River nyugawa person harm prevention method and river patrol robot

Abstract

To improve the efficiency of river patrol and to eliminate the shortage of personnel.SOLUTION: A river Nyugawa person harm prevention method for preventing harm to a Nyugawa person 5 by a river patrol of patrolling a specific area including a river 2, the method comprising: scanning, by a river patrol robot 10, a river shape; analyzing, by the river patrol robot 10, a route of the river patrol from the river shape; traveling, by the river patrol robot 10, the route of the river patrol; detecting, by the river patrol robot 10, the Nyugawa person 5 from the captured image; and when the Nyugawa person 5 is detected during the river patrol, and an attention calling step of calling attention to the Nyugawa person 5 by using a speaker 19 mounted on the machine body 21.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a method for preventing harm to people entering rivers, and a river patrol robot, which prevents harm to people entering rivers by patrolling a specific area including a river. [Background technology]

[0002] The River Law stipulates that, as a measure to prevent harm when operating a dam (such as releasing water from a dam), "warnings must be given using sirens, alarm bells, loudspeakers, etc." Therefore, before releasing water from a dam, it is common for patrol personnel to carry out confirmation and warning work in advance.

[0003] In the current situation, patrol officers patrol by car and visually check for the presence of anglers and other users in a specified area (hereinafter referred to as the "specific area"), including the river downstream of the dam. If users are found in the specific area, the patrol officers will issue a warning to the users to leave the specific area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-143147 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-193612 Summary of the Invention [Problem to be solved by the invention]

[0005] However, because such river patrols are carried out manually, the work time is inevitably long. In particular, in the case of hydroelectric power plants where patrol personnel are not stationed, the work time is longer because the travel time from the patrol personnel's homes is also added.

[0006] The present invention aims to provide a method for preventing harm to persons entering rivers and a river patrol robot that can improve the efficiency of river patrols and resolve personnel shortages. [Means for solving the problem]

[0007] One aspect of the present invention is a method for preventing harm to persons entering rivers by patrolling a specific area including a river, the method comprising: a river patrol robot performing a scanning step of scanning the shape of the river; a route analysis step of analyzing a route for the river patrol from the shape of the river; a traveling step of traveling along the river patrol route; an acquisition step of acquiring photographic data using a photographing unit mounted on the robot; a detection step of detecting the person entering the river from the photographic data using artificial intelligence; and a warning step of warning the person entering the river using a warning unit mounted on the robot when the person entering the river is detected during the river patrol.

[0008] Another aspect of the present invention is a river patrol robot that prevents harm to people entering the river by patrolling a specific area including a river, and includes a scanning unit that scans the shape of the river, a route analysis unit that analyzes the river patrol route from the river shape, a mechanism unit for traveling along the river patrol route, a photography unit that acquires photographic data, a detection unit that detects people entering the river from the photographic data using artificial intelligence, a warning unit that outputs warning information, and a control unit that, when a person entering the river is detected during the river patrol, uses the warning unit to warn the person entering the river. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a method for preventing harm to persons entering rivers and a river patrol robot that can improve the efficiency of river patrols and resolve personnel shortages. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram for explaining an overview of an embodiment of the present invention; [Figure 2] 1 is an overall configuration diagram of a river entry prevention system according to an embodiment of the present invention. [Figure 3] FIG. 3 is an external view of the river patrol robot shown in FIG. 2. [Figure 4] FIG. 3 is a functional block diagram of the river patrol robot shown in FIG. 2. [Figure 5] FIG. 3 is a schematic diagram of the river patrol robot shown in FIG. 2 detecting a person entering the river. [Figure 6] 3 is a schematic diagram showing the basic operation of the river patrol robot shown in FIG. 2. [Figure 7] FIG. 3 is a schematic diagram of a function for changing the travel route of the river patrol robot shown in FIG. 2. [Figure 8] FIG. 3 is a schematic diagram showing a mechanism for responding to a submersion of the river patrol robot shown in FIG. 2. [Figure 9] 3 is a flowchart showing an example of the operation of the river patrol robot shown in FIG. 2. [Figure 10] 3 is a flowchart showing an example of the operation of the river patrol robot shown in FIG. 2. [Figure 11] 3 is a flowchart showing an example of the operation of the river patrol robot shown in FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the embodiments described below are merely examples. In other words, the embodiments described below can be implemented with various modifications within the scope of the spirit thereof. In addition, parts with the same reference numerals in the drawings represent the same or similar parts unless otherwise specified.

