Defense system
The defense system uses UAVs with cameras and water discharge units to identify and deter intruders, protecting goods by controlled liquid discharge, addressing vulnerabilities in unmanned transport systems.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- LOGISNEXT CO LTD
- Filing Date
- 2023-10-31
- Publication Date
- 2026-06-17
Smart Images
Figure 0007875163000001 
Figure 0007875163000002 
Figure 0007875163000003
Abstract
Description
Technical Field
[0001] The present invention relates to a defense system using an unmanned aerial vehicle.
Background Art
[0002] Conventionally, in a work area such as a factory or a warehouse, an unmanned aerial vehicle called a drone has been used. For example, Patent Document 1 describes a guidance system including a manned transport vehicle operated by an operator, one unmanned aerial vehicle capable of hovering in the air, and a management device for controlling the unmanned aerial vehicle.
[0003] In the guidance system described in Patent Document 1, the unmanned aerial vehicle includes a projector that projects a guidance image onto the road surface. The guidance image, for example, shows an arrow indicating a specific direction and is projected onto the road surface in front of the manned transport vehicle. Thereby, an operator operating the manned transport vehicle is guided to the loading / unloading position by checking the guidance image.
[0004] In recent years, the popularity of an unmanned transport system that can reduce the labor load by using an unmanned transport vehicle instead of a manned transport vehicle has been progressing. However, when adopting an unmanned system in a work area such as a factory or a warehouse, there is a risk that goods stored on shelves or the like in the work area may be stolen or damaged by a person who has entered the work area without permission (hereinafter referred to as an intruder). In this regard, if the intruder can be photographed, it will lead to the identification of the intruder, and thus an intrusion deterrence effect can be expected. Furthermore, if there is a physical means that directly acts on the intruder's body, the goods can be more reliably defended from the intruder.
Prior Art Documents
Patent Documents
[0005]
Patent Document 1
Summary of the Invention
[0006] The present invention has been made in view of the above circumstances, and its objective is to provide a defense system capable of photographing intruders who have entered a work area such as a factory or warehouse, and protecting goods from intruders. [Means for solving the problem]
[0007] To solve the above problems, a defense system according to one embodiment of the present invention is A first unmanned aerial vehicle, a second unmanned aerial vehicle, and a third unmanned aerial vehicle capable of hovering in the air within a designated work area, A control device for controlling the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle, A defense system equipped with, The first unmanned aerial vehicle is The work area is equipped with a detection unit for detecting intruders who have entered the work area. The second unmanned aerial vehicle was The camera unit is equipped for photographing the aforementioned intruder, The third unmanned aerial vehicle is, It is equipped with a water discharge unit that releases liquid toward the intruder, The aforementioned control device is The aforementioned work area includes a region setting unit that pre-sets a water discharge permit area where the discharge of the liquid is permitted and a water discharge prohibition area where the discharge of the liquid is prohibited, When the detection unit detects the intruder, the area determination unit performs a first determination of whether the intruder is in the water discharge permitted area or the water discharge prohibited area, The system is characterized by comprising: a water discharge command unit that, when the intruder is in the permitted water discharge area, causes the water discharge unit to discharge the liquid and the camera unit to photograph the intruder, while when the intruder is in the prohibited water discharge area, causes the water discharge unit not to discharge the liquid and the camera unit to photograph the intruder.
[0008] In the aforementioned defense system, The region determination unit, It is preferable to perform the first determination based on the position information of the first unmanned aerial vehicle obtained from the first unmanned aerial vehicle.
[0009] The aforementioned defense system, The aforementioned work area further comprises a movable body equipped with a waterproof plate, which moves within the work area. The aforementioned region setting unit is A boundary area is defined that is not included in either the permitted water discharge area or the prohibited water discharge area. The region determination unit, In the first determination described above, it is determined whether the intruder is in the boundary area, The aforementioned water discharge command unit, If the intruder is in the boundary area, the mobile body and the third unmanned aerial vehicle can be moved so that they face each other with the intruder in between, the liquid can be discharged from the water discharge section, and the waterproof plate can be used to limit the range of liquid discharge.
[0010] In the aforementioned defense system, The aforementioned mobile body is a forklift equipped with a mast device that can be raised and lowered. The aforementioned waterproof plate is provided on the mast device, The aforementioned forklift is The waterproof plate can be raised and lowered by raising and lowering the mast device.
[0011] In the aforementioned defense system, The aforementioned mobile body is a forklift equipped with liftable forks, The aforementioned waterproof plate is provided on the fork, The aforementioned forklift is The waterproof plate can be raised and lowered by raising and lowering the fork.
[0012] In the aforementioned defense system, The third unmanned aerial vehicle is, The light output unit emits visible light toward the intruder, further comprising a sound output unit that outputs a warning sound to the intruder; The water discharge command unit is configured to cause the light output unit to output the visible light and / or cause the sound output unit to output the warning sound when the intruder is in the water discharge prohibited area.
