Defense system

Abstract

To provide a defense system capable of capturing images of intruders intruding into a work area such as a factory or warehouse and defending cargo from the intruders.SOLUTION: There is provided a defense system 1 comprising a first unmanned aerial vehicle 100-1, a second unmanned aerial vehicle 100-2, a third unmanned aerial vehicle 100-3, a liquid supply device 300, and a control device 400, where the first unmanned aerial vehicle 100-1 includes a detection unit for detecting an intruder X and the second unmanned aerial vehicle 100-2 includes an image capturing unit for capturing images of the intruder X, while the third unmanned aerial vehicle 100-3 includes a holder for holding a hose tip of the liquid supply device 300. The control device 400 causes the second unmanned aerial vehicle 100-2 and the third unmanned aerial vehicle 100-3 to fly toward a detection point of the intruder X, and causes to capture images of the intruder, and while causing to discharge a liquid toward the intruder X.SELECTED DRAWING: Figure 1

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 shows, for example, 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 to achieve unmanned operation has been increasing. 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 ultimately, 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 first control unit that controls the first unmanned aircraft, the second unmanned aircraft, and the third unmanned aircraft, Liquid supply device, A second control unit that controls the liquid supply device, A defense system equipped with, The liquid supply device is A hose section comprising a base end into which liquid flows from a liquid supply source, an intermediate section of the hose that serves as a flow path for the liquid, and a tip section of the hose that discharges the liquid, The system includes a flow rate adjustment unit that adjusts the flow rate of the liquid discharged from the tip of the hose, 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, The hose tip is equipped with a holding part, The first control unit, When the detection unit detects the intruder, the second and third unmanned aircraft are flown toward the detection location of the intruder, and the imaging unit of the second unmanned aircraft is instructed to photograph the intruder. The second control unit is: When the third unmanned aircraft arrives at the detection position, the flow rate adjustment unit is controlled to release the liquid from the tip of the hose while the tip of the hose is facing the intruder.

[0008] The aforementioned defense system, The work area further comprises a movable body that moves within the aforementioned work area. The liquid supply device is The liquid supply source comprises a tank section containing the liquid, The aforementioned moving body is The tank section is provided with a tank holding section for holding the tank section, The first control unit, When the detection unit detects the intruder, it can be configured to move the mobile body together with the third unmanned aerial vehicle.

[0009] In the aforementioned defense system, The mobile body equipped with the tank holding section is a forklift equipped with a cargo handling device. The tank can be configured to be held by the cargo handling device.

[0010] In the aforementioned defense system, The aforementioned tank section is A first tank for storing the first liquid as the aforementioned liquid, The system comprises a second tank for storing a second liquid, which is different from the first liquid, as the aforementioned liquid, The aforementioned flow rate adjustment unit is The system can be configured to allow at least one of the first liquid and the second liquid to flow into the base end of the hose.

[0011] In the aforementioned defense system, The second control unit is: A first determination is made as to whether the aforementioned intruder is a first intruder or a second intruder. When the intruder corresponds to the first intruder, the first liquid is discharged from the tip of the hose. When the intruder corresponds to the second intruder, the second liquid is discharged from the tip of the hose or a mixed liquid of the first liquid and the second liquid is discharged. It can be configured as follows.

[0012] In the defense system, for example, The first intruder is the intruder whose face can be photographed by the photographing unit, The second intruder is the intruder whose face cannot be photographed by the photographing unit.

[0013] A defense system according to another embodiment of the present invention is An unmanned aerial vehicle capable of hovering in a predetermined work area, A first control unit for controlling the unmanned aerial vehicle, A liquid supply device, A second control unit for controlling the liquid supply device, A detection device for detecting an intruder who has entered the work area, A defense system comprising: The liquid supply device is A hose portion including a hose base end portion into which liquid flows from a liquid supply source, a hose intermediate portion serving as a flow path of the liquid, and a hose tip portion for discharging the liquid, A flow rate adjustment unit for adjusting the flow rate of the liquid discharged from the hose tip portion, The unmanned aerial vehicle is Provided with a holding portion for holding the hose tip portion, The first control unit is When the detection device detects the intruder, the unmanned aerial vehicle is flown toward the detection position of the intruder, The second control unit is When the unmanned aerial vehicle arrives at the detection position, the flow rate adjustment unit is controlled to discharge the liquid from the hose tip portion in a state where the hose tip portion faces the intruder.

