Defense system

Abstract

To provide a defense system capable of tracking a suspicious flying body which has receded from a work area.SOLUTION: A defense system 1A includes a facility 10, an imaging apparatus 30 that images a work area and generates shot data, an unmanned flying body 100 that shoots a motion picture during flying and generates motion picture data, and a controller 40A that controls the unmanned flying body 100 and acquires the shot data and motion picture data. The defense system further includes a transmitter bonding apparatus that bonds a transmitter to a suspicious flying body X which has entered the work area. The controller 40A performs first detection control of detecting the suspicious flying body X, which has entered the work area, on the basis of the shot data and / or motion picture data, and first tracking control of controlling the transmitter bonding apparatus, forcing the transmission bonding apparatus to project a transmitter toward the suspicious flying body X, receiving a signal concerning position information from the transmitter, and identifying the position of the transmitter.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: a transmitter attachment device that attaches a transmitter to a suspicious flying object different from the unmanned flying object that has invaded the work area, The control device a first detection control for detecting the suspicious flying object that has entered the work area based on the photographic data and / or the video data; The method is characterized by performing a first tracking control that controls the transmitter attachment device, projects the transmitter toward the suspicious flying object, receives a signal related to location information from the transmitter, and identifies the location of the transmitter.

[0009] In the defense system, The control device If the attachment of the transmitter fails in the first tracking control, 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 can be configured to perform a second tracking control, which causes the unmanned aerial vehicle to track the suspicious aerial vehicle that has left the facility based on the video data.

[0010] In the defense system, The transmitter attachment device is a housing section that houses the transmitter; a projection unit that projects the transmitter toward the suspicious flying object, The transmitter is a transmitter body that transmits the signal; a protection section for protecting the transmitter body; The device may be configured to include an attachment portion that is attached to the suspicious flying object.

[0011] In the defense system, The unmanned aerial vehicle is A first unmanned aerial vehicle equipped with the transmitter attachment device; A second unmanned aerial vehicle is provided with a jamming radio wave output unit that outputs jamming radio waves to interfere with the video transmission communication of the suspicious aerial vehicle, and / or a jamming sound output unit that outputs jamming sounds to the suspicious aerial vehicle, The control device When the first unmanned aerial vehicle is caused to project the transmitter, the second unmanned aerial vehicle can be configured to output the jamming radio waves and / or the jamming sound.

[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 A jamming wave output device that outputs jamming waves to interfere with the video transmission communication of the suspicious flying object, and / or a jamming sound output device that outputs jamming sounds to the suspicious flying object, The control device When the transmitter attachment device is caused to project the transmitter, the loading vehicle can be configured to output the jamming radio waves and / or the jamming sound.

[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 specified range from the suspicious flying object is opened, while a second opening that is outside the specified range from the suspicious flying object is closed. [Effects of the Invention]

[0014] 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]

[0015] [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] 1A is a diagram illustrating an example of a communication device according to the first embodiment, and FIG. 1B is a diagram illustrating another example of a communication device according to the first embodiment. [Figure 5] FIG. 4 is a flowchart of defense processing 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 a second unmanned aerial vehicle of the second embodiment, and FIG. 10B is a block diagram of the control unit of the second unmanned aerial vehicle. [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 diagram showing a defense system according to a third embodiment. [Figure 10] 10A and 10B are diagrams showing a third unmanned aerial vehicle according to the third embodiment holding a catching net by itself and two third unmanned aerial vehicles holding a catching net together. DETAILED DESCRIPTION OF THE INVENTION

[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] [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).

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] The communication unit 41 communicates wirelessly with the opening 20, the photographing device 30, and the unmanned aerial vehicle 100. For example, the communication unit 41 receives photographing data from the photographing 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. The communication unit 41 also receives a signal related to the location information of a transmitter 131 (for example, a GPS transmitter) from a transmitter 131 described below.

[0025] 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 position of the transmitter 131 (or the unmanned aerial vehicle 100) along with a map of the area around the facility 10.

[0026] 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.

[0027] 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.

[0028] 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 a first detection control, a second detection control, a first tracking control, and a second tracking control. Details of each control will be described later.

[0029] As shown in Figure 3(A), the unmanned aerial vehicle 100 (100-1) comprises an airframe 110, a camera 120, a transmitter attachment device 130, and a control unit 140. In this embodiment, the unmanned aerial vehicle 100 is a drone, and the suspicious aerial vehicle X is also a drone.

[0030] 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.

[0031] 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.