[0013] A defense system according to another embodiment of the present invention includes an unmanned aerial vehicle that can hover in a predetermined work area, a management device that controls the unmanned aerial vehicle, and a detection device for detecting an intruder who has entered the work area, and is characterized in that the unmanned aerial vehicle includes a water discharge unit that discharges a liquid toward the intruder, the management device includes an area setting unit that presets a water discharge permitted area where the discharge of the liquid is permitted and a water discharge prohibited area where the discharge of the liquid is prohibited in the work area, an area determination unit that makes a first determination as to whether the intruder is in the water discharge permitted area or the water discharge prohibited area when the detection device detects the intruder, and a water discharge command unit that causes the water discharge unit to discharge the liquid when the intruder is in the water discharge permitted area, and does not cause the water discharge unit to discharge the liquid when the intruder is in the water discharge prohibited area.
Advantages of the Invention
[0014] According to the present invention, it is possible to provide a defense system capable of photographing an intruder who has entered a work area such as a factory or a warehouse and defending goods from the intruder.
Brief Description of the Drawings
[0015] [Figure 1] It is a diagram showing an example of the defense system of the present invention. [Figure 2](A) This is a diagram of the third unmanned aerial vehicle of the present invention. (B) This is a block diagram of the control unit of the third unmanned aerial vehicle. [Figure 3] (A) A diagram showing the forklift of the present invention. (B) A block diagram of the control unit of the forklift. [Figure 4] This is a block diagram of the control device of the present invention. [Figure 5] This diagram shows the permitted water discharge area D1, the prohibited water discharge area D2, and the boundary area D3. [Figure 6] This is a flowchart of the defense processing performed by the management device of the present invention. [Modes for carrying out the invention]
[0016] Hereinafter, embodiments of the defense system according to the present invention will be described with reference to the attached drawings.
[0017] Figure 1 shows a defense system 1 according to one embodiment of the present invention. The defense system 1 is a system that can photograph an intruder X who has entered a predetermined work area 10 without permission, and can also protect cargo from the intruder X.
[0018] The defense system 1 according to this embodiment consists of a plurality of unmanned aerial vehicles 100, at least one forklift 200 (corresponding to the "mobile vehicle" of the present invention), and a control device 300 that controls the plurality of unmanned aerial vehicles 100 and at least one forklift 200.
[0019] The work area 10 is the area where the unmanned aerial vehicle 100 and / or the forklift 200 perform their work. In this embodiment, the work area 10 is an area within any facility, including a factory or warehouse. The work area 10 is provided with a plurality of shelves 11, on which goods are stored. The shelves 11 may be fixed shelves, movable shelves configured to be movable under the control of the management device 300, or a combination of both. In addition, the work area 10 (for example, the wall of the facility) is provided with a plurality of reflectors 12 for laser guidance of the forklift 200. Note that if the forklift 200 is not laser-guided, the plurality of reflectors 12 can be omitted.
[0020] The multiple unmanned aerial vehicles 100 include at least one first unmanned aerial vehicle 100-1, at least one second unmanned aerial vehicle 100-2, and at least one third unmanned aerial vehicle 100-3. In this embodiment, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 have different roles, but their overall configurations are the same. The following description of the configuration will be given for the third unmanned aerial vehicle 100-3.
[0021] As shown in Figure 2(A), the third unmanned aerial vehicle 100-3 comprises a main body 110, rotor blades 120, landing gear 130, a camera 140, a speaker 150, a lighting unit 160, a water discharge unit 170, and a control unit 180. In this embodiment, the third unmanned aerial vehicle 100-3 is a drone. The first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 are also drones in this embodiment.
[0022] The main body 110 comprises a body equipped with a speaker 150, a lighting unit 160, and a control unit 180, and a plurality of arms (four in this embodiment) extending radially from the body. A rotor 120 is provided at the upper end of each arm, and a pair of legs 130 and a camera 140 are provided at the lower part of the body. A water discharge unit 170 is provided between the pair of legs 130.
[0023] The camera 140, under the control of the control unit 180, captures video and / or still images during flight and transmits the image data of the captured images to the management device 300. The camera 140 may also be equipped with an infrared sensor and an illumination that emits light during shooting. The camera 140 of the first unmanned aerial vehicle 100-1 corresponds to the "detection unit" of the present invention, and the camera 140 of the second unmanned aerial vehicle 100-2 corresponds to the "shooting unit" of the present invention.
[0024] The speaker 150 corresponds to the "sound output unit" of the present invention and outputs a warning sound under the control of the control unit 180. The warning sound may be a message sound prompting the intruder X to leave the work area 10, a simple sound effect, or both. Note that the second unmanned aerial vehicle 100-2 does not need to be equipped with the speaker 150.