Advantages of the Invention

[0014] According to the present invention, it is possible to provide a defense system that can photograph intruders who enter a work area such as a factory or warehouse, and protect goods from intruders. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows 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 figure shows the liquid supply device of the present invention. [Figure 5] This is a block diagram of the control device of the present invention. [Figure 6] This is a flowchart of the defense processing performed by the management device of the present invention. [Figure 7] This figure shows an example of the movement path of the second unmanned aerial vehicle, the third unmanned aerial vehicle, and the forklift according to the present invention. [Figure 8] This figure shows a modified example of the defense system 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), a liquid supply device 300, and a control device 400 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 400, 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, legs 130, a camera 140, a speaker 150, a lighting unit 160, a holding 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 wing 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 holding 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 400. The camera 140 may also be equipped with an infrared sensor and an illumination system 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 outputs a warning sound under the control of the control unit 180. The warning sound may be a message prompting intruder X to leave the work area 10, a simple sound effect, or both. The second unmanned aerial vehicle 100-2 does not need to be equipped with the speaker 150.

[0025] The illumination unit 160 outputs visible light and 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 retaining portion 170 holds the hose tip portion 313, which will be described later. The retaining portion 170 has a hole portion 171 through which the hose tip portion 313 is inserted. The retaining portion 170 fixes the hose tip portion 313 in place when it is inserted through the hole portion 171. In other words, the hole portion 171 is a fixing means for fixing the hose tip portion 313. Note that the fixing means is not limited to the hole portion 171, and any configuration can be adopted.

[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, and a lighting control unit 185. 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 combining 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 400. 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 400 along with the position information. Alternatively, the management device 400 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 commands (flight commands) from the management device 400. 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 400. 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 400. 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 400 is unstable.

[0031] The alarm unit 184 outputs a warning sound from the speaker 150 based on an alarm command from the control device 400. The control device 400, 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] As shown in Figure 3(A), the forklift 200 comprises a vehicle body 210, a cargo handling device 220, a laser scanner 230 mounted on the upper part of the vehicle body 210, a lighting unit 240, a sound source unit 250, and a control unit 260. In this embodiment, the forklift 200 is a laser-guided unmanned forklift.

[0034] 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.

[0035] The cargo handling device 220 corresponds to the "tank holding section" of the present invention and comprises a mast 221 and forks 222. The forks 222 move up and down along the mast 221 under the control of the control unit 260. A liquid supply device 300 is also positioned on the forks 222. In addition to the forks 222, or in place of the forks 222, the cargo handling device 220 may also be equipped with an attachment for holding the liquid supply device 300.

[0036] 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 400 while acquiring current location information regarding the current location of the vehicle body 210.

[0037] The lighting unit 240 is composed of, for example, at least one LED light and, under the control of the control unit 260, 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 260. 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.

[0038] 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 260. 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).

[0039] As shown in Figure 3(B), the control unit 260 includes a position estimation unit 261, a travel control unit 262, a cargo handling control unit 263, a lighting control unit 264, and a sound source control unit 265. The control unit 260 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.

[0040] The position estimation unit 261 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 261 corresponds to the calculation unit of the laser scanner 230. The position estimation unit 261 outputs the acquired position information to the driving control unit 262 and also transmits the position information to the management device 400. The position estimation unit 261 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.

[0041] The driving control unit 262 controls the driving of the vehicle body 210 based on the position information from the position estimation unit 261 and the movement command (driving command) from the management device 400. As a result, the forklift 200 can travel to its destination according to the travel path determined by the management device 400.

[0042] The cargo handling control unit 263 controls the cargo handling equipment 220 based on cargo handling commands from the management device 400. 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 liquid supply device 300 up and down.

[0043] The lighting control unit 264 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 264 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 264 controls the output state of the notification light to change it.

[0044] The sound source control unit 265 controls the sound source unit 250. Specifically, the sound source control unit 265 outputs a warning sound from the sound source unit 250 according to the sensor signal from the obstacle sensor and the driving conditions.

[0045] As shown in Figures 3(A) and 4, the liquid supply device 300 comprises a hose section 310, a tank section 320, and a flow rate adjustment section 330. The tank section 320 contains a first liquid L1 and a second liquid L2, which correspond to the "liquid" of the present invention. The flow rate adjustment section 330 is also housed in the tank section 320.

[0046] The hose section 310 includes a hose base end 311 through which the first liquid L1 and / or the second liquid L2 flows from the tank section 320, a hose middle section 312 which serves as a flow path for the first liquid L1 and / or the second liquid L2, and a hose tip 313 which discharges the first liquid L1 and / or the second liquid L2.

[0047] As shown in Figure 4, the tank section 320 includes a first tank 321 for containing the first liquid L1, a second tank 322 for containing the second liquid L2, a first flow path section 323 connecting the first tank 321 and the flow rate adjustment section 330, a second flow path section 324 connecting the second tank 322 and the flow rate adjustment section 330, a third flow path section 325 connecting the flow rate adjustment section 330 and the hose base end 311, and a pump 326 provided in the third flow path section 325.

[0048] Pump 326 is provided with a drive mechanism (e.g., an electric motor) not shown. Pump 326 causes the first liquid L1 and / or the second liquid L2 to flow from the first tank 321 and / or the second tank 322 into the third flow path section 325 via the flow rate adjustment section 330, and delivers them to the hose base end 311. Note that the position of pump 326 is not limited to the position shown in Figure 4 and can be changed as appropriate.

