Monitoring systems and computer programs

Abstract

The present invention provides a monitoring system and computer program that enables a vehicle to drive animals out of the area where it is working. [Solution] A monitoring system 100 comprising a calculation unit 21 for guiding animals present in a target area T, wherein the calculation unit calculates a guidance area Y for guiding the animals based on a first detection value relating to the animals present in the target area and a second detection value relating to a vehicle present in the target area, calculates a driving plan S for a guided drive in which the vehicle guides the animals into the guidance area, and causes the vehicle to participate in the guided drive based on the driving plan.

Description

Technical Field

[0001] The present invention relates to a monitoring system for monitoring a vehicle, and a computer program. Background Art

[0002] Patent Document 1 describes a vehicle that operates a device that threatens animals, such as an ultrasonic device, when an animal is detected based on a detection value of a detection unit. Prior Art Documents Patent Documents

[0003] Patent Document 1 Japanese Unexamined Patent Publication No. 2007-306818 Summary of the Invention Problem to be Solved by the Invention

[0004] According to the technology described in Patent Document 1, when a vehicle is performing work in a vast target area that is the object of work, animals are threatened only when an animal approaches the vehicle, and thus there is a possibility that it becomes difficult to drive animals out of the target area.

[0005] An object of the present invention is to provide a monitoring system and a computer program that enable driving animals out of a target area where a vehicle is working. Means for Solving the Problem

[0006] One aspect of the present invention is a monitoring system comprising a calculation unit for guiding an animal present in a target area, wherein the calculation unit calculates a guidance area for guiding the animal based on a first detection value relating to the animal present in the target area and a second detection value relating to a vehicle present in the target area, calculates a driving plan for the vehicle to guide the animal into the guidance area, and causes the vehicle to participate in the guidance driving based on the driving plan. [Effects of the Invention]

[0007] According to the present invention, it is possible to drive animals out of the area where a vehicle is working. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the configuration of the monitoring system. [Figure 2] This diagram schematically illustrates the process of driving animals out of a target area. [Figure 3] This diagram schematically illustrates how animals are driven out of a target area depending on the degree of influence of the vehicle. [Figure 4] This diagram schematically illustrates a situation where multiple vehicles work together to drive animals out of a target area. [Figure 5] This diagram schematically illustrates a situation in which multiple vehicles cooperate to form a guided path. [Figure 6] This is a flowchart showing the processing flow of management methods performed in a monitoring system. [Modes for carrying out the invention]

[0009] As shown in Figure 1, the monitoring system 100 consists of a vehicle 1 and a monitoring device 20 that is communicatively connected to the vehicle 1. The vehicle 1 is, for example, an autonomous vehicle that drives to perform predetermined tasks by autonomous driving in a target area to be managed. The target area is, for example, an open-pit mine.

[0010] The monitoring system 100 is configured to manage the operation of one or more vehicles 1. As described later, when a vehicle 1 detects an animal, the monitoring system 100 is configured to coordinate one or more vehicles 1 to drive the animal out of the target area.

[0011] Vehicle 1 includes, for example, a vehicle control device 10 that performs control related to driving. The vehicle control device 10 controls the driving of vehicle 1 based on a driving plan acquired from a monitoring device 20. The vehicle control device 10 drives the vehicle along a route according to the driving plan based on detection values ​​detected by a detection unit 2 that detects the environment around the vehicle. The detection unit 2 is configured, for example, to detect the environment around vehicle 1 and output detection values. The detection unit 2 includes, for example, an external camera 2A that images the environment around vehicle 1. The detection unit 2 may include one or more external cameras 2A to image a predetermined imaging range around vehicle 1. The external camera 2A generates imaging data of the environment around vehicle 1 and outputs it to the vehicle control device 10.