[0025] The illumination unit 160 corresponds to the "light output unit" of the present invention and outputs visible light that obstructs the view of the intruder X. The illumination unit 160 is composed of, for example, at least one LED light. The visible light output from the illumination unit 160 may have its output state changed. For example, it may be a light that is always on or a light that flashes. The illumination unit 160 may also be equipped with an illumination angle adjustment mechanism that can change the illumination angle of the visible light. Note that the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2 do not need to be equipped with the illumination unit 160.
[0026] The water discharge unit 170 comprises a storage unit 171 for containing liquid L, a water discharge nozzle 172 for discharging liquid L, and a water discharge mechanism (not shown) for sending liquid L from the storage unit 171 to the water discharge nozzle 172. The water discharge mechanism includes, for example, a flow path connecting the storage unit 171 and the water discharge nozzle 172, a pump provided in the flow path, a driving means (e.g., an electric motor) for driving the pump, and a control valve provided in the flow path. In this embodiment, liquid L is water (e.g., tap water).
[0027] As shown in Figure 2(B), the control unit 180 includes a position information acquisition unit 181, a flight control unit 182, a camera control unit 183, an alarm unit 184, a lighting control unit 185, and a water discharge control unit 186. The control unit 180 may be composed of digital circuits using, for example, a microcontroller or a DSP, or it may be composed of circuits that combine digital and analog circuits.
[0028] The position information acquisition unit 181 is configured to acquire position information of the main unit 110, and for example, it utilizes a satellite positioning system such as GPS. The position information includes, for example, latitude information, longitude information, and altitude information. The position information acquisition unit 181 outputs the acquired position information to the flight control unit 182 and also transmits the position information to the management device 300. Note that the position information acquisition unit 181 is not limited to a satellite positioning system such as GPS, and any known configuration can be adopted, for example, the configuration described in Patent Document 1 can be adopted. However, if the configuration described in Patent Document 1 is adopted, it is necessary to provide a ceiling marker on the ceiling of the work area 10. Furthermore, the position information acquisition unit 181 may identify the direction that its own camera 140 is facing and transmit information regarding that direction to the management device 300 along with the position information. Alternatively, the management device 300 may analyze the image data of the camera 140 to identify the direction that the camera 140 is facing.
[0029] The flight control unit 182 controls the flight of the main body 110 based on the position information from the position information acquisition unit 181 and the movement command (flight command) from the management device 300. Specifically, the flight control unit 182 controls the rotation of the rotor blades 120 as part of the flight control of the main body 110. The flight control unit 182 includes a processing unit that determines the rotation speed of four electric motors and four electric motors for rotating the rotor blades 120 at the determined rotation speeds. For example, if the rotation speeds of the four electric motors are the same, the third unmanned aerial vehicle 100-3 will hover (stop in the air), and if the rotation speeds of the four electric motors are increased simultaneously by the same amount from that state, the third unmanned aerial vehicle 100-3 will ascend, and if the rotation speeds of the four electric motors are changed by different ratios, the direction of travel of the third unmanned aerial vehicle 100-3 can be changed. As a result, the third unmanned aerial vehicle 100-3 can fly to its destination according to the movement path (flight path) determined by the management device 300. The same applies to the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2.
[0030] The camera control unit 183 instructs the camera 140 to capture video and / or still images during flight and transmit the image data to the management device 300. If the camera 140 is equipped with an infrared sensor and / or illumination, the camera control unit 183 also controls the infrared sensor and / or illumination. The camera control unit 183 also includes a storage unit for saving the captured video and / or still images. This allows the captured video and / or still images to be saved even if communication with the management device 300 is unstable.
[0031] The alarm unit 184 outputs a warning sound from the speaker 150 based on an alarm command from the control device 300. The control device 300, for example, compares the image of a person captured by the camera 140 with the image of a person registered in advance (for example, an employee authorized to enter and exit the work area 10), and if the two do not match, it determines that the person captured by the camera 140 is intruder X and sends an alarm command to the alarm unit 184 to output a warning sound from the speaker 150. Note that if the second unmanned aerial vehicle 100-2 is not equipped with a speaker 150, it is not required to be equipped with an alarm unit 184.
[0032] The lighting control unit 185 controls the on / off (lighting / extinguishing) of the lighting unit 160. If the lighting unit 160 is equipped with an illumination angle adjustment mechanism, the lighting control unit 185 controls the illumination angle adjustment mechanism to vary the illumination angle of the visible light. Furthermore, if the lighting unit 160 is configured to change the output state of the visible light, the lighting control unit 185 controls the change in the output state of the visible light. Note that if the first unmanned aerial vehicle 100-1 and / or the second unmanned aerial vehicle 100-2 are not equipped with a lighting unit 160, they may not be equipped with a lighting control unit 185.
[0033] The water discharge control unit 186 controls the water discharge unit 170 based on the water discharge command from the control device 300. For example, the water discharge control unit 186 controls the valves, pumps, and drive means of the water discharge mechanism to control the timing of water discharge and the flow rate of the liquid L to be discharged.