[0012] [overview] Figure 1 is a schematic diagram for explaining an overview of a river trespasser prevention system according to an embodiment of the present invention. Figure 1(A) shows the current state of river patrols, and Figure 1(B) shows the state of river patrols after the introduction of this system.

[0013] For example, as shown in Figure 1(A), currently, patrol personnel patrol from their homes or the like in river patrol vehicles 100, travel downstream from the dam 3, and visually check for the presence of anglers or other people entering the river in a specific area (hereinafter simply referred to as "people entering the river 5"). Furthermore, if a person entering the river 5 is confirmed in the specific area, the person entering the river 5 is warned (warned) to leave the specific area, and once the warning is complete, the release of water from the dam 3 begins.

[0014] However, because such river patrols are carried out manually, the work time is inevitably long. In particular, in the case of hydroelectric power plants where patrol personnel are not stationed, the work time is longer because the travel time from the patrol personnel's homes is also added.

[0015] Therefore, as shown in FIG. 1(B), in the river trespasser harm prevention system according to the embodiment of the present invention, a river patrol robot 10 moves autonomously through the river patrol section and checks for the presence of river trespassers 5 using a camera mounted on the robot. An AI (Artificial Intelligence) function for river trespasser detection mounted on the robot makes it possible to accurately identify river trespassers 5. When a river trespasser is detected, a warning is issued using a speaker mounted on the robot. After completing the river patrol, the robot moves to an automatic power supply space and waits (charges).

[0016] In this way, after this system is introduced, the river patrol robot 10 moves downstream from the dam 3 to check for any river entrants 5, and issues a warning if it detects any river entrants 5. This makes it possible to improve the efficiency of river patrols and alleviate personnel shortages.

[0017] [Overall configuration example] Fig. 2 is a schematic diagram showing an example of the overall configuration of a river trespasser prevention system 1 according to an embodiment of the present invention. As shown in Fig. 2, this example illustrates a case in which water is supplied from a reservoir 3A formed by a dam 3 through a water conduit 3B to a generator (not shown) in a hydroelectric power plant 4 to generate electricity. Before the water in the reservoir 3A is released from the dam 3 into the river 2, a river patrol robot 10 is used to check for and warn people trespassing in the river 5 in a specific area downstream of the dam 3.

[0018] The specific area may consist of only the river 2, or may include surrounding areas such as the riverbank including the river 2. It is preferable that the specific area encompasses all areas where the water level may rise if water is released from the dam 3, posing a risk to people entering the river 5.

[0019] The river patrol robot 10 uses satellites 31 such as GPS (Global Positioning System) to determine its current location and travels accurately within the designated river patrol section. Although not shown, there is an automatic power supply space for the river patrol robot 10 near the start and finish points of the river patrol. The robot is equipped with a camera, speaker, AI, etc., and automatically performs tasks such as checking and issuing warnings to people entering the river 5. In the event of an abnormality (for example, if the river patrol robot 10 malfunctions), the information is notified to the administrator terminal 32 in the management office, and an administrator 32A takes action.

[0020] [External image of the river patrol robot] Fig. 3 is an external view that schematically shows the external appearance of the river patrol robot 10 shown in Fig. 2. This external view is merely an example, and the details are depicted in a simplified manner.

[0021] As shown in Figure 3, it is preferable to use a walking quadruped robot as the river patrol robot 10. This type of quadruped robot can move freely forward, backward, left, and right by controlling the position of the tips of its legs relative to the body 21. By adjusting the attitude of the body 21, it is possible to maintain a stable balance even on uneven ground such as a riverbed.

[0022] As shown in Fig. 3, four (two pairs) legs 22 are connected downward to a fuselage 21, which is the fuselage portion. A camera 11 is provided on the front of the fuselage 21, and a LiDAR (Light Detection and Ranging) 14 is provided above the camera 11. A robot arm 24 is provided on the rear of the fuselage 21, and a LiDAR 14 is also provided at the tip of the robot arm 24.