[0012] The detection unit 2 includes a lidar device 2B for detecting objects around the vehicle 1. The lidar device 2B acquires three-dimensional data of objects around the vehicle 1 by, for example, irradiating a laser beam within a scanning range and receiving reflected light from objects. The lidar device 2B acquires three-dimensional data of the environment around the vehicle 1 within the scanning range of the laser beam. The detection unit 2 also includes a radar device 2C for detecting objects around the vehicle 1. The radar device 2C detects objects around the vehicle 1 by, for example, irradiating millimeter-wave radar waves within a scanning range and measuring the reflected waves. The radar device 2C is configured to measure the distance, speed, and angle to objects in the path. The detection unit 2 only needs to include at least one of the camera 2A, lidar device 2B, and radar device 2C for detecting the environment around the vehicle.

[0013] The detection unit 2 includes a vehicle sensor 2D that detects data related to the movement of the vehicle 1. The vehicle sensor 2D includes a position sensor that measures the current position of the vehicle 1. The position sensor is composed of, for example, a GPS (Global Positioning System) sensor. The position sensor may be used in, for example, a navigation device. The position sensor outputs the measured value to the vehicle control device 10. The vehicle sensor 2D includes an acceleration sensor that detects the acceleration occurring in the vehicle 1. The acceleration sensor is, for example, a 6-axis acceleration sensor. The data from the vehicle sensor 2D includes ID (Identification) data that individually identifies the vehicle 1.

[0014] Vehicle 1 is equipped with a display unit 3 that outputs display images. The display unit 3 is composed of a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 3 displays display images that show various information, for example, during autonomous driving. The display unit 3 may be configured to display the display contents of a navigation device provided in Vehicle 1. The display unit 3 may be composed of a touch panel.

[0015] The display unit 3 may be configured as an input unit that accepts input operations from the user when the user is on board. In this case, the display unit 3 may display an image for accepting the input operation. The display unit 3 may be realized by communicating with a mobile terminal device such as a smartphone carried by the user.

[0016] Vehicle 1 is equipped with a communication unit 4 that connects to a network W and enables communication with a monitoring device 20. The communication unit 4 is composed of, for example, a wireless communication device. Vehicle 1 is equipped with a drive unit 5 that serves as a power source for driving. The drive unit 5 may be composed of an internal combustion engine or an electric motor.

[0017] The drive unit 5 may be configured as a hybrid device combining an internal combustion engine and an electric motor. When the vehicle 1 is a manually driven vehicle, the drive unit 5 is controlled based on operations by a driver, and under predetermined conditions, the vehicle control device 10 executes driving support control that supports the driver's operations. When the vehicle 1 is an automatically driven vehicle, the drive unit 5 is controlled by the vehicle control device 10.

[0018] The vehicle 1 includes a braking unit 6 for decelerating the vehicle 1. The braking unit 6 is configured by, for example, a brake device. When the drive unit 5 is configured by an electric motor, the braking unit 6 may be configured by the drive unit 5. In this case, the drive unit 5 may be configured to perform regenerative power generation based on the deceleration energy of the vehicle 1 to decelerate the vehicle. The vehicle 1 includes a steering unit 7 that performs a steering operation. The steering unit 7 is configured to be capable of adjusting the steering angle of steered wheels.

[0019] The vehicle control device 10 includes a control unit 11 that executes control related to traveling of the vehicle 1, and a storage unit 12 that stores data and computer programs necessary for the control. The control unit 11 is configured by at least one hardware processor such as a CPU (Central Processing Unit). The storage unit 12 is configured by a non-transitory storage medium such as a hard disk drive (HDD) or a solid state disk (SSD). The storage unit 12 may store map data used for a navigation device.

[0020] The control unit 11 may be implemented by hardware (including circuitry; a circuit unit) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or may be implemented by cooperation of software and hardware.

[0021] The computer program may be stored in advance in a storage device (a storage device including a non-transitory storage medium) such as an HDD or a flash memory of the storage unit 12, or may be stored in a removable storage medium such as a DVD or a CD-ROM, and may be installed in the HDD or the flash memory of the storage unit 12 when the storage medium (a non-transitory storage medium) is loaded into a drive device.