[0034] As shown in Figure 3(A), the forklift 200 comprises a body 210, a cargo handling device 220, a laser scanner 230 mounted on the upper part of the body 210, a lighting unit 240, a sound source unit 250, a waterproof plate 260, and a control unit 270. In this embodiment, the forklift 200 is an unmanned forklift using a laser guidance system.
[0035] Furthermore, Forklift 200 may be any unmanned forklift other than those using laser guidance, as long as it is capable of unmanned operation, or it may be a manned-unmanned forklift that can switch between manned and unmanned operation.
[0036] The cargo handling device 220 comprises a mast 221 and forks 222. The forks 222 move up and down along the mast 221 under the control of a control unit 270. Waterproof plates 260 are also provided on the mast 221 and / or the forks 222.
[0037] The laser scanner 230 comprises a laser light source and a calculation unit. The laser scanner 230 projects a laser beam into the surroundings while rotating the laser light source and detects the reflected light from a plurality of reflectors 12 provided in the work area 10. The calculation unit of the laser scanner 230 stores the positions of the reflectors 12 on a predetermined map and calculates the current location (self-position) of the vehicle body 210 based on the principle of triangulation. In this way, the forklift 200 travels according to the movement path determined by the management device 300 while acquiring current location information regarding the current location of the vehicle body 210.
[0038] The lighting unit 240 is composed of, for example, at least one LED light and, under the control of the control unit 270, emits a warning light toward the road surface in the forward direction of the vehicle body 210. The lighting unit 240 may also be equipped with a beam angle adjustment mechanism to vary the beam angle of the warning light, or it may be configured to change the output state of the warning light under the control of the control unit 270. The output state of the warning light is a variation of the flashing speed of the warning light and includes, for example, five patterns: constant illumination, slow flashing, medium flashing, fast flashing, and off.
[0039] The sound source unit 250 consists of, for example, at least one speaker and outputs a warning sound under the control of the control unit 270. The warning sound includes, for example, an alarm sound output when an obstacle (for example, luggage placed on the road surface) is detected by an obstacle sensor provided on the vehicle body 210, and a melody output during driving (for the purpose of alerting workers in the work area 10).
[0040] The waterproof plate 260 is intended to prevent the liquid L released by the third unmanned aerial vehicle 100-3 from coming into contact with the cargo (for example, cargo stored on the rack 11). The waterproof plate 260 includes at least one plate-like member, which is made of a material that does not allow the liquid L to pass through (for example, a resin material or a metal material). The height dimension of the waterproof plate 260 may be less than or greater than the mast 221, as shown in Figure 3(A).
[0041] The waterproof plate 260 may be directly mounted on the mast 221 and / or the forks 222, or it may be mounted on the top surface of a pallet that can be transported by the forks 222. In the latter case, it may be provided as a side plate on the outer periphery of the top surface of the pallet (for example, on all four sides: front, back, left, and right) so as to cover the periphery of the cargo placed on the pallet. That is, the pallet is the base of the waterproof plate 260, and the side plates are the main body of the waterproof plate 260. In this configuration, the waterproof plate 260 also functions as a waterproof pallet. Alternatively, the waterproof plate 260 may be configured by fixing a single plate-like member to the center of the top surface of the pallet.
[0042] As shown in Figure 3(B), the control unit 270 includes a position estimation unit 271, a driving control unit 272, a cargo handling control unit 273, a lighting control unit 274, and a sound source control unit 275. The control unit 270 may be composed of a digital circuit using, for example, a microcontroller or a DSP, or it may be composed of a circuit that combines a digital circuit and an analog circuit.
[0043] The position estimation unit 271 recognizes the current location (self-position) of the vehicle body 210 and acquires position information related to the current location of the vehicle body 210. In this embodiment, the position estimation unit 271 corresponds to the calculation unit of the laser scanner 230. The position estimation unit 271 outputs the acquired position information to the driving control unit 272 and also transmits the position information to the management device 300. The position estimation unit 271 may acquire its own position using a satellite positioning system such as GPS, or it may acquire its own position using a system such as an electromagnetic induction sensor. When acquiring its own position using these methods, the laser scanner 230 is not required.
[0044] The travel control unit 272 controls the movement of the vehicle body 210 based on the position information from the position estimation unit 271 and the movement command (travel command) from the management device 300. As a result, the forklift 200 can travel to its destination according to the travel path determined by the management device 300.
[0045] The cargo handling control unit 273 controls the cargo handling equipment 220 based on cargo handling commands from the management device 300. In this embodiment, the cargo handling commands include not only normal cargo handling commands related to the movement of cargo, but also commands to raise and lower the mast 221 and forks 222 in order to move the waterproof plate 260 up and down.