[0023] For example, while traveling, the robot arm 24 is stored in the body 21, and the LiDAR 14 provided on the front of the body 21 is used. Also, at the start point of river patrol, the robot arm 24 is deployed, and the LiDAR 14 provided on the tip of the robot arm 24 is used. The structure for storing the robot arm 24 in the body 21 is not particularly limited, and therefore, description thereof will be omitted here.

[0024] A storage box 23 is attached to the top of the machine body 21, and a speaker 19 is attached to the top of the storage box 23. Although not shown, the storage box 23 houses a CPU (Central Processing Unit) that realizes the AI ​​function of detecting people entering the river, a GPS antenna and communication equipment for wireless communication with the outside, a rechargeable battery, an amplifier that makes the speaker 19 sound, and the like. In this drawing, the speaker 19 is fixed facing the front of the machine body 21, but it may also be attached so that it can rotate in a horizontal plane relative to the machine body 21.

[0025] A float mechanism 25 is provided on the side of the body 21. Although not shown in this figure, a float mechanism 25 is provided not only on the left side but also on the right side. The float mechanism 25 may be provided on the belly of the body 21 instead of on the side of the body 21. A pair of fin mechanisms 26 is provided on the front legs. A pair of fin mechanisms 26 may be similarly provided on the rear legs as well as the front legs. The shape, size, position, etc. of the fin mechanism 26 are not particularly limited and can be changed as appropriate.

[0026] [Functions of the River Patrol Robot] Fig. 4 is a functional block diagram of the river patrol robot 10 shown in Fig. 2. As shown in Fig. 4, the river patrol robot 10 is a robot that prevents harm to river entrants 5 by patrolling a specific area including the river 2, and includes a camera 11, a detection unit 12, a route analysis unit 13, a LiDAR 14, a wireless communication unit 15, a control unit 16, a mechanical unit 17, an amplifier 18, and a speaker 19. In addition, the river patrol robot 10 is also equipped with various functional units (e.g., lighting devices, storage devices, etc.) that are included in known quadruped robots.

[0027] Camera 11 is an example of an imaging unit that acquires imaging data, and is configured, for example, by a web camera. The imaging data acquired by camera 11 is passed to detection unit 12. The imaging data may be still image data or video data.

[0028] The detection unit 12 detects the river entrant 5 from the photographic data using artificial intelligence (AI) built based on a learning model. Although not shown, the detection unit 12 is assumed to have a memory unit in which the AI ​​learning model is stored. Such an AI function may be built in an external device (such as a cloud) that can communicate with the river patrol robot 10.

[0029] The LiDAR 14 is an example of a scanning unit that scans the shape of a river. It emits laser light and measures the distance to an object, the shape of the object, etc. based on the information of the reflected light. The river shape scanned by the LiDAR 14 is passed to the route analysis unit 13.

[0030] The route analysis unit 13 analyzes the river patrol driving route (hereinafter sometimes simply referred to as "route") from the river shape. The river patrol route is initially set in advance, but the river 2 has obstacles 2A such as rocks, and the location of the obstacles 2A may change after heavy rain, etc. Therefore, the river shape is scanned during the river patrol to change (improve) the route.

[0031] The wireless communication unit 15 is a GPS antenna or communication device for wirelessly communicating with external devices such as a satellite 31 and an administrator terminal 32. Signals are exchanged between the external device and the control unit 16.

[0032] The control unit 16 controls each functional unit of the river patrol robot 10. For example, when a person entering the river 5 is detected during a river patrol (patrolling a specific area including the river 2), the control unit 16 uses the speaker 19 to warn the person entering the river 5. In this embodiment, the amplifier 18 is used to make the speaker 19 sound, but the warning method is not limited to this, and a warning light such as a rotating light may also be used.

[0033] The mechanical unit 17 is a part of the river patrol robot 10 that is necessary for the robot to function as a quadruped robot (in other words, the original mechanism of a quadruped robot), and specifically corresponds to the body 21 and legs 22. When the river patrol robot 10 is equipped with a robot arm 24, the robot arm 24 is also included in the mechanical unit 17.

