Monitoring device, monitoring system, monitoring method, and computer program

Abstract

To provide monitoring equipment, etc., that can assist in deciding whether or not to close a landing or takeoff area. [Solution] A monitoring device comprising: foreign object detection means for detecting foreign objects in a monitoring area of ​​a landing and takeoff field using observation data obtained by a sensor from the monitoring area of ​​the area; foreign object identification means for identifying foreign object characteristics that indicate the nature of the foreign object using an image of the detected foreign object; closure determination means for determining whether or not the landing and takeoff field needs to be closed using the foreign object characteristics; and output means for outputting output information including the closure determination result, wherein the foreign object characteristics include at least one of the type, size, or weight of the foreign object.

Description

[Technical Field]

[0001] The present disclosure relates to a monitoring device, a monitoring system, a monitoring method, and a computer program. [Background Art]

[0002] When there is foreign object debris (FOD) on a takeoff and landing site, accidents such as damage to the airframe caused by an aircraft sucking in the foreign object may occur. In order to ensure the safety of the takeoff and landing site, a manager of the takeoff and landing site needs to monitor for foreign objects on the takeoff and landing site. Technologies for supporting this monitoring work are known. For example, Patent Document 1 discloses a technology that uses video from a surveillance camera to detect foreign objects and runway damage on a runway, and notifies an operator in an airport control room when a foreign object or runway damage is detected. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese National Publication of International Patent Application No. 2014-513642 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In order to prevent accidents caused by foreign objects, it is necessary to ensure that no foreign objects are present on the takeoff and landing site when aircraft take off and land. For this reason, generally, when there is a foreign object on the takeoff and landing site, a closure notification of the takeoff and landing site is issued to aviation personnel. However, unnecessarily issuing a closure notification for the takeoff and landing site may cause confusion to aviation personnel and reduce the operational efficiency of the takeoff and landing site. Therefore, it is necessary to individually determine whether to issue a closure notification for the takeoff and landing site depending on the situation. Accordingly, when supporting foreign object monitoring work, it is preferable to be able to provide support not only for foreign object detection but also for determining whether to close the takeoff and landing site.

[0005] The purpose of this disclosure is to provide monitoring devices, monitoring systems, monitoring methods, and computer programs that can assist in determining whether or not to close a landing or takeoff field. [Means for solving the problem]

[0006] A monitoring device according to one aspect of the present disclosure includes: foreign object detection means for detecting foreign objects in a monitoring area of ​​a landing and takeoff field using observation data observed by a sensor in the monitoring area of ​​the area; foreign object identification means for identifying foreign object characteristics that indicate the nature of the foreign object using captured images of the detected foreign object; closure determination means for determining whether or not the landing and takeoff field needs to be closed using the foreign object characteristics; and output means for outputting output information including the closure determination result, wherein the foreign object characteristics include at least one of the type, size, or weight of the foreign object.

[0007] A monitoring method according to one aspect of the present disclosure includes a computer that uses observation data obtained by sensors to observe the monitoring area of ​​a landing and takeoff field to detect foreign objects in the monitoring area, uses images of the detected foreign objects to identify foreign object characteristics indicating the nature of the foreign objects, uses the foreign object characteristics to determine whether or not the landing and takeoff field needs to be closed, outputs output information including the determination result of whether or not closure is necessary, and the foreign object characteristics include at least one of the type, size, or weight of the foreign object.

[0008] A computer program in one aspect of the present disclosure causes a computer to perform the following processes: use observation data obtained by sensors to observe the area of ​​a landing and takeoff field to detect foreign objects in the area; use images of the detected foreign objects to identify foreign object characteristics indicating the nature of the foreign objects; use the foreign object characteristics to determine whether or not the landing and takeoff field needs to be closed; and output information including the result of the determination of whether or not the field needs to be closed, wherein the foreign object characteristics include at least one of the following: the type of foreign object, its size, or its weight. [Effects of the Invention]

[0009] This disclosure provides monitoring devices, monitoring systems, monitoring methods, and computer programs that can assist in determining whether or not to close a landing or takeoff field. [Brief explanation of the drawing]

[0010] [Figure 1] This is a conceptual diagram illustrating the overview of the monitoring system in this disclosure. [Figure 2] This block diagram shows an example of the configuration of the monitoring system in this disclosure. [Figure 3] This figure shows an example of a rule table for determining whether closure is necessary in this disclosure. [Figure 4] This figure shows an example of the output information in this disclosure. [Figure 5] This figure shows an example of an input request screen in this disclosure. [Figure 6] This flowchart shows an example of the operation of the monitoring device in this disclosure. [Figure 7] This flowchart shows an example of the operation of the monitoring device in this disclosure. [Figure 8] This flowchart shows an example of the operation of the monitoring device in this disclosure. [Figure 9] This diagram illustrates the overview of the monitoring system in this disclosure. [Figure 10] This figure shows an example of the configuration of the monitoring device in this disclosure. [Figure 11] This flowchart shows an example of the operation of the monitoring device in this disclosure. [Figure 12] This diagram illustrates the overview of the monitoring system in this disclosure. [Figure 13] This figure shows an example of the configuration of the monitoring device in this disclosure. [Figure 14] This flowchart shows an example of the operation of the monitoring device in this disclosure. [Figure 15] This figure shows an example of the configuration of the monitoring device in this disclosure. [Figure 16] This flowchart shows an example of the operation of the monitoring device in this disclosure. [Figure 17]FIG. 1 is a diagram illustrating an example of a hardware configuration in which the monitoring device according to the present disclosure is implemented by a computer device including a processor.

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Although technically preferable limitations are set forth in the embodiments described below for carrying out the present disclosure, the scope of the invention is not limited to the following. In all drawings used for the description of the embodiments below, the same reference numerals are given to the same parts unless there is a particular reason. In the following embodiments, repeated descriptions of similar configurations and operations may be omitted. In addition, the UI (User Interface) shown in the drawings is an example, and may be replaced with other UIs.

[0012] In the present disclosure, an aircraft is an airframe that flies through the atmosphere. For example, an aircraft is a flying car, an airplane, or an autonomous flying vehicle (such as a drone). Further, in the present disclosure, a takeoff and landing site is a place for an aircraft to take off and land. For example, the takeoff and landing site is a vertiport, an airport, or a heliport. Further, in the present disclosure, a foreign object is an object that hinders safe takeoff and landing of an aircraft. For example, a foreign object may include generally defined FOD such as metal fragments, stones, tools, and birds, as well as objects other than generally defined FOD such as intruders, lost items, and suspicious aircraft. Note that a suspicious aircraft is an aircraft other than the authorized aircraft scheduled to use the takeoff and landing site.