[0046] The lighting control unit 274 controls the on / off (lighting / extinguishing) of the lighting unit 240. If the lighting unit 240 is equipped with an illumination angle adjustment mechanism, the lighting control unit 274 controls the illumination angle adjustment mechanism to vary the illumination angle of the notification light. Furthermore, if the lighting unit 240 is configured to change the output state of the notification light, the lighting control unit 274 controls the output state of the notification light to change it.
[0047] The sound source control unit 275 controls the sound source unit 250. Specifically, the sound source control unit 275 outputs a warning sound from the sound source unit 250 according to the sensor signal from the obstacle sensor and the driving conditions.
[0048] As shown in Figure 4, the management device 300 includes a communication unit 301, a display unit 302, a general control unit 303, a mode setting unit 304, and a defense processing unit 305 (area setting unit 305a, area determination unit 305b, water discharge command unit 305c). The management device 300 is preferably located outside the work area 10 as shown in Figure 1, but it may also be located inside the work area 10.
[0049] The communication unit 301 communicates wirelessly with the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200. For example, the communication unit 301 receives image data from the camera 140 from the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3, and transmits various commands to the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200.
[0050] The display unit 302 is composed of, for example, a liquid crystal display. The display unit 302 displays images captured by the cameras 140 of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3. The display unit 302 may also display driving information and cargo handling operation information of the forklift 200, or it may display the movement paths of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200, along with a model diagram of the work area 10.
[0051] The central control unit 303 manages the movement and loading / unloading operations of the forklift 200. For example, the central control unit 303 creates a schedule for the loading / unloading operations of the forklift 200 and determines a movement route to ensure smooth loading / unloading operations. The central control unit 303 notifies the forklift 200 of the movement route via the communication unit 301.
[0052] When the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 are to perform support work for a manned forklift (not shown) (for example, guiding a manned forklift), the control unit 303 manages the flights of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3. The control unit 303 creates flight schedules for the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3, and determines movement routes to ensure smooth support work. The control unit 303 notifies the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 of the movement routes via the communication unit 301.
[0053] The mode setting unit 304 sets the mode of the defense system 1 to either the first mode (defense mode) or the second mode (normal mode). The first mode (defense mode) is a mode for photographing intruders X who have entered the work area 10. The second mode (normal mode) is a mode in which it is not necessary to photograph intruders X, for example, when there are multiple workers in the work area 10 and the possibility of intruders X entering is low. In the second mode (normal mode), it is preferable that the forklift 200 is driven and performs cargo handling operations with the waterproof plate 260 removed.
[0054] The defense processing unit 305 comprises a domain setting unit 305a, a domain determination unit 305b, and a water discharge command unit 305c. The defense processing unit 305 functions, for example, when a first mode (defense mode) is set in the mode setting unit 304.
[0055] As shown in Figure 5, the area setting unit 305a pre-sets a water discharge permitted area D1 in the work area 10 where the discharge of liquid L is permitted, a water discharge prohibited area D2 where the discharge of liquid L is prohibited, and a boundary area D3. The water discharge permitted area D1 is, for example, the area where the shelves 11 are installed, the area where goods are placed (excluding the shelves 11), and the areas near these. The water discharge prohibited area D2 is the area that is a predetermined distance or more away from the water discharge permitted area D1. The boundary area D3 is the area that is not included in either the water discharge permitted area D1 or the water discharge prohibited area D2.
[0056] The area determination unit 305b performs a first determination in response to the determination command from the water discharge command unit 305c to determine which area the intruder X is in: the permitted water discharge area D1, the prohibited water discharge area D2, or the boundary area D3. The first determination will be described later.
[0057] If the first mode (defense mode) is set in the mode setting unit 304, the water discharge command unit 305c performs the defense processing shown in Figure 6. During the defense processing, the water discharge command unit 305c transmits various commands to the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3 and the forklift 200 via the communication unit 301.
[0058] For the sake of simplicity, at the start of the defense operation, the first unmanned aerial vehicle 100-1 is flying within a designated area of the work area 10, and the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 are waiting in a designated waiting area of the work area 10.
[0059] At the start of the defense process shown in Figure 6, the first unmanned aerial vehicle 100-1 is taking video footage of its flight using its camera 140. The water discharge command unit 305c receives the image data from the camera 140 from the first unmanned aerial vehicle 100-1 in real time and determines whether or not the first unmanned aerial vehicle 100-1 has detected intruder X (S1).
[0060] If intruder X is visible in the image data, the water discharge command unit 305c determines that the first unmanned aerial vehicle 100-1 has detected intruder X (YES in S1). On the other hand, if intruder X is not visible in the image data, the water discharge command unit 305c determines that the first unmanned aerial vehicle 100-1 has not detected intruder X (NO in S1).
[0061] If the water discharge command unit 305c determines YES in step S1, it acquires the location information (location coordinates) of the intruder X, determines the movement paths of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200, and transmits movement commands to the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 (S2).