[0032] The transmitter attachment device 130 is provided on the underside of the main body 111. The transmitter attachment device 130 is configured to attach a transmitter 131 to the suspicious flying object X. The transmitter attachment device 130 includes, for example, a projection unit that projects the transmitter 131 toward the suspicious flying object X, and a storage unit that stores the projection unit and the transmitter 131. The projection unit may project the transmitter 131 using the force of compressed gas, or may project the transmitter 131 using free fall. The storage unit has an opening through which the transmitter 131 passes when projected.

[0033] 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 an adhesion 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] The attachment control unit 145 controls the transmitter attachment device 130. The attachment control unit 145 causes the transmitter attachment device 130 to project the transmitter 131 in response to a control command from the control device 40A. For example, when the projection unit of the transmitter attachment device 130 projects the transmitter 131 directly downward, the attachment control unit 145 controls the transmitter attachment device 130 to project the transmitter 131 directly downward at the timing when the flight control unit 142 moves the airframe 110 directly above the suspicious flying object X. Furthermore, when the projection unit of the transmitter attachment device 130 projects the transmitter 131 forward, the attachment control unit 145 controls the transmitter attachment device 130 to project the transmitter 131 forward at the timing when the flight control unit 142 moves the airframe 110 behind the suspicious flying object X.

[0039] As the transmitter 131, for example, the transmitter 131A shown in FIG. 4(A) or the transmitter 131B shown in FIG. 4(B) may be used.

[0040] The transmitter 131A includes a transmitter main body 132, an attachment part 133 that attaches the transmitter main body 132 to the suspicious flying object X, and a protection part 134 that protects the transmitter main body 132 and the attachment part 133. The transmitter main body 132 receives signals from, for example, GPS satellites to calculate its own position and transmits a signal related to its own position (position information) to the control device 40A. The attachment part 133 is, for example, an adhesive provided around the periphery of the transmitter main body 132. The protection part 134 breaks upon collision with the suspicious flying object X during attachment, exposing the attachment part 133, while having enough strength to withstand the force projected from the transmitter attachment device 130. The protection part 134 is, for example, a plastic case.

[0041] The transmitter 131B includes a transmitter main body 132, a first protective part 135a and a second protective part 135b that protect the transmitter main body 132, and an attachment part 136 that attaches the transmitter main body 132 to the suspicious flying object X. The first protective part 135a is, for example, a gel-like material provided around the transmitter main body 132. The second protective part 135b is, for example, a resin case that houses the first protective part 135a. Unlike the protective part 134, the second protective part 135b has enough strength to withstand a collision with the suspicious flying object X. The attachment part 136 is, for example, a magnet or double-sided tape attached to a portion of the outer surface of the second protective part 135b. When the projection part of the transmitter attachment device 130 projects the transmitter 131B directly downward, the attachment part 136 is provided only on the lower side of the transmitter 131B.

[0042] FIG. 5 shows the defense process performed by the processing unit 45 of the control device 40A.

[0043] 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.

[0044] 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.

[0045] 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).

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] The processing unit 45, which has detected the suspicious air vehicle X through the first detection control, moves the unmanned air vehicle 100 close to the suspicious air vehicle X in order to attach a transmitter 131 to the suspicious air vehicle X (S107). For example, the processing unit 45 can calculate the position of the suspicious air vehicle X from the position information of the unmanned air vehicle 100, the direction in which the camera 120 of the unmanned air vehicle 100 is facing, the size of the suspicious air vehicle X in the video data, etc. Having calculated the position of the suspicious air vehicle X, the processing unit 45 determines a movement route for the unmanned air vehicle 100 so that the distance between the suspicious air vehicle X and the unmanned air vehicle 100 is a predetermined distance (a distance that allows the transmitter 131 to be attached), and moves the unmanned air vehicle 100.

[0051] When the distance between the suspicious flying object X and the unmanned flying object 100 becomes equal to or less than the predetermined distance, the processing unit 45 causes the transmitter attachment device 130 to project the transmitter 131 (S108). In addition, the processing unit 45 that has projected the transmitter 131 receives a signal (a signal related to location information) from the transmitter 131 via the communication unit 41 and identifies the location of the transmitter 131.

[0052] Next, the processing unit 45 determines whether or not the attachment of the transmitter 131 to the suspicious flying object X was successful (S109). The processing unit 45 makes the determination in step S109 based on the position information and / or video data from the transmitter 131. For example, if the position of the transmitter 131 matches the position of the suspicious flying object X calculated by the processing unit 45, or if the transmitter 131 attached to the suspicious flying object X can be detected in the video data, the processing unit 45 determines that the attachment of the transmitter 131 was successful (YES in S109).

