious air vehicle X and guide the suspicious air vehicle X to the opening 20 that is in an open state.

[0092] During switching control, the processing unit 45 calculates the distance between the openings 20 (20-1 to 20-3) and the suspicious flying object X, and opens the openings 20 for which the calculated distance is equal to or less than a predetermined threshold, while closing the openings 20 for which the calculated distance exceeds the predetermined threshold. For example, the processing unit 45 acquires position information (position coordinates) of the suspicious flying object X by analyzing the image capture data generated by the image capture device 30 using a known method. Alternatively, if the image capture device 30 is equipped with a distance sensor (e.g., LiDAR, millimeter-wave radar, or stereo camera) for measuring the distance to the suspicious flying object X, the processing unit 45 may calculate the position coordinates of the suspicious flying object X based on the position information of the image capture device 30 (assumed to be stored in advance in the storage unit 44), information related to the measurement results measured by the distance sensor, and the direction in which the image capture device 30 is facing. The processing unit 45 can calculate the distance between the openings 20-1 to 20-3 and the suspicious flying object X using the position coordinates acquired as described above.

[0093] Regarding the restriction of the path of the suspicious aircraft X, the processing unit 45 does not place the third unmanned air vehicle 100-3 on the imaginary line connecting the suspicious aircraft X and the open opening 20 so that the suspicious aircraft X will proceed toward the open opening 20. In other words, if the suspicious aircraft X is flying on a path other than the above-mentioned imaginary line, the processing unit 45 places the third unmanned air vehicle 100-3 ahead of the path of the suspicious aircraft X, thereby restricting the path of the suspicious aircraft X. This makes it possible to guide the suspicious aircraft X to the open opening 20.

[0094] According to the defense system 1C of this embodiment, in addition to the effect of the second embodiment, the suspicious flying object X can be made to leave the facility 10 quickly.

[0095] In this embodiment, the example has been described using the case where there is one suspicious flying object X, but if there are multiple suspicious flying objects X, one suspicious flying object X may be removed from the facility 10 and the remaining suspicious flying objects X may be captured.

[0096] When capturing the suspicious aerial vehicle X, the processing unit 45 transmits a capture command to the third unmanned aerial vehicle 100-3 in step S107C. Upon receiving the capture command, the third unmanned aerial vehicle 100-3 flies toward the suspicious aerial vehicle X and brings the capture net 160 into contact with the suspicious aerial vehicle X, thereby capturing the suspicious aerial vehicle X. The processing unit 45 can confirm that the suspicious aerial vehicle X has been captured based on the video data from the camera 120 of the third unmanned aerial vehicle 100-3 and the detection value of the sensor that detects the weight of the capture net 160 provided on the third unmanned aerial vehicle 100-3. The captured suspicious aerial vehicle X is retrieved by a worker in the facility 10 or by the forklift 200.

[0097] Although the embodiments of the defense system according to the present invention have been described above, the present invention is not limited to the above embodiments.

[0098] The defense system of the present invention is a defense system that includes a facility having a work area, a photography device that photographs the work area and generates photography data, an unmanned aerial vehicle that photographs video during flight and generates video data, and a control device that controls the unmanned aerial vehicle and acquires the photography data and video data, and the configuration of the control device can be modified as appropriate as long as it performs first detection control that detects a suspicious aerial vehicle other than an unmanned aerial vehicle that has invaded the work area based on the photography data and / or video data, second detection control that detects that the suspicious aerial vehicle has left the facility based on the photography data and / or video data, and tracking control that causes the unmanned aerial vehicle to track the suspicious aerial vehicle that has left the facility based on the video data.

[0099] 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. [Explanation of symbols]

[0100] 1A~1C Defense System 10 facilities 11 Shelves 20 Opening 30 Imaging equipment 40A~40C control device 100 Unmanned Aerial Vehicles 110 aircraft 111 Main body 112 Arm 113 Rotor 114 Legs 120 Camera 130 Recording Section 131 Mike 132 Adjustment section 133 Storage Unit 140 Control Unit 150 Jamming radio wave output unit 160 Capture net 161 Net holding part 210 Body 220 Cargo handling equipment 221 Mast 222 Fork 230 Laser Scanner 240 Jamming Radio Wave Output Device 250 control section

Claims

1. a facility having a work area; an imaging device that captures an image of the work area and generates imaging data; an unmanned aerial vehicle that takes videos during flight and generates video data; a control device that controls the unmanned aerial vehicle and acquires the photographic data and the video data; A defense system comprising: The control device A first detection control that detects a suspicious flying object different from the unmanned flying object that has invaded the work area based on the photographic data and / or the video data; A second detection control that detects that the suspicious flying object has left the facility based on the photographic data and / or the video data; and performing tracking control to make the unmanned aerial vehicle track the suspicious aerial vehicle that has left the facility based on the video data. A defense system characterized by:

2. The unmanned aerial vehicle is Equipped with a microphone to record sound during flight, The control device During the tracking control, sound recording control is performed to start sound recording on the unmanned aerial vehicle. The defense system according to claim 1 .

3. The unmanned aerial vehicle is An adjustment unit for adjusting the height of the microphone is provided.

3. The defense system according to claim 2.

4. The unmanned aerial vehicle is a jamming wave output unit that outputs jamming waves to interfere with the video transmission communication of the suspicious flying object, and outputs the jamming waves to the suspicious flying object; The defense system according to claim 1 .

5. a cargo handling vehicle that performs cargo handling work in the work area under the control of the control device, The loading vehicle is a jamming wave output device that outputs jamming waves to interfere with the video transmission communication of the suspicious flying object; The defense system according to claim 1 .

6. The facility is: a plurality of openings that, when in an open state, communicate the work area with an area outside the facility and, when in a closed state, isolate the work area from the area outside the facility; The control device When the suspicious flying object is detected, a first opening within a predetermined range from the suspicious flying object is opened, and a second opening outside the predetermined range from the suspicious flying object is closed. The defense system according to claim 1 .

7. A guided unmanned aerial vehicle equipped with a capture net, The control device The unmanned aerial vehicle is caused to guide the suspicious aerial vehicle to the first opening or capture the suspicious aerial vehicle.

7. The defense system according to claim 6.

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