[0062] The water discharge command unit 305c obtains the location information (location coordinates) of intruder X by analyzing the image data captured by the first unmanned aerial vehicle 100-1 in a known manner. Alternatively, if the first unmanned aerial vehicle 100-1 is equipped with a distance sensor (e.g., LiDAR, millimeter-wave radar, or stereo camera) for measuring the distance to the target object (intruder X), the water discharge command unit 305c may calculate the location coordinates of intruder X based on the location information of the first unmanned aerial vehicle 100-1 (obtained from the location information acquisition unit 181), information regarding the measurement results measured by the distance sensor, and the direction in which the first unmanned aerial vehicle 100-1 (camera 140) is facing.
[0063] As shown in Figure 5, the movement paths R1 to R3 of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 are determined, for example, to satisfy the following first, second, third, and fourth conditions.
[0064] The first condition is that there is an obstacle larger than the second unmanned aerial vehicle 100-2 (in this embodiment, the shelf 11) between the endpoint A1 of the movement path R1 of the second unmanned aerial vehicle 100-2 and the intruder X. By satisfying this condition, the second unmanned aerial vehicle 100-2 will be hidden by the shelf 11, so it is expected that the second unmanned aerial vehicle 100-2 will be less likely to be detected by the intruder X. It is preferable that the endpoint A1 be set to a location where the second unmanned aerial vehicle 100-2 can photograph the intruder X while being hidden (for example, a location where the front of the second unmanned aerial vehicle 100-2 is between the packages stored on the shelf 11).
[0065] The second condition is that there is no obstacle (shelf 11 in this embodiment) between the endpoint A2 of the movement path R2 of the third unmanned aerial vehicle 100-3 and the intruder X. By satisfying this condition, it is expected that the third unmanned aerial vehicle 100-3 will be able to reliably hit the intruder X with the liquid L.
[0066] The third condition is that there are no obstacles (shelf 11 in this embodiment) between the endpoint A3 of the forklift 200's movement path R3 and the intruder X. By satisfying this condition, the forklift 200 can attract the attention of the intruder X more effectively than the second unmanned aerial vehicle 100-2, and thus the second unmanned aerial vehicle 100-2 is less likely to be detected by the intruder X.
[0067] The fourth condition is that the intruder X lies on the straight line connecting endpoint A2 and endpoint A3. More specifically, endpoints A2 and A3 are set so that the tip of the water nozzle 172 and the largest surface of the waterproof plate 260 face each other, and if the intruder X is not present, the liquid L will directly hit the waterproof plate 260. By satisfying this condition, even if the intruder X avoids the liquid L released from the third unmanned aircraft 100-3, the liquid L will hit the waterproof plate 260, thus limiting the range of liquid L release. For example, in the case of Figure 5, the scattering of liquid L into the water-discharge-prohibited area D2 can be suppressed.
[0068] The water discharge command unit 305c, having performed the processing in step S2, determines whether the movement of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 has been completed, that is, whether they have arrived at their respective destinations A1, A2, and A3 (S3). The water discharge command unit 305c makes the determination in step S3 based on the position information of the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200.
[0069] When the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 arrive at their respective destinations A1, A2, and A3 (YES in S3), the water discharge command unit 305c transmits a photography command to the second unmanned aerial vehicle 100-2 (S4).
[0070] Furthermore, even if the second unmanned aerial vehicle 100-2 arrives at the destination A1, it may not be possible to photograph intruder X at the destination A1 due to the influence of luggage placed on the shelf 11 between the second unmanned aerial vehicle 100-2 and intruder X (for example, if the luggage is placed in a position that is not in its designated location).
[0071] In this case, the water discharge command unit 305c transmits a movement command to move the second unmanned aerial vehicle 100-2 to a location where intruder X can be photographed, and transmits a photographing command after the second unmanned aerial vehicle 100-2 has moved. For example, the water discharge command unit 305c transmits a movement command to raise or lower the second unmanned aerial vehicle 100-2 to a location in front of an empty area of the shelf 11, to a position higher than the shelf 11, or to land on the shelf 11, and transmits a photographing command after the second unmanned aerial vehicle 100-2 has moved. Since the second unmanned aerial vehicle 100-2 can fly to the destination A1 while shooting video, the water discharge command unit 305c can determine whether or not intruder X can be photographed at the destination A1 based on the video image data.
[0072] Upon receiving the shooting command, the second unmanned aerial vehicle 100-2 takes still images of the intruder X. The shooting command specifies the shooting time and / or the number of images to be taken. The second unmanned aerial vehicle 100-2 takes still images for the set shooting time and / or number of images and transmits the image data to the water discharge command unit 305c. In this embodiment, the second unmanned aerial vehicle 100-2 takes still images of the intruder X, but it may also take video of the intruder X, or it may take both still images and video. The video may be a continuous video of the flight along the movement path R1.
[0073] Having performed the processing in step S4, the water discharge command unit 305c outputs a determination command to cause the area determination unit 305b to perform a first determination (S5). In the first determination, the area determination unit 305b determines which area the intruder X is in: the permitted water discharge area D1, the prohibited water discharge area D2, or the boundary area D3.