[0053] If the attachment of the transmitter 131 is successful, the processing unit 45 can identify the position of the suspicious flying object X based on the position information from the transmitter 131. That is, the processing unit 45 can detect that the suspicious flying object X has left the work area of ​​the facility 10 based on the position information from the transmitter 131, and can further track the suspicious flying object X that has left.

[0054] Next, the processing unit 45 determines whether to continue the control (S110). For example, the processing unit 45 determines to continue the control if the suspicious flying object X that has left the work area is moving (YES in S110), and determines not to continue the control if the suspicious flying object X that has left the work area has been stationary for a predetermined time or more (NO in S110). In the latter case, the processing unit 45 ends the first tracking control and terminates the series of defense processing. The processing of the above steps S107 to S110 corresponds to the "first tracking control" of the present invention.

[0055] On the other hand, if attachment of the transmitter 131 has failed (NO in S109), the processing unit 45 starts the second detection control (S111) and detects the departure of the suspicious air vehicle X based on the photographic data and / or video data (S112). 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 into 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 steps S111 and S112 corresponds to the "second detection control" of the present invention.

[0056] The processing unit 45, which has detected the departure of the suspicious aerial vehicle X through the second detection control, starts the second tracking control to have the unmanned aerial vehicle 100 track the suspicious aerial vehicle X that has left the facility 10 (S113). Having started the second 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 (S114).

[0057] Next, the processing unit 45 determines the movement path (flight path) of the unmanned aerial vehicle 100 based on the video data (S115). 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.

[0058] 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 processing from step S115 onwards, including determining the movement route, may be performed by the operator of the defense system 1A using the remote controller.

[0059] Having determined the travel route in step S115, the processing unit 45 flies the unmanned aerial vehicle 100 according to the travel route. During flight, the unmanned aerial vehicle 100 continuously captures video of the suspicious aerial vehicle X. The processing unit 45 detects the owner of the suspicious aerial vehicle X based on the video data (S116).

[0060] In step S116, 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 vehicle, 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 vehicle 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.

[0061] If the processing unit 45 is unable to detect the owner of the suspicious air vehicle X (NO in S116), it returns to the processing of step S114, and if it is able to detect the owner of the suspicious air vehicle X (YES in S116), it 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 (S117). As described above, the owner is a person, a vehicle, or a building. If the unmanned air vehicle 100 has a recording function, the processing unit 45 may cause the unmanned air vehicle 100 to start recording in addition to the processing of step S117.

[0062] Next, the processing unit 45 determines whether to continue control (S118), similar to the processing of step S110. If the processing unit 45 determines not to continue control (NO in S118), it ends the second 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.

[0063] As described above, the defense system 1A according to this embodiment can detect a suspicious flying object X that has entered the work area, and can track the suspicious flying object X that has left the work area by attaching a transmitter 131 to the suspicious flying object X. Furthermore, according to the defense system 1A according to this embodiment, even if the attachment of the transmitter 131 fails, the unmanned flying object 100 tracks the suspicious flying object X, so there is a possibility that the owner of the suspicious flying object X can be identified.

[0064] [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.

[0065] 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 does not have a transmitter attachment device 130, it has a jamming radio wave output unit 150 and a jamming sound output unit 151, and it has a control unit 140' instead of the control unit 140, as shown in Figure 7.

[0066] 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 disrupt the video transmission communication of the suspicious flying object X. That is, the jamming radio wave output unit 150 outputs jamming radio waves to distract the attention of the remote operator (owner) of the suspicious flying object X when the transmitter 131 is projected, thereby causing defects (disturbances, etc.) in the video captured by the suspicious flying object X. The jamming radio waves also have the effect of preventing the video of the work area secretly captured by the suspicious flying object X from being uploaded to the cloud, etc.

[0067] 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 provides directionality to the jamming radio waves transmitted by the radio wave transmission circuit.

[0068] The jamming sound output unit 151 is configured to output a jamming sound to the suspicious air vehicle X in order to distract the attention of the remote operator (owner) of the suspicious air vehicle X when the transmitter 131 is projected. The jamming sound output unit 151 includes, for example, at least one speaker for outputting the jamming sound. The jamming sound may be, for example, an alarm sound that is louder than the flight sound of the first unmanned air vehicle 100-1 (for example, the rotation sound of the rotor 113), or may be a noise sound for reducing the flight sound of the first unmanned air vehicle 100-1. The noise sound may be, for example, a sound that is in the opposite phase to the flight sound of the first unmanned air vehicle 100-1.