[0013] [First Embodiment] First, an outline of the monitoring system according to the first embodiment will be described with reference to the drawings. Figure 1 is a conceptual diagram for explaining an outline of the monitoring system according to the present disclosure. The monitoring system in the present embodiment is a system for monitoring a takeoff and landing area E1 as a monitoring area. The takeoff and landing area is an area where aircraft take off and land. For example, the takeoff and landing area is a takeoff and landing pad such as a helipad, an airport runway, or the like. The takeoff and landing area E1 is monitored by a sensor 60. The monitoring system 1 includes a monitoring device 10, a sensor 60, and an imaging device 70. When the sensor 60 detects a foreign object in the takeoff and landing area E1, the imaging device 70 images the periphery of the position where the foreign object is detected. The monitoring device 10 identifies the foreign object using the captured image, and determines whether it is necessary to close the aerodrome including the takeoff and landing area E1.

[0014] (Configuration) Next, the configuration of the monitoring system will be described with reference to Figure 2. Figure 2 is a block diagram showing an example of the configuration of the monitoring system according to the present disclosure.

[0015] The monitoring device 10 is implemented by a general-purpose information processing device such as a stationary terminal device, a notebook terminal device, or a server device. As shown in Figure 2, the monitoring device 10 is communicably connected to each of the storage device 50, the sensor 60, the imaging device 70, and an administrator terminal 80.

[0016] The storage device 50 is a storage device that stores information required for processing by the monitoring device 10. The storage device 50 stores trained models and rule tables for determining whether it is necessary to close an aerodrome. The storage device 50 is implemented by a general-purpose information processing device such as a stationary terminal device, a notebook terminal device, or a server device. In the examples of Figure 1 and Figure 2, the number of storage devices 50 included in the monitoring system 1 is shown as one, but a configuration in which a plurality of storage devices 50 are included in the monitoring system 1 may also be adopted. Further, in the examples of Figure 1 and Figure 2, the storage device 50 and the monitoring device 10 are shown as being implemented by separate devices, but the present invention is not limited thereto. For example, the storage device 50 may be part of the configuration of the monitoring device 10.

[0017] Sensor 60 is a sensor for detecting foreign objects in the monitoring area. For example, sensor 60 can be implemented using 3D-LiDAR (Light Detection and Ranging), 2D-LiDAR, millimeter-wave radar, optical fiber sensor, pressure sensor, microphone, etc. Sensor 60 may consist of a single sensor or a combination of multiple types of sensors. In the examples in Figures 1 and 2, the number of sensors 60 included in the monitoring system 1 is shown as one, but the monitoring system 1 may be configured to include multiple sensors 60.

[0018] The imaging device 70 is a device that captures images for identifying foreign objects. For example, the imaging device 70 can be implemented using a visible light camera, an infrared camera, a multispectral camera, a stereo camera, etc. The imaging device 70 may consist of a single imaging device or a combination of multiple types of imaging devices. In the examples in Figures 1 and 2, the number of imaging devices 70 included in the monitoring system 1 is shown as one, but the monitoring system 1 may also be configured to include multiple imaging devices 70.

[0019] The administrator terminal 80 is an information processing terminal operated by the administrator of the landing and takeoff area. For example, the administrator terminal 80 can be implemented using information processing equipment such as a stationary terminal device, a notebook terminal device, or a portable terminal device.

[0020] (composition) As shown in Figure 2, the monitoring device 10 includes an acquisition unit 11, a foreign object detection unit 12, an imaging device control unit 13, a foreign object identification unit 14, a closure determination unit 15, a removal detection unit 16, an output unit 17, an input request unit 18, and a notification unit 19.

[0021] The acquisition unit 11 acquires observational data from the sensor 60 that observes the monitoring area of ​​the takeoff and landing field. In other words, the acquisition unit 11 acquires observational data of the takeoff and landing area E1 from the sensor 60.

[0022] The foreign object detection unit 12 uses observational data to detect foreign objects in the monitoring area of ​​the landing and takeoff field. The foreign object detection unit 12 detects foreign objects in the monitoring area using known methods. For example, the foreign object detection unit 12 identifies foreign objects using the background subtraction method. In another example, the foreign object detection unit 12 extracts features from the observational data and identifies foreign objects using a trained model that has been machine-learned using the features of the foreign objects as training data. The foreign object detection unit 12 further identifies the location of the detected foreign object in the monitoring area. For example, the foreign object detection unit 12 identifies the coordinate position of the center of the foreign object in a Cartesian coordinate system with any point in the landing and takeoff area E1 as the origin as the location information of the foreign object.

[0023] The imaging device control unit 13 controls the imaging device to photograph the detected foreign object. The imaging device control unit 13 transmits an imaging control command to the imaging device 70. For example, the imaging control command includes the location information of the foreign object identified by the foreign object detection unit 12 and the imaging command. The imaging device 70 photographs the foreign object according to the imaging control command. The imaging device 70 transmits the captured image to the monitoring device 10. The captured image may be a single image or a series of consecutive frames. The imaging device control unit 13 acquires the captured image transmitted from the imaging device 70.

[0024] The foreign object identification unit 14 identifies the characteristics of the foreign object using the captured image. The foreign object characteristics are the totality of information indicating the qualitative or quantitative properties of the foreign object. In this disclosure, the foreign object characteristics include one or more of the following: the type, size, or weight of the foreign object. The foreign object characteristics may further include the surface material of the foreign object and dynamic characteristics (such as the movement speed of the foreign object).

[0025] The category of foreign object is a category pre-classified based on the type and nature of the foreign object. For example, the category of foreign object may include metal fragments, stones, tools, birds, vehicles, people, etc. For example, the foreign object identification unit 14 inputs the captured image of the foreign object into a trained model stored in the memory device 50, and as output, obtains the identification result of the category of the foreign object. The trained model is a model trained using data that associates images of foreign objects with their categories as training data. The category of foreign object may be pre-defined by the manager of the landing and takeoff area, or it may be pre-defined based on records of accidents caused by foreign objects in the past. If the detected foreign object cannot be classified into any of the pre-defined categories, the foreign object identification unit 14 may extract all categories with a similarity of a certain value or higher as candidates.

[0026] The size of a foreign object is information that indicates the quantitative properties of the foreign object. For example, the size of a foreign object may be its vertical height from the monitoring area plane, its area on the monitoring area plane, its volume, its maximum diameter, etc. For example, the foreign object identification unit 14 converts the calibrated captured image into a 3D coordinate system and identifies the dimensions of the foreign object in the 3D coordinate system as the size of the foreign object. If the imaging device 70 is a depth camera, the foreign object identification unit 14 may use the distance information to the foreign object and the image information to construct a 3D shape of the foreign object and identify the dimensions of the constructed 3D shape as the size of the foreign object. The above method is just one example, and the foreign object identification unit 14 can identify the size of a foreign object using various known methods.

[0027] The weight of a foreign object is information that indicates the quantitative properties of the foreign object. If the sensor 60 includes a weight sensor, the foreign object identification unit 14 identifies the weight of the foreign object as the difference between the normal weight and the weight at the time of foreign object detection. If the sensor 60 does not include a weight sensor, the foreign object identification unit 14 may estimate the weight of the foreign object from its size or category. The foreign object identification unit 14 may also estimate the weight of the foreign object from a combination of its category and size. If the surface material of the foreign object can be identified from the captured image of the foreign object, the foreign object identification unit 14 may also estimate the weight of the foreign object from a combination of its surface material, category, and size.