[0074] The water discharge command unit 305c transmits a water discharge command to the third unmanned aerial vehicle 100-3 if the intruder X is in the permitted water discharge area D1 or the boundary area D3, while transmitting a light output command and / or a sound output command to the third unmanned aerial vehicle 100-3 if the intruder X is in the prohibited water discharge area D2 (S6). When the third unmanned aerial vehicle 100-3 receives a water discharge command, it discharges liquid L from the water discharge unit 170; when it receives a light output command, it emits visible light from the illumination unit 160; and when it receives a sound output command, it emits a warning sound from the speaker 150. If the intruder X is in the boundary area D3, the water discharge command unit 305c may transmit a water discharge command that reduces the flow rate of liquid L discharged compared to when the intruder X is in the permitted water discharge area D1.
[0075] In step S6, the water discharge command unit 305c may send a movement command to the second unmanned aerial vehicle 100-2 to return to the waiting area (the starting point of the movement path R1). Since the intruder X is distracted by the water discharge of the third unmanned aerial vehicle 100-3, the second unmanned aerial vehicle 100-2 can return to the waiting area without being noticed by the intruder X.
[0076] As described above, in the defense system 1, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 work together as a set to respond to intruder X. For this reason, it is preferable in the defense system 1 to increase the number of sets of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 according to the number of intruders X. For example, it is preferable that three sets of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, the third unmanned aerial vehicle 100-3, and the forklift 200 respond to three intruders X located in different places in the work area 10.
[0077] In Defense System 1, the four components have their respective roles divided: the first unmanned aerial vehicle 100-1 issues a warning to intruder X, the second unmanned aerial vehicle 100-2 photographs intruder X, the third unmanned aerial vehicle 100-3 releases liquid L towards intruder X, and the forklift 200 limits the release range of liquid L (protecting cargo from liquid L).
[0078] Therefore, the intruder X's attention is diverted, making it difficult for him to notice the presence of the second unmanned aerial vehicle 100-2. Thus, according to the defense system 1 of this embodiment, the second unmanned aerial vehicle 100-2 can photograph the intruder X. Furthermore, as described above, since the third unmanned aerial vehicle 100-3 releases liquid L towards the intruder X, it can directly act on the intruder X's body (wetting it in this embodiment), causing the intruder X to retreat. Thus, according to the defense system 1 of this embodiment, cargo can be protected from intruder X more reliably. Moreover, in the defense system 1 of this embodiment, if the intruder X is in the water-no-discharge zone D2, the third unmanned aerial vehicle 100-3 does not release liquid L, so cargo stored in the water-no-discharge zone D2 can be protected from liquid L.
[0079] Although embodiments of the defense system according to the present invention have been described above, the present invention is not limited to the above embodiments.
[0080] The defense system according to the present invention is a defense system comprising an unmanned aerial vehicle capable of hovering in the air within a predetermined work area, a management device for controlling the unmanned aerial vehicle, and a detection device for detecting an intruder that has entered the work area, wherein the unmanned aerial vehicle is equipped with a water discharge unit for releasing liquid towards the intruder, and the management device comprises an area setting unit that pre-sets a water discharge permitted area and a water discharge prohibited area within the work area where the release of liquid is permitted, an area determination unit that, when the detection device detects an intruder, makes a first determination as to whether the intruder is in the water discharge permitted area or the water discharge prohibited area, and a water discharge command unit that causes the water discharge unit to release liquid if the intruder is in the water discharge permitted area, and does not cause the water discharge unit to release liquid if the intruder is in the water discharge prohibited area, and the configuration can be changed as appropriate.
[0081] For example, the management device may be configured to communicate data with a detection device such as a surveillance camera (e.g., a pan-tilt-zoom camera) placed in the work area. If the management device 300 of the above embodiment is configured to communicate data with the detection device, the defense system 1 of the above embodiment does not need to include the first unmanned aerial vehicle 100-1, as the surveillance camera will detect the intruder X.
[0082] In the above embodiment of the defense system 1, instead of the second unmanned aerial vehicle 100-2, a second forklift equipped with a camera 140 and a camera control unit 183 may be used. Also, in the above embodiment of the defense system 1, instead of the first unmanned aerial vehicle 100-1 and the second unmanned aerial vehicle 100-2, the above detection device may be used, and the detection device may be made to issue a warning to the intruder X and photograph the intruder X. Furthermore, instead of the forklift 200, a fourth unmanned aerial vehicle equipped with a waterproof plate 260 may be used.
[0083] The mobile body of the present invention may be a mobile body other than a forklift, or an unmanned aerial vehicle such as a drone. However, the mobile body equipped with a waterproof plate is preferably a forklift.