[0034] [Example of detection of people entering the river] 5 is a schematic diagram showing a state in which the river patrol robot 10 shown in FIG. 2 has detected a person entering the river. Here, photographic data acquired by the camera 11 is depicted in a schematic manner.

[0035] As shown in FIG. 5, the detection unit 12 uses artificial intelligence (AI) built based on a learning model to detect people entering the river 5 from the photographic data. The learning model is a reinforcement learning model for detecting people entering the river 5, and YOLOv3, for example, can be used. To improve the accuracy of detecting people entering the river 5, the learning model automatically removes objects (people entering the river 5, obstacles 2A) that correspond to false positives (obstacles 2A) from among the objects detected by the learning model. This allows for accurate detection of only people (people entering the river 5), as shown in box W in the figure. For example, the technology disclosed in Patent Document 1 (JP 2022-143147 A) can be used as an AI function for detecting people entering the river.

[0036] [Basic operation] Fig. 6 is a schematic diagram showing the basic operation of the river patrol robot 10 shown in Fig. 2. Here, the river 2 is depicted as a schematic view seen from above.

[0037] As shown in Figure 6, the river patrol robot 10 checks for the presence of people 5 entering the river while traveling through the river 2, and if it detects a person 5 entering the river, it turns the body 21 toward the person 5 and issues a warning while stopped. This makes it possible to warn the person 5 with an appropriate voice. The content of the warning (voice) output from the speaker 19 is not particularly limited, but it should be able to alert the river 2 and general users who are about to enter the river 2 of dangerous situations that are expected to occur within the river 2.

[0038] [Route change (improvement) function] Fig. 7 is a schematic diagram showing the function of changing the travel route of the river patrol robot 10 shown in Fig. 2. Fig. 7(A) shows the travel route before the change, and Fig. 7(B) shows the travel route after the change. Here, one section (e.g., 50 m) is shown when the river from the dam 3 to downstream is divided into multiple river patrol sections.

[0039] As shown in FIG. 7(A), a river patrol route R1 is initially set in advance. This default route R1 is initially set near the center line of the river 2. In this way, even if the width of the river 2 is 100 m, for example, the distance from the river patrol robot 10 to the riverbank is only about 50 m. Therefore, the output of the speaker 19 can be reduced compared to when traveling along the riverbank, making it possible to make the river patrol robot 10 lighter and more compact.

[0040] The river 2 contains obstacles 2A such as rocks, and the location of the obstacles 2A may change after heavy rainfall, for example. Therefore, as shown in Figure 7(B), the river shape is scanned at the start position of each section of the river patrol. As a result, if there is no new obstacle 2B on the default route R1, the vehicle will travel along the default route R1. However, if there is a new obstacle 2B on the default route R1, a route change simulation is performed, and the default route R1 is changed to route R2. At this time, the robot arm 24 is deployed to scan from as high a position as possible, and the LiDAR 14 attached to the tip of the robot arm 24 is used. Scanning from a high position makes it easier to discover new obstacles 2B that were hidden in blind spots.

[0041] Scanning is also performed during river patrols, and a route change simulation is performed each time an obstacle 2A appears on route R2. If a drivable route cannot be derived, the vehicle moves a specified distance (for example, 1 m) from its current position and a scanning / route change simulation is performed. Because water flows in River 2, by moving little by little from its current position, a drivable route can eventually be derived.

[0042] [Mechanism to cope with submersion] Figure 8 is a schematic diagram showing a mechanism for responding to submersion of the river patrol robot 10 shown in Figure 2. As shown in Figure 8(A), when the water is deep and the river patrol robot 10 is submerged, it becomes impossible to monitor with the camera 11 or to issue warnings (loud voices) with the speaker 19. Therefore, as shown in Figure 8(B), a float mechanism 25 is provided on the body 21 of the river patrol robot 10, and fin mechanisms 26 are provided on the legs 22 of the river patrol robot 10.

[0043] As a result, when the river patrol robot 10 is submerged up to a predetermined height, the float mechanism 25 reacts and the machine body 21 floats. In this state, by operating the legs 22 like a dog paddle, the machine body 21 can move while remaining afloat. Because the camera 11 and speaker 19 are located above the float mechanism 25 (see Figure 3), it is possible to continue monitoring with the camera 11 and warnings with the speaker 19, even in deep water.