[0069] In this embodiment, the jamming radio wave output unit 150 is provided on the upper side of the main body 111, and the jamming sound output unit 151 is provided on the lower side of the main body 111, but their positions can be changed as appropriate. In addition, the second unmanned aerial vehicle 100-2 may be equipped with only either the jamming radio wave output unit 150 or the jamming sound output unit 151.

[0070] The control unit 140' has the same configuration as the control unit 140 of the first embodiment, except that it does not include the adhesion control unit 145 and includes a radio wave control unit 146 and a sound control unit 147.

[0071] 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.

[0072] The audio control unit 147 controls the interference sound output unit 151. Specifically, the audio control unit 147 controls the on / off of the interference sound output unit 151 under the control of the control device 40B. The interference sound output unit 151 outputs interference sound when in the on state, and does not output interference sound when in the off state. Furthermore, the audio control unit 147 controls the frequency modulation, phase modulation, and intensity modulation of the interference sound under the control of the control device 40B.

[0073] The control device 40B has the same configuration as the control device 40A of the first embodiment, except that various data about the unmanned aerial vehicle is stored in the memory unit 44, it controls the radio wave control unit 146 and the voice control unit 147, and it controls the forklift 200.

[0074] 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.

[0075] 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.

[0076] 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 radio wave output device 240, a jamming sound output device 241, and a control unit 250.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] The jamming sound output device 241 is configured to output a jamming sound to the suspicious air vehicle X, similar to the jamming sound output unit 151 of the second unmanned air vehicle 100-2. The function of the jamming sound output device 241 is the same as that of the jamming sound output unit 151. The jamming sound from the jamming sound output device 241 may be an alarm sound that is output when an obstacle (for example, luggage placed on the road surface) is detected by an obstacle sensor provided on the vehicle body 210, or a melody that is output while driving (to alert workers in the work area).

[0081] The positions of the jamming radio wave output device 240 and the jamming sound output device 241 can be changed as appropriate. Furthermore, the forklift 200 may be provided with only one of the jamming radio wave output device 240 and the jamming sound output device 241.

[0082] 8(B), the control unit 250 includes a position estimation unit 251, a travel control unit 252, a cargo handling control unit 253, a jamming radio wave control unit 254, and a jamming sound control unit 255. 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] The interfering sound control unit 255 controls the interfering sound output device 241. Specifically, the interfering sound control unit 255 controls the on / off of the interfering sound output device 241 under the control of the control device 40B. The interfering sound output device 241 outputs an interfering sound when in the on state, and does not output an interfering sound when in the off state. Furthermore, the interfering sound control unit 255 controls the frequency modulation, phase modulation, and intensity modulation of the interfering sound under the control of the control device 40B.

[0088] Next, the defense processing performed by the processing unit 45 of the control device 40B will be described. The defense processing of this embodiment is the defense processing of the first embodiment shown in Fig. 5, to which processing for controlling jamming radio waves and jamming sounds has been added. Explanation of the parts common to the first embodiment will be omitted.

[0089] The processing unit 45, which has detected the suspicious air vehicle X through the first detection control (S101 to S106), 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 communications and the frequency band for video transmission communications of that unmanned air vehicle. At least during the processing of step S108 (projection of the transmitter 131), the processing unit 45 issues a control command to the second unmanned air vehicle 100-2 to output jamming radio waves and jamming sound, and also issues a control command to the forklift 200 to output jamming radio waves and jamming sound. The second unmanned air vehicle 100-2 and the forklift 200 output jamming radio waves and jamming sound to the suspicious air vehicle X in accordance with the control command. It is preferable that the jamming radio waves be controlled to be of a frequency within the frequency band for video transmission communications.

[0090] In addition to the effects of the first embodiment, the defense system 1B according to this embodiment outputs jamming radio waves and jamming sounds when the transmitter 131 is projected, thereby diverting the attention of the remote operator (owner) of the suspicious flying object X when attaching the transmitter 131 to the suspicious flying object X. Furthermore, the above-mentioned jamming radio waves can prevent the video of the work area secretly taken by the suspicious flying object X from being uploaded to the cloud, etc.

[0091] 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.

[0092] 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 when causing the first unmanned aerial vehicle 100-1 to track a suspicious aerial vehicle X that has left the working area.