[0084] In the above embodiment, the area setting unit 305a pre-sets a water discharge permitted area D1 in the work area 10 where the discharge of liquid L is permitted, a water discharge prohibited area D2 where the discharge of liquid L is prohibited, and a boundary area D3. However, it is also possible to set only the water discharge permitted area D1 and the water discharge prohibited area D2.
[0085] In the above embodiment, water (e.g., tap water) is used as liquid L, but any solution or dispersion may be used. As the solution or dispersion, for example, a solution that emits a pungent odor and / or a solution that emits light of a specific wavelength (e.g., a solution containing a phosphorescent substance that emits light in response to ultraviolet light) can be used. In addition, special paints such as fluorescent paints and magnetic paints can be used as the solution or dispersion. By using the above special paints, the water sprayed at the intruder will be made easier to find even if the intruder is lost sight of. Furthermore, if the defense system of the present invention is equipped with two third unmanned aerial vehicles 100-3, the first vehicle may release water as liquid L, and the second vehicle may release a solution or dispersion as liquid L. [Explanation of Symbols]
[0086] 1. Defense System 10 working area 11 shelves 12 Reflector 100 Unmanned Aerial Vehicles 110 Main body 120 rotor blades 130 Legs 140 Cameras 150 speakers 160 Lighting Section 170 Water discharge part 171 Detention Unit 172 Water nozzle 180 Control Unit 200 forklifts 210 vehicle body 220 Cargo handling equipment 221 Mast 222 Fork 230 Laser Scanners 240 Lighting Section 250 Sound Source Section 260 Waterproof board 270 Control Unit 300 Management device
Claims
1. A first unmanned aerial vehicle, a second unmanned aerial vehicle, and a third unmanned aerial vehicle capable of hovering in the air within a predetermined work area, A control device for controlling the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle, A defense system equipped with, The first unmanned aerial vehicle was The work area is equipped with a detection unit for detecting intruders who have entered the work area. The second unmanned aerial vehicle is, The camera unit is equipped for photographing the aforementioned intruder, The third unmanned aerial vehicle was It is equipped with a water discharge unit that releases liquid toward the intruder, The aforementioned control device is The aforementioned work area includes a region setting unit that pre-sets a water discharge permit area where the discharge of the liquid is permitted and a water discharge prohibition area where the discharge of the liquid is prohibited, When the detection unit detects the intruder, the area determination unit performs a first determination of whether the intruder is in the water discharge permitted area or the water discharge prohibited area, The system includes a water discharge command unit which, when the intruder is in the permitted water discharge area, causes the water discharge unit to release the liquid and the camera unit to photograph the intruder, and when the intruder is in the prohibited water discharge area, causes the water discharge unit not to release the liquid and the camera unit to photograph the intruder. A defense system characterized by the following features.
2. The region determination unit, Based on the position information of the first unmanned aerial vehicle obtained from the first unmanned aerial vehicle, the first determination is performed. The defense system according to claim 1.
3. The aforementioned work area further comprises a movable body equipped with a waterproof plate, which moves within the work area. The aforementioned region setting unit is A boundary area is defined that is not included in either the permitted water discharge area or the prohibited water discharge area. The region determination unit, In the first determination, it is determined whether the intruder is in the boundary area, The aforementioned water discharge command unit, If the intruder is in the boundary area, the mobile body and the third unmanned aerial vehicle are moved so that they face each other with the intruder in between, the liquid is discharged from the water discharge section, and the range of liquid discharge is limited by the waterproof plate. The defense system according to claim 1.
4. The aforementioned mobile body is a forklift equipped with liftable forks, The aforementioned waterproof plate is provided on the fork, The aforementioned forklift is The waterproof plate is raised and lowered by raising and lowering the fork. The defense system according to claim 3.
5. The third unmanned aerial vehicle was The light output unit emits visible light toward the intruder, The system further includes a sound output unit that outputs a warning sound to the intruder, The aforementioned water discharge command unit, If the intruder is in the area where water discharge is prohibited, the light output unit will output the visible light and / or the sound output unit will output the warning sound. The defense system according to claim 1.
6. An unmanned aerial vehicle capable of hovering in the air within a designated work area, A control device for controlling the aforementioned unmanned aerial vehicle, A detection device for detecting an intruder entering the aforementioned work area, A defense system equipped with, The aforementioned unmanned aircraft, It is equipped with a water discharge unit that releases liquid toward the intruder, The aforementioned control device is The aforementioned work area includes a region setting unit that pre-sets a water discharge permit area where the discharge of the liquid is permitted and a water discharge prohibition area where the discharge of the liquid is prohibited, When the detection device detects the intruder, the area determination unit performs a first determination of whether the intruder is in the permitted water discharge area or the prohibited water discharge area, The system includes a water discharge command unit that, when the intruder is in the permitted water discharge area, causes the water discharge unit to release the liquid, while when the intruder is in the prohibited water discharge area, it prevents the water discharge unit from releasing the liquid. A defense system characterized by the following features.