[0022] The monitoring device 20 includes an arithmetic unit 21 that executes arithmetic processing. The arithmetic unit 21 is constituted by a hardware processor such as a CPU. The monitoring device 20 includes a storage unit 22 that stores data and computer programs necessary for operation. The storage unit 22 is constituted by a non-transitory storage medium such as a hard disk drive or a solid state disk. The monitoring device 20 includes a communication unit 23 connected to a network W and enabling communication with the vehicle 1. The communication unit 23 is constituted by, for example, a communication device capable of wireless communication.

[0023] As shown in Figure 2, the monitoring system 100 is configured to cause the vehicle 1 to guide the animal D present in the target area T to a guidance area Y outside the target area T. In order to execute a predetermined work within the target area T, the vehicle 1 automatically travels based on a preset travel plan. In the monitoring device 20, the arithmetic unit 21 acquires various detection values detected by the detection unit 2 from the vehicle 1 at predetermined timings.

[0024] The arithmetic unit 21 acquires a first detection value related to the animal D present in the target area T. The first detection value includes, for example, imaging data from an external camera 2A capable of detecting the animal D, detection data from a lidar device 2B, and detection data from a radar device. The arithmetic unit 21 is configured to be capable of recognizing the animal D by, for example, executing machine learning such as deep learning in advance using existing first detection values as training data.

[0025] The calculation unit 21 is configured to recognize the type of animal D based on the first detected value. Animal D may also be recognized by the control unit 11 of the vehicle control device 10, or the calculation unit 21 may recognize animal D by acquiring the recognition result from the control unit 11. The control unit 11 and the calculation unit 21 may cooperate to recognize animal D.

[0026] The calculation unit 21 determines whether or not animal D is present in the target area T based on the first detection value obtained from vehicle 1. If the calculation unit 21 determines that animal D is present in the target area T based on the first detection value, it obtains a second detection value related to vehicle 1 present in the target area T. The second detection value includes data from vehicle sensor 2D of vehicle 1. Based on the second detection value, the calculation unit 21 identifies vehicle 1 individually and recognizes vehicle 1's driving information, such as its current position and current speed. Based on the second detection value, the calculation unit 21 obtains the destination and driving plan of the individually identified vehicle 1.

[0027] The calculation unit 21 calculates a guidance area Y for guiding animal D based on the first detected value and the second detected value. The calculation unit 21 calculates the position of vehicle 1 and the position of animal D based on the first detected value and the second detected value. The calculation unit 21 calculates a guidance area Y for guiding the animal from among the areas adjacent to the target area T based on the first detected value and the second detected value. The calculation unit 21 calculates a driving plan S for guidance driving in which vehicle 1 guides animal D to guidance area Y based on the position of vehicle 1 and the position of animal D. The calculation unit 21 calculates a driving plan S that includes the route from the current position of vehicle 1 to guidance area Y. The calculation unit 21 makes vehicle 1 participate in guidance driving based on the calculated driving plan S.

[0028] The calculation unit 21 transmits the driving plan to the vehicle 1. In the vehicle 1, the control unit 11 of the vehicle control device 10 controls the drive unit 5, braking unit 6, and steering unit 7 to drive the vehicle 1 along the path based on the driving plan S. The calculation unit 21 may calculate the driving plan S in such a way that the vehicle 1 is guided to drive using the horn and headlights installed on the vehicle 1. The processing of the calculation unit 21 described above may also be performed by the control unit 11 on the vehicle 1 side. In this case, the control unit 11 may calculate the guidance area Y and the driving plan S and have the vehicle 1 participate in the guided driving.