[0028] The closure determination unit 15 uses the characteristics of foreign objects to determine whether or not it is necessary to close the landing and takeoff area.

[0029] The closure determination unit 15 can use various known methods as determination methods. One example of a determination method is determination using a trained model. For example, the closure determination unit 15 uses a closure determination model stored in the memory device 50 to determine whether or not to close the landing and takeoff field. The closure determination model is a trained model that has been trained using past foreign object removal cases as training data. Specifically, the closure determination model is trained using a dataset that includes foreign object characteristics as input features and whether or not to close as the target variable as training data. The closure determination unit 15 inputs the foreign object characteristics identified by the foreign object identification unit 14 to the closure determination model. The closure determination unit 15 obtains a determination result of whether or not to close the landing and takeoff field as output from the closure determination model. The training data for the closure determination model may further include estimated removal time, which is an estimated value of the time required to remove the foreign object, as the target variable. In this case, the closure determination unit 15 obtains estimated removal time as output from the closure determination model. In addition, the training data for the closure determination model may further include necessary equipment for foreign object removal as the target variable. In this case, the closure determination unit 15 further obtains the estimated number of necessary equipment as an output from the closure determination model. The training data for the closure determination model may also include the number of people required to remove the foreign object as a target variable. In this case, the closure determination unit 15 further obtains the estimated number of people required to remove the foreign object as an output from the closure determination model.

[0030] Another example of a determination method is rule-based determination. For example, the closure determination unit 15 refers to a rule table for determining whether or not to close the landing and takeoff field, which is stored in the memory device 50, to determine whether or not to close the field. The rule table is generated based on past foreign object removal cases. Figure 3 is a diagram showing an example of a rule table for determining whether or not to close the field in this disclosure. The processing of the closure determination unit 15 will be further explained using Figure 3. The rule table shown in Figure 3 has items for foreign object characteristics and whether or not to close the field. The closure determination unit 15 searches for a rule that matches the foreign object characteristics identified by the foreign object identification unit 14. The closure determination unit 15 obtains whether or not to close the field corresponding to the matched rule. The rule table may further include items for estimated removal time, necessary equipment, and the number of people required to remove the foreign object. In this case, in addition to the determination result for whether or not to close the field, the closure determination unit 15 further obtains the estimated removal time, necessary equipment, and the number of people required to remove the foreign object. The determination method can be replaced by various known methods other than those described above.

[0031] The removal detection unit 16 detects that the removal of the foreign object has been completed. After the foreign object is detected, the removal detection unit 16 acquires at least one of the observation data from the sensor 60 or the captured image from the imaging device 70 at predetermined time intervals. The predetermined time intervals are, for example, predetermined. The removal detection unit 16 uses at least one of the observation data or the captured image to detect that the removal of the foreign object from the monitoring area has been completed.

[0032] The output unit 17 outputs output information including the determination result of whether or not the landing and takeoff field needs to be closed. Figure 4 is a diagram showing an example of the output information in this disclosure. The output information generated by the output unit 17 will be explained with reference to Figure 4. The output information includes the determination result of whether or not the landing and takeoff field needs to be closed. In the example shown in Figure 4, information D3 is information indicating the determination result of whether or not the landing and takeoff field needs to be closed. The output information may further include foreign object characteristics. In the example shown in Figure 4, information D2 is foreign object characteristics. The output information may further include information regarding the detection of foreign objects. In the example shown in Figure 4, information D1 is information regarding the detection of foreign objects. As shown in the example in Figure 4, the information regarding the detection of foreign objects includes the date and time of detection of the foreign object and the location where the foreign object was detected. If the closure determination unit 15 has obtained, in addition to the determination result of whether or not the closure needs to be closed, the output information may also include estimated removal time, necessary equipment, and the number of people required to remove the foreign object. In the example shown in Figure 4, information D5 is additional information obtained by the closure determination unit 15. The output information may also include an image of the foreign object captured by the imaging device 70. In the example shown in Figure 4, information D4 is the image of the foreign object.

[0033] The input request unit 18 requests the administrator terminal 80 to input whether the determination result regarding whether the landing and takeoff field needs to be closed is correct or incorrect. Note that processing by the input request unit 18 is not mandatory, and whether or not processing by the input request unit 18 is necessary can be set as appropriate by the administrator, for example. If processing by the input request unit 18 is not performed, the monitoring device 10 assumes the determination result regarding whether the landing and takeoff field needs to be closed is correct and proceeds with the subsequent processing.

[0034] Figure 5 is a diagram showing an example of an input request screen in this disclosure. The processing of the input request unit 18 will be explained with reference to Figure 5. The input request unit 18 requests input regarding the correctness of the closure determination result by outputting an input request screen, for example, as shown in Figure 5, to the output unit of the administrator terminal 80. The input request screen includes information D6, which is output information, and information D7 for requesting input regarding the correctness of the determination result regarding the closure of the landing and takeoff field. Information D7 includes a question to confirm the correctness of the result, "Is the above closure determination result correct?", and buttons B1 and B2, which are UI for inputting an answer to the above question. When the administrator terminal 80 detects that the operator has pressed either button B1 or B2, the administrator terminal 80 transmits the input information regarding the correctness of the closure determination result to the monitoring device 10. The input request unit 18 acquires the correctness input information received from the administrator terminal 80.

[0035] The input request unit 18 may request the administrator terminal 80 to input whether the detection result of foreign object removal by the removal detection unit 16 is correct or incorrect. For example, when the removal detection unit 16 detects that the removal of foreign object in the monitoring area has been completed, the input request unit 18 controls the display unit of the administrator terminal 80 to display an input request screen that includes a question asking whether the removal of foreign object has been completed and a UI for inputting an answer to the question. The input request screen may further include an image of the monitoring area captured by the camera 70. When the administrator terminal 80 receives input indicating whether the detection result of foreign object removal is correct or incorrect via the UI, it transmits the correct or incorrect input information to the monitoring device 10. The input request unit 18 obtains the correct or incorrect input information received from the administrator terminal 80.

[0036] The notification unit 19 notifies flight operators of the closure and reopening of flight landing and takeoff fields. For example, the notification unit 19 notifies flight operators of the closure of a flight landing and takeoff field by issuing a NOTAM (Notice To Airmen) indicating the closure of the field. The notification unit 19 also notifies flight operators of the reopening of a flight landing and takeoff field by issuing a NOTAM indicating the reopening of the field. NOTAMs are aeronautical information intended to notify flight operators of temporary information related to aircraft operations. NOTAMs issued by the notification unit 19 are transmitted, for example, to a database server that centrally manages aeronautical information. Note that the method of notification by issuing NOTAMs is just one example and is not limited to this. The notification unit 19 can notify flight operators of the closure and reopening of flight landing and takeoff fields by various known methods.

[0037] The notification unit 19 issues a notification of the closure of the takeoff and landing field according to the determination result of the closure determination unit 15. The notification unit 19 issues a notification of the closure of the takeoff and landing field if the determination result of the closure determination unit 15 is "necessary," that is, if the closure of the takeoff and landing field is necessary. The notification unit 19 does not issue a notification of the closure of the takeoff and landing field if the determination result of the closure determination unit 15 is "unnecessary."