[0044] Although the river patrol robot 10 is provided with the fin mechanism 26 in this example, the present invention is not limited to this. Although not shown in the drawings, a propeller mechanism may be provided instead of the fin mechanism 26, and the propeller mechanism may be operated in deep water.

[0045] [Specific example of operation] 9 to 11 are flowcharts showing specific examples of the operation of the river patrol robot 10 shown in Fig. 2. Fig. 9 shows the overall flow, Fig. 10 shows the flow of river patrol and route analysis control, and Fig. 11 shows the flow of river entrant detection and warning control. Here, it is assumed that the river patrol route has already been set for each section (for example, 50 m).

[0046] First, the overall flow will be explained. As shown in Figure 9, when a situation arises where river patrol is necessary, the river patrol robot 10 is started automatically or manually by remote activation and departs from the starting storage facility (step S1). It drives itself to a pre-set patrol start point, and when it arrives at the patrol start point (step S2), it starts river patrol and route analysis control (step S3A) and starts river entrant detection and warning control (step S3B).

[0047] River patrol route analysis control is a control to ensure that a route without obstacles 2A is walked properly, and the start and stop timings of this control are based on the stop and start commands from the river entrant detection and warning control. On the other hand, river entrant detection and warning control is a control to reliably detect river entrants 5 and reliably communicate the contents of the warning, and the start and stop timings of this control are based on the start and stop commands from the river patrol route analysis control. These two controls will be explained in detail later.

[0048] When the river patrol robot 10 completes the river patrol, it issues a stop command to the river entrant detection and warning control, moves to the end point storage facility, and starts automatic power supply (steps S4 → S5 → S6 → S7). If the river patrol and route analysis control has previously changed the default route, it updates the changed route to become the default route (step S8). When automatic power supply (automatic charging) is complete, it returns to the start point storage facility and waits for the next river patrol (steps S9 → S10).

[0049] Next, the river patrol route analysis control will be described. As shown in FIG. 10, when the river patrol robot 10 starts the river patrol route analysis control, it issues a start command to the river entrant detection and warning control, deploys the robot arm 24, and scans the river shape (steps S21 → S22 → S23). This determines whether there is an obstacle 2A on the set route, and if there is no obstacle 2A on the set route, it continues the river patrol (steps S24 → S25). During the river patrol, the river shape is constantly scanned (step S25). When the river patrol arrives at the goal point without encountering any obstacles 2A, the river patrol is completed (steps S26 → S27 → S4).

[0050] On the other hand, if an obstacle 2A is found on the set route, a route change simulation is performed to avoid the obstacle 2A, and it is determined whether or not the obstacle can be passed through (steps S24 → S28 → S29). If a route that can be passed through is found, the route is changed for that section, waypoints (passing points) for the changed route are generated, and river patrol is carried out along those waypoints (steps S29 → S34 → S35). The shape of the river is constantly scanned during river patrol (step S35). If another obstacle 2A is found, the process loops to the route change simulation (steps S36 → S28). If the end point of the changed route is reached without encountering the obstacle 2A, the process moves to the nearest default waypoint (steps S36 → S37 → S38). The nearest default waypoint is the waypoint for the next section that was originally set. As a result, the vehicle travels along the default route in the next section, and if an obstacle 2A is found on the route, the process loops to a route change simulation (steps S25 → S26 → S28).

[0051] If a passable route is not found when determining whether or not passage is possible, the robot moves, for example, 1 m from the current position in the direction across the river 2, and scans the river shape from a different viewpoint (steps S29 → S30 → S31). If a passable route is still not found, the robot moves, for example, 1 m further in the direction across the river 2, and the same process is repeated (steps S32 → S33 → S30).

[0052] Next, the river patrol robot 10 will be described regarding the river entrant detection and warning control. As shown in FIG. 11, upon receiving a command to start the river entrant detection and warning control, the river patrol robot 10 photographs the river 2 and monitors for the presence or absence of a river entrant 5 (steps S41 to S42). When a river entrant 5 is detected, the robot determines the amount of time that has elapsed since the previous warning. If the elapsed time is less than, for example, 30 seconds, the robot continues to photograph the river 2 (steps S43 to S41). On the other hand, if the elapsed time is more than, for example, 30 seconds, or if there has been no previous warning, the robot issues a command to stop the river patrol, temporarily stops its movement, and issues a warning toward the river entrant 5 (steps S43 to S44 to S45). After the warning is over, the robot issues a command to start the river patrol, resumes the river patrol, and also resumes the river entrant detection flow (steps S46 to S21, S46 to S41).