[0029] As shown in Figure 3, if multiple vehicles 1 are present in the target area T, the calculation unit 21 may assign roles to each vehicle 1 in the guided driving. Based on the positional relationship between each vehicle 1 and the animal D, the calculation unit 21 sets a protective area T1 in the target area T. Based on the positional relationship between the protective area T1 and each vehicle 1, the calculation unit 21 calculates the degree of influence on the work being performed by each vehicle 1. For example, the calculation unit 21 calculates the degree of influence such that the further the vehicle 1 is from the position of the protective area T1, the smaller the influence becomes.

[0030] The calculation unit 21 sets the influence level of vehicle 1A, which is located within the protected area T1, to be the highest. The calculation unit 21 sets the influence level of vehicle 1B, which is adjacent to the protected area T1, to be lower than that of vehicle 1A. The calculation unit 21 sets the influence level of vehicle 1C, which is furthest from the protected area T1 and closest to animal D, to be lower than that of vehicle 1B. Based on the calculated influence levels, the calculation unit 21 calculates the guidance area Y in such a way that the impact on the work is minimized. The calculation unit 21 extracts one or more participating vehicles from among the multiple vehicles 1A, 1B, and 1C to participate in the guidance driving and has them participate in the guidance driving. The calculation unit 21 extracts vehicle 1C in such a way that the influence level is minimized and has it participate in the guidance driving.

[0031] The calculation unit 21 calculates a first travel plan S1 for vehicle 1A, which will continue to perform the work. The calculation unit 21 transmits the first travel plan to the vehicle control device 10 and causes vehicle 1A to perform the work based on the first travel plan S1. The calculation unit 21 calculates a second travel plan S2 for the guidance drive of vehicle 1C, which will be a participating vehicle. The calculation unit 21 transmits the second travel plan S2 to the vehicle control device 10 and causes the participating vehicle to perform the guidance drive based on the second travel plan S2. Vehicle 1C drives to herd animal D into guidance area Y based on the second travel plan S2.

[0032] The calculation unit 21 may instruct vehicle 1B, which will be a participating vehicle, to drive in a manner that assists vehicle 1C. The calculation unit 21 sets a guidance area Y in an area different from the target area T where the work is to be performed, and calculates a third driving plan S3 in which vehicle 1B, which will be a participating vehicle, drives in a manner that assists vehicle 1C so that the animal does not enter the target area T. Based on the third driving plan S3, the calculation unit 21 drives vehicle 1B, which will be a participating vehicle, to drive the animal D into the guidance area Y.

[0033] As shown in Figure 4, the calculation unit 21 may have multiple participating vehicles cooperate to drive the animal D from the target area T to the guidance area Y. The calculation unit 21 calculates a fourth driving plan S4 for vehicle 1D, which will be a participating vehicle, and a fifth driving plan S5 for vehicle 1E, which will cooperate with vehicle 1D. Based on the fourth driving plan S4, the calculation unit 21 has vehicle 1D drive to drive the animal D to the guidance area Y. Based on the fifth driving plan S5, the calculation unit 21 has vehicle 1E drive to drive the animal D to the guidance area Y in cooperation with vehicle 1D.

[0034] As shown in Figure 5, the calculation unit 21 may cause a predetermined number of vehicles 1G from among the multiple participating vehicles to form a guidance path K for guiding the animal D. The calculation unit 21 calculates a fifth travel plan S5 for vehicle 1F to drive the animal D into the guidance area Y. For example, the calculation unit 21 causes a predetermined number of vehicles 1G to stop or drive on both sides of the travel path of vehicle 1F to form a guidance path K for driving out the animal D. Based on the fifth travel plan S5, the calculation unit 21 drives vehicle 1F and positions multiple vehicles 1G in predetermined locations or drives along predetermined paths to form a guidance path K and guide the animal D into the guidance area Y.

[0035] Figure 6 shows the processing flow of the management method executed in the monitoring system 100. The management method is executed based on a computer program that can be installed on the monitoring device 20 (computer) provided in the monitoring system 100. The computer program is installed on the computer that constitutes the monitoring system 100 for guiding animals D present in the target area T. The computer program causes the arithmetic unit 21 (processor) of the monitoring system 100 to execute the following processes.