[0093] [Third embodiment] Figure 9 shows a defense system 1C according to the third embodiment. The defense system 1C includes a facility 10, an opening 20, a photography 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.

[0094] As shown in Figure 10, 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 transmitter attachment device 130 and an attachment control unit 145.

[0095] 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.

[0096] The net holding unit 161 is configured to hold the capture net 160. As shown in FIG. 10(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 160 with the net holding unit 161. As shown in FIG. 10(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. The net holding unit 161 can have any known configuration as long as it can hold the capture net 160 during flight.

[0097] The control device 40C has the same configuration as the control device 40B of the second embodiment, except that it controls the third unmanned aerial vehicle 100-3 and controls the switching of the opening 20.

[0098] 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.

[0099] For example, when the suspicious aircraft X is located at the position shown in Figure 9, 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.

[0100] Next, the defense processing performed by the processing unit 45 of the control device 40C will be described. The defense processing of this embodiment is the defense processing of the second embodiment to which control processing of the third unmanned aerial vehicle 100-3 and the openings 20 (20-1 to 20-3) has been added. Explanations of parts common to the first and second embodiments will be omitted.

[0101] The processing unit 45, which detects the suspicious flying object X through the first detection control (S101 to S106), performs switching control and causes the third unmanned flying object 100-3 to restrict the path of the suspicious flying object X and guide the suspicious flying object X to an open opening 20.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] When capturing the suspicious aerial vehicle X, the processing unit 45 transmits a capture command to the third unmanned aerial vehicle 100-3. 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.

[0107] 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.

[0108] The defense system of the present invention is a defense system that includes a facility having a work area, a camera 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 includes a transmitter attachment device that attaches a transmitter to a suspicious aerial vehicle that is different from an unmanned aerial vehicle that has invaded the work area, and the control device can be configured as appropriate as long as it performs first detection control that detects a suspicious aerial vehicle that has invaded the work area based on the photography data and / or video data, and first tracking control that controls the transmitter attachment device to project a transmitter toward the suspicious aerial vehicle, receives a signal related to location information from the transmitter, and identifies the location of the transmitter.

[0109] In the above embodiment, the first unmanned aerial vehicle 100-1 is equipped with a transmitter attachment device 130, but the transmitter attachment device 130 may also be equipped on a forklift 200, may be provided at an opening 20, or may be provided at any location in the facility 10.

[0110] 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]

[0111] 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 Transmitter attachment device 131 Transmitter 132 Transmitter body 133 Attachment 134 Protection Department 135a 1st protection section 135b 2nd protection section 136 Attachment 140 Control Unit 150 Jamming radio wave output unit 151 Interference sound output unit 160 Capture net 161 Net holding part 200 forklift 210 Body 220 Cargo handling equipment 221 Mast 222 Fork 230 Laser Scanner 240 Jamming Radio Wave Output Device 241 Interference sound 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: a transmitter attachment device that attaches a transmitter to a suspicious flying object different from the unmanned flying object that has invaded the work area, The control device a first detection control for detecting the suspicious flying object that has invaded the work area based on the photographic data and / or the video data; a first tracking control for controlling the transmitter attachment device, projecting the transmitter toward the suspicious flying object, receiving a signal related to position information from the transmitter, and identifying the position of the transmitter; A defense system characterized by:

2. The control device If the attachment of the transmitter fails in the first tracking control, 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 a second tracking control to make the unmanned aerial vehicle track the suspicious aerial vehicle that has left the facility based on the video data. The defense system according to claim 1 .

3. The transmitter attachment device is a housing section that houses the transmitter; a projection unit that projects the transmitter toward the suspicious flying object, The transmitter is a transmitter body that transmits the signal; a protection section for protecting the transmitter body; and an attachment part to be attached to the suspicious flying object. The defense system according to claim 1 .

4. The unmanned aerial vehicle is a first unmanned aerial vehicle equipped with the transmitter attachment device; A second unmanned aerial vehicle is provided with a jamming radio wave output unit that outputs jamming radio waves to interfere with the video transmission communication of the suspicious aerial vehicle, and / or a jamming sound output unit that outputs jamming sounds to the suspicious aerial vehicle, The control device When the first unmanned aerial vehicle is made to project the transmitter, the second unmanned aerial vehicle is made to output the jamming radio waves and / or the jamming sound. 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, and / or a jamming sound output device that outputs jamming sounds to the suspicious flying object, The control device When the transmitter attachment device is caused to project the transmitter, the jamming radio wave and / or the jamming sound is output to the cargo handling vehicle. 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 .

Images