[0038] The notification unit 19 issues a notification to release the takeoff and landing area closure in accordance with the detection result of the removal detection unit 16. The notification unit 19 issues a notification to release the takeoff and landing area closure when the removal detection unit 16 detects that the foreign object removal is complete.

[0039] If the input request unit 18 receives input indicating whether the judgment result is correct or incorrect, the notification unit 19 will issue a closure notification in accordance with the input information for the input request. In other words, the notification unit 19 will issue a closure notification for the landing and takeoff area according to the judgment result of the closure judgment unit 15 and the correct or incorrect result of the input received by the input request unit 18. The notification unit 19 will issue a closure notification for the landing and takeoff area if the judgment result of the closure judgment unit 15 is "required," meaning that the closure of the landing and takeoff area is necessary, and the correct or incorrect input received by the input request unit 18 is "correct." The notification unit 19 will also issue a closure notification for the landing and takeoff area if the judgment result of the closure judgment unit 15 is "unnecessary," and the correct or incorrect input received by the input request unit 18 is "incorrect." On the other hand, the notification unit 19 will not issue a closure notification for the landing and takeoff area if the judgment result of the closure judgment unit 15 is "required," and the correct or incorrect input received by the input request unit 18 is "incorrect." Furthermore, the notification unit 19 does not issue a notification of the closure of the landing and takeoff area if the closure determination unit 15's determination result is "unnecessary" and the correctness of the input received by the input request unit 18 is "correct".

[0040] Similarly, if the input request unit 18 receives input indicating correctness or incorrectness regarding the detection result of foreign object removal by the removal detection unit 16, the notification unit 19 will issue a notification to release the closure in accordance with the input information for the input request. In other words, the notification unit 19 will issue a notification to release the closure of the landing and takeoff area in accordance with the detection result of the removal detection unit 16 and the correctness or incorrectness of the input received by the input request unit 18. The notification unit 19 will issue a notification to release the closure of the landing and takeoff area if the removal detection unit 16 has detected the completion of foreign object removal and the correctness or incorrectness of the input received by the input request unit 18 is "correct". The notification unit 19 will not issue a notification to release the closure of the landing and takeoff area if the removal detection unit 16 has detected the completion of foreign object removal and the correctness or incorrectness of the input received by the input request unit 18 is "incorrect".

[0041] The closure notification may include closure period information indicating the period during which the closure will take place. The closure period information is set based on the current time and the estimated removal time identified by the closure determination unit 15. For example, if the current time is 10:00 and the estimated removal time is 20 minutes, the notification unit 19 will set the closure period to 10:00 to 10:20 and include it in the closure notification.

[0042] (operation) Next, the operation of the monitoring device 10 in this embodiment will be described with reference to Figures 6 to 8. Figures 6 to 8 are flowcharts showing an example of the operation of the monitoring device in this disclosure.

[0043] First, an example of the operation of the monitoring device 10 will be explained with reference to Figure 6. First, the acquisition unit 11 acquires observation data of the takeoff and landing area E1, which is the monitoring area, from the sensor 60 (step S101).

[0044] Next, the foreign object detection unit 12 uses the observation data to detect foreign objects in the monitoring area of ​​the landing and takeoff field (step S102). The foreign object detection unit 12 further identifies the location of the detected foreign object in the monitoring area.

[0045] Next, the imaging device control unit 13 controls the imaging device to photograph the detected foreign object (step S103). The imaging device control unit 13 transmits an imaging control command to the imaging device 70. For example, the imaging control command includes the location information of the foreign object identified by the foreign object detection unit 12 and the imaging command.

[0046] Next, the foreign object identification unit 14 identifies the characteristics of the foreign object using the captured image (step S104). The characteristics of the foreign object include one or more of the following: type, size, or weight of the foreign object.

[0047] Next, the closure determination unit 15 determines whether or not to close the landing and takeoff field using the foreign object characteristics (step S105). For example, the closure determination unit determines whether or not to close the field using a determination method using a trained model or a rule-based determination method. If the closure determination unit 15 determines that closing the landing and takeoff field is unnecessary (No in step S106), the output unit 17 outputs output information including the determination result of whether or not to close the landing and takeoff field (step S117).

[0048] After completing the process in step S117, the monitoring device 10 performs process B as shown in Figure 7. Referring to Figure 7, the processes from step S117 onward will be explained. First, the input request unit 18 requests the administrator terminal 80 to input whether the determination result regarding the necessity of closing the landing and takeoff field is correct or incorrect. The input request unit 18 also obtains information received from the administrator terminal 80 (step S118). If the administrator terminal 80 inputs that the determination result is incorrect (No in step S119), the monitoring device 10 repeats the processes from step S110 onward (process D) as shown in Figure 8. If the administrator terminal 80 inputs that the determination result is correct (Yes in step S119), the monitoring device 10 repeats the processes from step S101 onward (process C) as shown in Figure 6.

[0049] Let's return to the explanation in Figure 6. If the closure determination unit 15 determines that it is necessary to close the landing and takeoff field (Yes in step S106), the output unit 17 outputs output information including the determination result of whether or not the landing and takeoff field needs to be closed (step S107).

[0050] After completing the process in step S107, the monitoring device 10 performs process A as shown in Figure 8. Referring to Figure 8, the processes from step S107 onward will be explained. First, the input request unit 18 requests the administrator terminal 80 to input whether the determination result regarding whether or not the landing and takeoff field needs to be closed is correct or incorrect. The input request unit 18 also obtains information received from the administrator terminal 80 (step S108). If the administrator terminal 80 inputs that the determination result is incorrect (No in step S109), the monitoring device 10 repeats the processes from step S101 onward (process C) as shown in Figure 6.

[0051] If the administrator terminal 80 receives input indicating that the judgment result is correct (Yes in step S109), the notification unit 19 notifies the flight operators of the closure of the landing and takeoff area (step S110). For example, the notification unit 19 notifies the landing and takeoff area of ​​the closure by issuing a NOTAM indicating the closure of the landing and takeoff area.

[0052] Next, the removal detection unit 16 acquires at least one of either observation data from the sensor 60 or images captured by the imaging device 70 (step S111). The removal detection unit 16 repeats the process in step S111 at predetermined time intervals until it detects that the removal of the foreign object is complete (No in step S112).

[0053] When the removal detection unit 16 detects that the removal of the foreign object has been completed (Yes in step S112), the input request unit 18 requests the administrator terminal 80 to input whether the detection result for the removal of the foreign object is correct or incorrect. The input request unit 18 also obtains information that it has received input from the administrator terminal 80 (step S113). If the administrator terminal 80 inputs that the detection result for the removal of the foreign object is incorrect (No in step S114), the monitoring device 10 repeats the process from step S111 onwards.