[0053] In this way, the river patrol robot 10 performs two controls in parallel: river patrol and route analysis control and river entrant detection and warning control. The reason for dividing the controls into two is to keep the river patrol robot 10 in a state where it is not moving when issuing a warning. That is, the river patrol robot 10 may walk on an uneven riverbed or become submerged in water. Therefore, if it continues to move when issuing a warning, the body 21 may shake and be facing in the wrong direction. If the river patrol robot 10 is kept in a state where it is not moving when issuing a warning, it is possible to warn the river entrant 5 with an appropriate voice.

[0054] In the above description, the machine body 21 is directed toward the river entrant 5 to warn them, but the present invention is not limited to this. In other words, if the speaker 19 is attached to the machine body 21 so that it can rotate in a horizontal plane, only the speaker 19 may be directed toward the river entrant 5 to warn them.

[0055] Furthermore, in the above description, it is stated that the river patrol robot 10 "issues a warning while stationary," but "while stationary" here means that the robot has stopped moving. In other words, if the river entrant 5 is moving, the robot may stand still and point the body 21 toward the river entrant 5 to track the river entrant 5. This allows the camera 11 to reliably capture the river entrant 5 while reliably transmitting the warning content to the river entrant 5 via the speaker 19. While "issuing a warning while stationary" is desirable in this way, it is not limited whether the river patrol robot 10 is moving or stationary when issuing the warning, and either case falls within the technical scope of the present invention.

[0056] In the above description, a quadruped robot is used as an example of the river patrol robot 10, but the present invention is not limited to this. For example, a biped robot or a USV (Unmanned Surface Vehicle) can also be used as the river patrol robot 10.

[0057] [Characteristic composition and its effects] As described above, the method for preventing harm to persons entering the river in an embodiment of the present invention is a method for preventing harm to persons entering the river 5 by river patrols that patrol a specific area including the river 2, and the river patrol robot 10 executes the following steps: a scanning step for scanning the river shape, a route analysis step for analyzing a river patrol route from the river shape, a traveling step for traveling along the river patrol route, an acquisition step for acquiring photographic data using a camera 11 mounted on the robot 21, a detection step for detecting persons entering the river 5 from the photographic data using artificial intelligence, and an alert step for alerting the person entering the river 5 using a speaker 19 mounted on the robot 21 when a person entering the river 5 is detected during the river patrol. This makes it possible to improve the efficiency of river patrols and alleviate personnel shortages.

[0058] Furthermore, when the river patrol robot 10 detects a person 5 entering the river, it may turn the body 21 toward the person 5 to warn him / her. This allows the camera 11 to reliably capture the person 5 entering the river, while the speaker 19 reliably conveys the contents of the warning to the person 5 entering the river.

[0059] The river patrol robot 10 may also deploy the robot arm 24 mounted on the body 21, scan the river shape using the LiDAR 14 attached to the robot arm 24, and if an obstacle 2A is found on the route, perform a route change simulation and change the route. Scanning from a high place makes it easier to discover new obstacles 2B that are hidden in blind spots.

[0060] The river patrol robot 10 may also perform scanning while patrolling the river, and perform a route change simulation each time an obstacle 2A appears on the route. After heavy rain, the location of the obstacle 2A is likely to change, but even in such a situation, the route can be improved in real time.

[0061] Furthermore, if the river patrol robot 10 cannot derive a feasible route even after performing a change simulation, it may move a predetermined distance from its current position, perform scanning, and then perform a change simulation. Because water flows in the river 2, by moving little by little from its current position, it will eventually be possible to derive a feasible route.

[0062] The river patrol robot 10 may also be initially set to travel near the center line of the river 2. This allows the output of the speaker 19 to be reduced compared to when traveling along the riverbank, making it possible to make the river patrol robot 10 lighter and more compact.