[0036] The calculation unit 21 acquires a first detection value related to an animal present in the target area and a second detection value related to a vehicle present in the target area (S100). Based on the first and second detection values, the calculation unit 21 calculates a guidance area Y for guiding animal D (S102). The calculation unit 21 calculates a driving plan S for vehicle 1 to guide animal D into guidance area Y (S104). Based on the driving plan S, the calculation unit 21 has vehicle 1 participate in the guidance driving (S106).

[0037] As described above, according to the monitoring system 100, if an animal D enters the target area T to be worked on, vehicle 1 can be made to participate in guided driving to drive the animal out of the target area T into guided area Y. According to the monitoring system 100, multiple vehicles 1 can be made to cooperate to drive the animal D from the target area T to guided area Y. According to the monitoring system 100, by calculating the degree of impact on the work, the decrease in work efficiency can be suppressed while driving the animal D into guided area Y.

[0038] In the embodiments described above, the computer programs executed in each configuration of the monitoring system 100 may be provided in the form of being recorded on a computer-readable portable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. The computer program product including the computer programs according to the above embodiments may be stored on a storage medium or provided via a communication line. [Explanation of symbols]

[0039] 1, 1A~1G Vehicle, 2 Detection unit, 2A External camera, 2B LiDAR device, 2C Radar device, 2D Vehicle sensor, 3 Display unit, 4 Communication unit, 5 Drive unit, 6 Braking unit, 7 Steering unit, 10 Vehicle control device, 11 Control unit, 12 Memory unit, 20 Monitoring device, 21 Calculation unit, 22 Memory unit, 23 Communication unit, 100 Monitoring system, D Animal, K Guidance path, S Driving plan, S1 First driving plan, S2 Second driving plan, S3 Third driving plan, S4 Fourth driving plan, S5 Fifth driving plan, T Target area, T1 Protection area, W Network, Y Guidance area

Claims

1. A monitoring system equipped with a calculation unit for guiding animals present within a target area, The aforementioned arithmetic unit, Based on the first detection value relating to the animal present in the target area and the second detection value relating to the vehicle present in the target area, a guidance area for guiding the animal is calculated. The vehicle calculates a driving plan for guiding the animal into the guidance area. Based on the aforementioned driving plan, the vehicle is made to participate in the guided driving. Monitoring system.

2. The aforementioned arithmetic unit, The degree of impact on the work being performed by the aforementioned vehicle is calculated, Based on the aforementioned impact level, the guidance area is calculated to minimize the impact on the aforementioned work, and one or more participating vehicles are selected from the multiple vehicles to participate in the guidance driving, and these vehicles are to participate in the guidance driving. The monitoring system according to claim 1.

3. The aforementioned arithmetic unit, The first travel plan for the vehicle that continues to perform the aforementioned work is calculated, The second driving plan for the guided driving of the participating vehicles is calculated, The vehicle is made to perform the work based on the first driving plan, and the participating vehicle is made to perform the guided driving based on the second driving plan. The monitoring system according to claim 2.

4. The aforementioned arithmetic unit, The induction region is set in a region different from the target region where the aforementioned work is performed. The participating vehicles are driven in such a way that the animals do not enter the target area, and the participating vehicles are driven in such a way that they drive the animals into the guidance area. The monitoring system according to claim 2.

5. A computer program that can be installed on a computer that constitutes a monitoring system for guiding animals present within a target area, Based on the first detection value relating to the animal present in the target area and the second detection value relating to the vehicle present in the target area, a guidance area for guiding the animal is calculated. The vehicle calculates a driving plan for guiding the animal into the guidance area. Based on the aforementioned driving plan, the vehicle is made to participate in the guided driving. The computer is made to perform the process. Computer program.

Images