[0054] If the administrator terminal 80 receives input indicating that the detection result for foreign object removal is correct (Yes in step S114), the notification unit 19 notifies the flight operators that the landing and takeoff area has been reopened (step S115). For example, the notification unit 19 notifies the landing and takeoff area reopened by issuing a NOTAM indicating that the landing and takeoff area has been reopened.

[0055] If the monitoring device 10 does not meet the termination conditions (No in step S116), it repeats the process (process C) in step S101 shown in Figure 6. If the predetermined termination conditions are met (Yes in step S116), the process is terminated. For example, predetermined termination conditions include receiving a control command to terminate the process from the administrator terminal 80, the elapsed time, or the power to the monitoring device 10 being turned off. When the monitoring device 10 meets the termination conditions (Yes in step S116), it terminates the series of processes described above.

[0056] As described above, the monitoring device of this embodiment comprises a foreign object detection unit, a foreign object identification unit, a closure determination unit, and an output unit. The foreign object detection unit detects foreign objects in the monitoring area of ​​the landing and takeoff field using observation data observed by a sensor in the monitoring area. The foreign object identification unit identifies foreign object characteristics that indicate the nature of the foreign object using the captured image of the detected foreign object. Foreign object characteristics include at least one of the following: type of foreign object, size, or weight. The closure determination unit determines whether or not the landing and takeoff field needs to be closed using the foreign object characteristics. The output unit outputs output information including the determination result of whether or not the field needs to be closed.

[0057] The monitoring device of this embodiment determines whether or not the landing and takeoff field needs to be closed and outputs output information including the determination result. The manager of the landing and takeoff field can use the determination result included in the output information to decide whether or not to close the landing and takeoff field. In other words, the monitoring device of this embodiment can assist in deciding whether or not to close the landing and takeoff field.

[0058] In one aspect of this embodiment, the monitoring device receives the characteristics of a foreign object identified by the foreign object identification means as input to a trained model and obtains a determination result of whether or not closure is necessary as output. The trained model is trained using a dataset that includes foreign object characteristics as input features and whether or not closure is necessary as the target variable as training data. By making a determination of whether or not closure is necessary using a trained model that has learned past foreign object removal cases, the monitoring device in one aspect of this embodiment can make highly accurate predictions even for unknown foreign objects.

[0059] In one aspect of this embodiment, the monitoring device further includes an estimated removal time, which is an estimate of the time required to remove foreign objects, as the target variable of the trained model. The closure determination unit further obtains the estimated removal time as output from the trained model. The output information further includes the estimated removal time. The manager of the landing and takeoff field can use the estimated removal time included in the output information to determine whether or not to close the landing and takeoff field. In other words, the monitoring device in one aspect of this embodiment can assist in determining whether or not to close the landing and takeoff field.

[0060] A monitoring device according to one aspect of this embodiment further comprises an input request unit and a notification unit. The input request unit requests input regarding the determination result of whether or not closure is necessary. The notification unit notifies the user of the closure of the landing and takeoff field according to the determination result of whether or not closure is necessary and the input information in response to the input request. By confirming the correctness of the determination result by the monitoring device before issuing the closure notification, the monitoring device according to one aspect of this embodiment can prevent the erroneous issuance of a closure notification.

[0061] A monitoring device according to one aspect of this embodiment further comprises a removal detection unit and a notification unit. The removal detection unit detects that the detected foreign object has been removed from the monitoring area. When the removal of the foreign object is detected, the notification unit issues a notification to release the closure of the landing and takeoff area. The monitoring device according to one aspect of this embodiment can also assist in determining whether or not to release the closure of the landing and takeoff area.

[0062] [Second Embodiment] Next, the monitoring device in this embodiment will be described with reference to the drawings. In the following description, the same reference numerals will be used for parts that are the same as in the first embodiment, and their descriptions will be omitted as appropriate. The monitoring device in this embodiment differs from the monitoring device in the first embodiment in that it determines whether or not to close the landing and takeoff area depending on the type of area where foreign objects are detected.

[0063] Figure 9 is a diagram illustrating the overview of the monitoring system in this disclosure. In this embodiment, the landing and takeoff field has several types of areas. These types of areas are landing and takeoff areas, work areas, and taxiway areas. Work areas are areas where work necessary for the operation of aircraft is performed. Examples of work areas include charging areas, maintenance areas, parking areas, and hangars. Charging areas are areas where aircraft are charged. Parking areas are areas where aircraft are parked. Hangars are areas where aircraft are kept on standby or serviced while protected from the elements. Maintenance areas are areas where aircraft are serviced. Multiple instances of each type of work area may be installed on the landing and takeoff field. In the example shown in Figure 9, the landing and takeoff field includes two charging areas E2-E3 and a maintenance area E4 as work areas. Taxiway areas are taxiways connecting the landing and takeoff areas to each work spot. In the example in Figure 9, the landing and takeoff field has taxiway areas E5-E7.

[0064] In this embodiment, the monitoring system 2 monitors the takeoff and landing area, each work area, and each taxiway. That is, in the example shown in Figure 9, the monitoring system 2 monitors the takeoff and landing area E1, charging areas E2-E3, maintenance area E4, and taxiway areas E5-E7. The sensor 60 acquires observation data for these monitoring areas.

[0065] (composition) Figure 10 is a diagram showing an example of the configuration of a monitoring device in this disclosure. As shown in Figure 10, the monitoring device 20 comprises an acquisition unit 11, a foreign object detection unit 22, an imaging device control unit 13, a foreign object identification unit 14, a closure determination unit 25, a removal detection unit 16, an output unit 17, an input request unit 18, and a notification unit 19.

[0066] The foreign object detection unit 22 uses observation data to detect foreign objects in the monitoring area of ​​the landing and takeoff field. The foreign object detection unit 22 also identifies the location of the detected foreign object in the monitoring area. For example, the foreign object detection unit 22 identifies the coordinate position of the center of the foreign object in a Cartesian coordinate system with any point in the monitoring area as the origin, as the location information of the foreign object. Furthermore, based on the location in the monitoring area where the foreign object was detected, the foreign object detection unit 22 identifies the type of area in the landing and takeoff field where the foreign object was detected. For example, in the example in Figure 9, the foreign object detection unit 22 identifies the area type as charging area E3, etc.

[0067] The closure determination unit 25 determines whether or not the landing and takeoff area needs to be closed, depending on the type of area where the foreign object was detected.

[0068] For example, the closure determination unit 25 uses a closure determination model stored in the memory device 50 to determine whether or not the landing and takeoff field needs to be closed. The closure determination model is a trained model that has been trained using past foreign object removal cases as training data. Specifically, the closure determination model is trained using a dataset as training data that includes foreign object characteristics and the type of area where the foreign object was detected as input features, and whether or not the field needs to be closed as the target variable. The closure determination unit 15 inputs the foreign object characteristics and the type of area where the foreign object was detected, as identified by the foreign object identification unit 14, into the closure determination model. The closure determination unit 15 obtains a determination result of whether or not the landing and takeoff field needs to be closed as output from the closure determination model.