[0063] Furthermore, in deep water areas, the river patrol robot 10 may float and move using a float mechanism 25 provided on the body 21. This allows continuous monitoring by the camera 11 and warning by the speaker 19, even in deep water areas.

[0064] Furthermore, the river patrol robot 10 in the embodiment of the present invention is a robot that prevents harm to persons entering the river 5 by patrolling a specific area including the river 2, and includes a LiDAR 14 that scans the shape of the river, a route analysis unit 13 that analyzes the river patrol route from the river shape, a mechanism unit 17 for traveling along the river patrol route, a camera 11 that acquires photographic data, a detection unit 12 that uses artificial intelligence to detect persons entering the river 5 from the photographic data, a speaker 19 that outputs warning information, and a control unit 16 that, when a person entering the river 5 is detected during river patrol, uses the speaker 19 to warn the person entering the river 5. This makes it possible to improve the efficiency of river patrols and alleviate personnel shortages.

[0065] The present invention can be realized not only as such a method for preventing harm to persons entering rivers, but also as a river patrol robot 10 or a river entrant prevention system 1 having the characteristic steps executed in such a method as functional units, or as a program for preventing harm to persons entering rivers that causes a computer to execute each of those steps. Such a program can be installed on a computer via a computer-readable recording medium or via a network such as the Internet. [Explanation of symbols]

[0066] 1. River Entry Prevention System 2. Rivers 2A, 2B Obstacles 3. Dam 4. Hydroelectric Power Plant 5 Irivers 10 River Patrol Robot 11 Camera (photography section) 12 Detection unit 13 Route analysis section 14 LiDAR (scanning section) 15. Radio Communication Department 16 Control Unit 17 Mechanism 18 Amplifiers 19 Speaker (warning section) 21 aircraft 22 Legs 23 Storage Box 24 Robot Arm 25 Float mechanism 26 Fin mechanism 31 satellite 32 Administrator terminal

Claims

1. A method for preventing harm to people entering rivers by patrolling a specific area including a river, comprising: River patrol robots a scanning step of scanning the river shape; a route analysis step of analyzing a route for the river patrol from the river shape; a traveling step of traveling along the river patrol route; an acquisition step of acquiring photographic data using an imaging unit mounted on the aircraft; a detection step of detecting the person entering the river from the photographic data using artificial intelligence; an alerting step of alerting the person entering the river using a warning unit mounted on the aircraft when the person entering the river is detected during the river patrol; A method for preventing harm to people entering rivers.

2. 2. The method for preventing harm to persons entering rivers according to claim 1, wherein when the river patrol robot detects the person entering the river, the robot turns the direction of the robot toward the person entering the river to warn them.

3. 2. A method for preventing harm to persons entering a river as described in claim 1, wherein the river patrol robot deploys a robot arm mounted on the body of the robot, scans the shape of the river using a scanning unit attached to the robot arm, and if there is an obstacle on the route, simulates changing the route and changes the route.

4. A method for preventing harm to persons entering a river as described in claim 3, wherein the river patrol robot performs the scanning even while the river patrol is being carried out, and performs the change simulation each time an obstacle appears on the route.

5. A method for preventing harm to persons entering rivers as described in claim 4, wherein if the river patrol robot is unable to derive a feasible route even after performing the change simulation, it moves a predetermined distance from its current position, performs the scanning, and performs the change simulation.

6. 2. The method for preventing harm to persons entering a river according to claim 1, wherein the river patrol robot is initially set to travel near the center line of the river.

7. 7. A method for preventing harm to persons entering a river according to claim 6, wherein the river patrol robot floats and moves in deep water using a float mechanism provided on the body of the robot.

8. A river patrol robot that patrols a specific area including a river to prevent harm to people entering the river, a scanning unit that scans the river shape; a route analysis unit that analyzes a route for the river patrol based on the river shape; a mechanism for traveling along the river patrol route; an imaging unit that acquires imaging data; A detection unit that detects the person entering the river from the photographed data using artificial intelligence; a warning unit that outputs warning information; a control unit that, when detecting the person entering the river during the river patrol, issues a warning to the person entering the river using the warning unit; A river patrol robot equipped with

Images