[0069] Furthermore, the method by which the closure determination unit 25 determines whether closure is necessary, depending on the type of area where the foreign object is detected, is not limited to those described above. For example, the closure determination unit 25 may determine whether closure is necessary using a rule-based determination method. In this case, the items in the rule table will further include the items of the type of area of ​​the landing and takeoff field, in addition to the items in Figure 3 of the first embodiment. Alternatively, the closure determination unit 25 may determine whether closure is necessary using a method that combines both a method using a trained model and a method using a rule table.

[0070] (operation) Next, the operation of the monitoring device 20 will be described with reference to Figure 11. Figure 11 is a flowchart showing an example of the operation of the monitoring device in this disclosure.

[0071] First, the acquisition unit 11 acquires observation data of the monitoring area from the sensor 60 (step S201). The monitoring area includes the takeoff and landing area, each work area, and each taxiway.

[0072] Next, the foreign object detection unit 22 uses the observation data to detect foreign objects in the monitoring area of ​​the landing and takeoff field (step S202). The foreign object detection unit 12 further identifies the location of the detected foreign object in the monitoring area. The foreign object detection unit 22 also identifies the type of area in the landing and takeoff field where the foreign object was detected based on its location in the monitoring area (step S203).

[0073] Next, the imaging device control unit 13 controls the imaging device to photograph the detected foreign object (step S204). The imaging device control unit 13 transmits an imaging control command to the imaging device 70. For example, the imaging control command includes the location information of the foreign object identified by the foreign object detection unit 12 and the imaging command.

[0074] Next, the foreign object identification unit 14 identifies the characteristics of the foreign object using the captured image (step S205). The characteristics of the foreign object include one or more of the following: type, size, or weight of the foreign object.

[0075] Next, the closure determination unit 25 determines whether or not the landing and takeoff field needs to be closed (step S206). For example, the closure determination unit 25 determines whether or not the landing and takeoff field needs to be closed using a closure determination model stored in the memory device 50. The closure determination model is a model that has been trained using a dataset as training data, which includes foreign object characteristics and the type of area where foreign objects are detected as input features, and whether or not the field needs to be closed as the target variable.

[0076] If the closure determination unit 25 determines that the landing and takeoff field does not need to be closed (No in step S207), the output unit 17 outputs output information including the determination result of whether or not the landing and takeoff field needs to be closed (step S209). After completing the process in step S209, the monitoring device 20 performs process B shown in Figure 7. The process in Figure 7 is the same as that described in the first embodiment, so its explanation is omitted.

[0077] Furthermore, if the closure determination unit 25 determines that the landing and takeoff field needs to be closed (Yes in step S207), the output unit 17 outputs output information including the determination result of whether or not the landing and takeoff field needs to be closed (step S208). After completing the process in step S208, the monitoring device 20 performs process A shown in Figure 8. The process in Figure 8 is the same as that described in the first embodiment, so its explanation is omitted.

[0078] The monitoring device of this embodiment is configured as described above. In addition to the effects obtained from the monitoring device of the first embodiment, the monitoring device of this embodiment obtains the following effects.

[0079] In one aspect of this embodiment, the monitoring device further identifies the type of area in the landing / takeoff field where the foreign object was detected. The closure determination unit then determines whether or not to close the landing / takeoff field, depending on the type of area where the foreign object was detected. Generally, the decision of whether or not to close a landing / takeoff field when a foreign object is detected depends on the type of area where the foreign object was detected. For example, if a foreign object is detected in an area that does not need to be used by aircraft, or in an area where there are multiple alternatives, the landing / takeoff field can be operated without being closed. Therefore, considering the operational efficiency of the landing / takeoff field, it is desirable not to close it in such cases. According to the monitoring device of this embodiment, the type of area in the landing / takeoff field where the foreign object was detected is identified, and the decision of whether or not to close the landing / takeoff field is made depending on the type of area where the foreign object was detected. This makes it possible to avoid unnecessary closures and improve the operational efficiency of the landing / takeoff field. In other words, according to one aspect of this embodiment, the monitoring device can support the decision of whether or not to close a landing / takeoff field.

[0080] (Third embodiment) Next, the monitoring device in this embodiment will be described with reference to the drawings. In the following description, parts that are the same as those in the first and second embodiments will be denoted by the same reference numerals, and their descriptions will be omitted as appropriate. The monitoring device of this embodiment differs from the monitoring devices of the first and second embodiments in that it further includes a work information generation unit that generates work information to support the foreign object removal work. Furthermore, the foreign object detection unit in the monitoring device of this embodiment differs from the monitoring devices of the first and second embodiments in that it further detects not only objects but also abnormal phenomena.

[0081] Figure 12 is a diagram illustrating the overview of the monitoring system in this disclosure. In this embodiment, the monitoring system 3 monitors the entire takeoff and landing field. That is, in the example shown in Figure 12, the monitoring system 3 monitors the takeoff and landing field E10. The sensor 60 acquires observational data of these takeoff and landing field E10.

[0082] (composition) Figure 13 is a diagram showing an example of the configuration of a monitoring device in this disclosure. As shown in Figure 13, the monitoring device 30 comprises an acquisition unit 11, a foreign object detection unit 32, an imaging device control unit 13, a foreign object identification unit 14, a closure determination unit 25, a removal detection unit 16, an output unit 37, an input request unit 18, a notification unit 19, and a work information generation unit 31.

[0083] The foreign object detection unit 32 further detects abnormal phenomena. Abnormal phenomena are, for example, phenomena that hinder the safe takeoff and landing of an aircraft, such as fire or flooding. The foreign object detection unit 32 identifies abnormal phenomena using various known methods.

[0084] The work information generation unit 31 generates work information to support the foreign object removal work. For example, the work information includes the estimated removal time, the necessary equipment, and the number of people required for foreign object removal. The estimated removal time, necessary equipment, and the number of people required for foreign object removal can be obtained, for example, as output from the closure determination model, as described in the first embodiment.

[0085] The work information may include route information from the administrator's current location to the location where the foreign object was detected or where the abnormal phenomenon occurred. The route information is calculated using various known methods. The work information generation unit 31 may further use information on areas that cannot be passed through due to the abnormal phenomenon to generate route information that uses only passable routes. Unpassable routes are identified, for example, by image analysis of captured images. The work information generation unit 31 may also further use topographic information of the landing and takeoff field to generate route information. For example, suppose a fire is detected as an abnormal phenomenon. In this case, the work information generation unit 31 uses captured images to identify routes that cannot be safely passed through due to smoke and flames. Furthermore, the work information generation unit 31 uses topographic information of the landing and takeoff field stored in the storage device 50 to identify the upwind entrance and the downwind entrance. The work information generation unit 31 generates a route that avoids routes that cannot be safely passed through, using the upwind entrance as the entrance and the downwind entrance as the exit.

[0086] The output unit 37 outputs output information including the determination result of whether or not the landing and takeoff field needs to be closed, and work information.

[0087] (operation) Next, the operation of the monitoring device 30 will be described with reference to Figure 14. Figure 14 is a flowchart showing an example of the operation of the monitoring device in this disclosure.

[0088] First, the acquisition unit 11 acquires observation data of the monitoring area from the sensor 60 (step S201). The monitoring area is the take-off and landing field.

[0089] Next, the foreign object detection unit 32 detects foreign objects and abnormal phenomena in the monitoring area (step S302). Next, the monitoring device 30 performs the processes in steps S303 to S305. The processes in steps S303 to S305 are the same as the processes in steps S203 to S205 in the second embodiment, so their explanation is omitted.

[0090] Next, the closure determination unit 25 determines whether or not the landing and takeoff field needs to be closed (step S306). For example, the closure determination unit 25 determines whether or not the landing and takeoff field needs to be closed using a closure determination model stored in the memory device 50. The closure determination model is a model that has been trained using a dataset as training data, which includes foreign object characteristics and the type of area where foreign objects are detected as input features, and whether or not closure is necessary as the target variable.

[0091] If the closure determination unit 25 determines that the landing and takeoff field does not need to be closed (No in step S307), the output unit 17 outputs output information including the determination result of whether or not the landing and takeoff field needs to be closed (step S310). After completing the processing in step S310, the monitoring device 30 performs processing B shown in Figure 7. The processing of processing B is the same as that described in the first embodiment, so the explanation is omitted.

[0092] Furthermore, if the closure determination unit 25 determines that the landing and takeoff field needs to be closed (Yes in step S307), the work information generation unit 31 generates work information to support the foreign object removal work (step S308). The output unit 17 outputs output information including the determination result of whether the landing and takeoff field needs to be closed and the work information (step S309). After completing the processing in step S309, the monitoring device 30 performs process A as shown in Figure 8. The processing of process A is the same as that described in the first embodiment, so the explanation is omitted.

[0093] The monitoring device of this embodiment is configured as described above. In addition to the effects obtained from the monitoring device of the first or second embodiment, the monitoring device of this embodiment obtains the following effects.

[0094] A monitoring device according to one aspect of this embodiment further comprises a work information generation unit. The work information generation unit generates work information to support the foreign object removal work. The work information includes at least one of the following: estimated removal time, necessary equipment indicating the equipment required for foreign object removal, or the number of people required for foreign object removal. The output unit outputs output information including the work information. As a result, the manager of the landing and takeoff field who checks the output information can grasp the time, number of people, and equipment required for foreign object removal, and thus can perform foreign object removal quickly. In other words, the monitoring device according to one aspect of this embodiment can support the work of the manager of the landing and takeoff field.

[0095] (Fourth embodiment) In this embodiment, a monitoring device 40 with a simplified configuration compared to the monitoring devices in the first to third embodiments will be described. In the following description, parts that are the same as those in the first to third embodiments will be omitted as appropriate.

[0096] (composition) The configuration of the monitoring device in this embodiment will be described with reference to the drawings. Figure 15 is a block diagram showing an example of the configuration of the monitoring device in this disclosure. The monitoring device 40 includes a foreign object detection unit 42, a foreign object identification unit 44, a closure determination unit 45, and an output unit 47.

[0097] The foreign object detection unit 42 detects foreign objects in the monitoring area of ​​the landing and takeoff field using observation data obtained by sensors in the monitoring area. The foreign object identification unit 44 identifies foreign object characteristics that indicate the nature of the foreign object using the captured image of the detected foreign object. Foreign object characteristics include at least one of the following: type of foreign object, size, or weight. The closure determination unit 45 determines whether or not the landing and takeoff field needs to be closed using the foreign object characteristics. The output unit 47 outputs output information including the determination result of whether or not the field needs to be closed.

[0098] (operation) Next, an example of the operation of the monitoring device in this embodiment will be described with reference to Figure 16. Figure 16 is a diagram showing an example of the operation of the monitoring device in this disclosure.

[0099] First, the foreign object detection unit 42 uses observation data obtained by sensors to observe the monitoring area of ​​the landing and takeoff field to detect foreign objects in the monitoring area (step S41).

[0100] Next, the foreign object identification unit 44 uses the captured image of the detected foreign object to identify foreign object characteristics that indicate the nature of the foreign object (step S42). Foreign object characteristics include at least one of the following: type, size, or weight of the foreign object.

[0101] Next, the closure determination unit 45 determines whether or not the landing and takeoff field needs to be closed using the foreign object characteristics (step S43).

[0102] Next, the output unit 47 outputs output information including the determination result of whether or not closure is necessary (step S44).

[0103] The monitoring device of this embodiment is configured as described above. The monitoring device of this embodiment identifies foreign object characteristics, including at least one of the type, size, or weight of the foreign object, determines whether or not the landing and takeoff field needs to be closed using the foreign object characteristics, and outputs output information including the determination result of whether or not the field needs to be closed. In other words, the monitoring device of this embodiment can assist in determining whether or not to close the landing and takeoff field.

[0104] (Hardware configuration) Each component in the embodiments of this disclosure described above can be implemented not only as hardware, but also by a computer device or firmware based on program control.

[0105] Figure 17 shows an example of a hardware configuration in which the monitoring device in this disclosure is implemented using a computer device 90 including a processor. The monitoring device in each embodiment is implemented by the computer device 90. As shown in Figure 17, the computer device 90 includes a processor 91, memory 92, a storage device 93 such as a hard disk for storing programs, an input / output interface 94 for connecting input and output devices, and a communication interface 95 for network connection.

[0106] The processor 91 loads a program (instruction) stored in the storage device 93 or the like into memory 92. For example, the program is a software program for executing the control and processing described in this disclosure. The processor 91 executes the program loaded into memory 92. By executing the program, the processor 91 performs the control and processing described in this disclosure.

[0107] The storage device 93 is, for example, an optical disk, a flexible disk, a magneto-optical disk, an external hard disk, or a semiconductor memory. Some of the storage media of the storage device are non-volatile storage devices, and programs are recorded therein. Alternatively, programs may be downloaded from an external computer (not shown) connected to a communication network.

[0108] The input devices connected to the input / output interface 94 are implemented by, for example, a mouse or keyboard, and are used for input operations. Similarly, the output devices connected to the input / output interface 94 are implemented by, for example, a display, and are used for displaying and confirming the output results.

[0109] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0110] Some or all of the above embodiments may also be described as follows: (Note 1) A foreign object detection means that uses observation data obtained by sensors to observe the monitoring area of ​​the landing and takeoff field to detect foreign objects in the said monitoring area, A foreign object identification means that identifies foreign object characteristics indicating the properties of the foreign object using the captured image of the detected foreign object, A closure determination means for determining whether or not the landing and takeoff field needs to be closed using the aforementioned foreign matter characteristics, Output means that outputs output information including the determination result of whether or not the closure is necessary, Equipped with, A monitoring device in which the foreign matter characteristics include at least one of the following: the type, size, or weight of the foreign matter. (Note 2) The closure determination means inputs the foreign object characteristics identified by the foreign object identification means into the trained model and obtains the determination result of whether or not closure is necessary as an output. The monitoring device described in Appendix 1, wherein the trained model is a model trained using a dataset containing the foreign object characteristics as input features and the closure requirement as the target variable as training data. (Note 3) The target variable of the trained model further includes an estimated removal time, which is an estimate of the time required to remove the foreign matter. The closure determination means further obtains the estimated removal time as an output from the trained model, The monitoring device as described in Appendix 2, further including the estimated removal time for the output information. (Note 4) An input request means that requests input of correct or incorrect regarding the determination result of whether or not closure is necessary, The monitoring device according to any one of the appendices 1 to 3, further comprising: a notification means for notifying the closure of the landing and takeoff field in accordance with the determination result of whether or not closure is necessary and the input information in response to the input request. (Note 5) A removal detection means for detecting that the detected foreign object has been removed from the monitoring area, The monitoring device according to any one of the appendices 1 to 3, further comprising a notification means for issuing a notification to release the closure of the landing and takeoff area when the removal of the foreign object is detected. (Note 6) The aforementioned monitoring area includes multiple types of areas, The foreign object detection means further identifies the type of area in which the foreign object was detected, The closure determination means is a monitoring device according to any one of appendices 1 to 5, which determines whether or not the landing and takeoff area needs to be closed, further according to the type of area in which the foreign object was detected. (Note 7) The system further includes a means for generating work information to support the foreign object removal process, The aforementioned work information includes at least one of the following: estimated removal time, which is an estimated value of the time required to remove the foreign object; necessary equipment, which indicates the equipment required to remove the foreign object; or the number of people required to remove the foreign object. The monitoring device described in any one of the appendices 1 to 6, further including the output information and the work information. (Note 8) A monitoring device described in any one of the appendices 1 to 7, The sensor that acquires the aforementioned observation data, A photographic device for photographing the aforementioned foreign object, A monitoring system, including a surveillance system. (Note 9) Computers Using observation data obtained by sensors from the monitoring area of ​​the landing and takeoff field, foreign objects are detected in the monitoring area. Using the captured images of the detected foreign object, the foreign object characteristics indicating the properties of the foreign object are identified. Using the aforementioned foreign object characteristics, determine whether or not the landing and takeoff area needs to be closed. Output information including the result of the determination of whether or not closure is necessary, A monitoring method wherein the foreign matter characteristics include at least one of the following: the type, size, or weight of the foreign matter. (Note 10) On the computer, A process for detecting foreign objects in the monitoring area of ​​the landing and takeoff field using observation data obtained by sensors in the monitoring area, A process to identify foreign object characteristics that indicate the properties of the foreign object using the captured image of the detected foreign object, A process for determining whether or not the landing and takeoff field needs to be closed using the aforementioned foreign object characteristics, The process of outputting output information including the result of the determination of whether or not the closure is necessary is executed. A computer program in which the foreign matter characteristics include at least one of the following: the type, size, or weight of the foreign matter.

[0111] Furthermore, in the above appendices, some or all of the configurations described in Appendices 2 to 8, which are dependent on Appendice 1, may also be dependent on Appendices 9 and 10 in the same way as those described in Appendices 2 to 8. Moreover, not limited to Appendices 1, 9, and 10, some or all of the configurations described as appendices may be made dependent on various hardware or systems in the same manner, without departing from the embodiments described above. [Explanation of Symbols]

[0112] 10, 20, 30, 40 monitoring equipment 11 Acquisition Department 12, 32, 42 Foreign object detection unit 13. Camera Control Unit 14, 44 Foreign object identification section 15, 25, 45 Closure judgment section 16 Removal detection unit 17, 37, 47 Output section 18 Input Request Section 19 Notification Department 31 Work information generation section 50 Storage device 60 sensors 70 Imaging device 80 Administrator terminal 90 Computer equipment 91 processors 92 memory 93 Storage device 94 Input / Output Interfaces 95 Communication Interface

Claims

1. A foreign object detection means that uses observation data obtained by sensors to observe the monitoring area of ​​the landing and takeoff field to detect foreign objects in the said monitoring area, A foreign object identification means that identifies foreign object characteristics indicating the properties of the foreign object using the captured image of the detected foreign object, A closure determination means for determining whether or not the landing and takeoff field needs to be closed using the aforementioned foreign matter characteristics, Output means that outputs output information including the determination result of whether or not the closure is necessary, Equipped with, A monitoring device in which the foreign matter characteristics include at least one of the following: the type, size, or weight of the foreign matter.

2. The closure determination means inputs the foreign object characteristics identified by the foreign object identification means into the trained model and obtains the determination result of whether or not closure is necessary as an output. The monitoring device according to claim 1, wherein the trained model is a model trained using a dataset that includes the foreign object characteristics as input features and the closure requirement as a target variable as training data.

3. The target variable of the trained model further includes an estimated removal time, which is an estimate of the time required to remove the foreign matter. The closure determination means further obtains the estimated removal time as an output from the trained model, The monitoring device according to claim 2, wherein the output information further includes the estimated removal time.

4. An input request means that requests input of correct or incorrect regarding the determination result of whether or not closure is necessary, The monitoring device according to claim 1, further comprising notification means for notifying the closure of the landing and takeoff field in accordance with the determination result of whether or not closure is necessary and the input information in response to the input request.

5. A removal detection means for detecting that the detected foreign object has been removed from the monitoring area, The monitoring device according to claim 1, further comprising: notification means for notifying the release of the closure of the landing and takeoff area when the removal of the foreign object is detected.

6. The aforementioned monitoring area includes multiple types of areas, The foreign object detection means further identifies the type of area in which the foreign object was detected, The monitoring device according to claim 1, wherein the closure determination means determines whether or not the landing and takeoff area needs to be closed, further according to the type of area in which the foreign object was detected.

7. The system further includes a means for generating work information to support the foreign object removal process, The aforementioned work information includes at least one of the following: estimated removal time, which is an estimated value of the time required to remove the foreign object; necessary equipment, which indicates the equipment required to remove the foreign object; or the number of people required to remove the foreign object. The monitoring device according to claim 1, further comprising the output information and the work information.

8. A monitoring device according to any one of claims 1 to 7, The sensor that acquires the aforementioned observation data, A photographic device for photographing the aforementioned foreign object, A monitoring system, including a surveillance system.

9. Computers Using observation data obtained by sensors from the monitoring area of ​​the landing and takeoff field, foreign objects are detected in the monitoring area. Using the captured images of the detected foreign object, the foreign object characteristics indicating the properties of the foreign object are identified. Using the aforementioned foreign object characteristics, determine whether or not the landing and takeoff area needs to be closed. Output information including the result of the determination of whether or not closure is necessary, A monitoring method wherein the foreign matter characteristics include at least one of the following: the type, size, or weight of the foreign matter.

10. On the computer, A process for detecting foreign objects in the monitoring area of ​​the landing and takeoff field using observation data obtained by sensors in the monitoring area, A process to identify foreign object characteristics that indicate the properties of the foreign object using the captured image of the detected foreign object, A process for determining whether or not the landing and takeoff field needs to be closed using the aforementioned foreign object characteristics, The process of outputting output information including the result of the determination of whether or not the closure is necessary is executed. A computer program in which the foreign matter characteristics include at least one of the following: the type, size, or weight of the foreign matter.

Images