[0049] The flow rate adjustment unit 330 adjusts the flow rate of the first liquid L1 and / or the second liquid L2. The flow rate adjustment unit 330 includes, for example, a first control valve provided at the connection point between the first flow path section 323 and the third flow path section 325, and a second control valve provided at the connection point between the second flow path section 324 and the third flow path section 325.

[0050] The first and second control valves can adjust their opening degrees based on a water discharge command from the control device 400. In this embodiment, the sum of the opening degrees of the first and second control valves is adjusted to a maximum of 100%. For example, when the opening degree of the first control valve is 100% and the opening degree of the second control valve is 0%, the first liquid L1 flows through the third flow path section 325. When the opening degree of the first control valve is 0% and the opening degree of the second control valve is 100%, the second liquid L2 flows through the third flow path section 325. When the opening degree of the first control valve is 50% and the opening degree of the second control valve is 50%, a mixture of the first liquid L1 and the second liquid L2 flows through the third flow path section 325.

[0051] The first liquid L1 and the second liquid L2 are different types of liquids. In this embodiment, the first liquid L1 is water (for example, tap water). In this embodiment, the second liquid L2 is a solution or dispersion. The solution or dispersion of the second liquid L2 is, for example, a solution that emits a pungent odor and / or a solution that emits light of a specific wavelength (for example, a solution containing a phosphorescent substance that emits light in response to ultraviolet light). Alternatively, the solution or dispersion may be a special paint such as fluorescent paint or magnetic paint. By using the above-mentioned special paint, the water sprayed on the intruder X is designed to make it easier to find the intruder X even if the intruder X is lost sight of.

[0052] As shown in Figure 5, the management device 400 comprises a communication unit 401, a display unit 402, a general control unit 403, a mode setting unit 404, and a defense processing unit 405 (first control unit 405A and second control unit 405B). The management device 400 is preferably located outside the work area 10 as shown in Figure 1, but it may also be located inside the work area 10.

[0053] The communication unit 401 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 401 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.

[0054] The display unit 402 is composed of, for example, a liquid crystal display. The display unit 402 displays images taken 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 402 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.

[0055] The central control unit 403 manages the movement and loading / unloading operations of the forklift 200. For example, the central control unit 403 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 403 notifies the forklift 200 of the movement route via the communication unit 401.

[0056] 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 403 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 403 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 403 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 401.

[0057] The mode setting unit 404 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 does not hold the tank section 320 of the liquid supply device 300 while driving and performing cargo handling operations.

[0058] The defense processing unit 405 comprises a first control unit 405A and a second control unit 405B. The defense processing unit 405 functions, for example, when a first mode (defense mode) is set in the mode setting unit 404.

[0059] When the first mode (defense mode) is set in the mode setting unit 404, the first control unit 405A and the second control unit 405B perform the defense processing shown in Figure 6. During defense processing, the first control unit 405A 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 401. During defense processing, the second control unit 405B transmits a water discharge command to the liquid supply device 300 via the communication unit 401.

[0060] 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.

[0061] 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 the camera 140. The first control unit 405A 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).

[0062] If intruder X is visible in the image data, the first control unit 405A 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 first control unit 405A determines that the first unmanned aerial vehicle 100-1 has not detected intruder X (NO in S1).

[0063] If the first control unit 405A 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).

[0064] The first control unit 405A acquires the position information (position coordinates) of the intruder X by analyzing the image data captured by the first unmanned aerial vehicle 100-1 using a known method. 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 first control unit 405A may calculate the position coordinates of the intruder X based on the position information of the first unmanned aerial vehicle 100-1 (acquired from the position 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.

[0065] As shown in Figure 7, 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.

[0066] 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).

[0067] 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 can be expected that the third unmanned aerial vehicle 100-3 will be able to reliably hit the intruder X with the first liquid L1 and / or the second liquid L2.

[0068] 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.

[0069] The fourth condition is that the travel path R2 and the travel path R3 are not separated by more than a predetermined distance in a plan view. By satisfying this condition, the hose can be moved with a shortened length (straight-line distance) of the intermediate section 312. The straight-line distance of the intermediate section 312 can be shortened, for example, by winding it onto a winding reel (not shown) provided on the liquid supply device 300.

[0070] In Figure 7, the first control unit 405A determines the movement paths R2 and R3 so that the forklift 200 moves parallel to the third unmanned aerial vehicle 100-3 in a plan view. However, if the forklift 200 is to be moved together with the third unmanned aerial vehicle 100-3, the movement paths R2 and R3 can be changed as appropriate. For example, the first control unit 405A may determine the movement paths R2 and R3 so that the third unmanned aerial vehicle 100-3 flies directly above the forklift 200, or it may determine the movement path R3 of the forklift 200 so that the forklift 200 moves with the third unmanned aerial vehicle 100-3 placed in a predetermined position (for example, on top of the head guard). In the latter case, when the forklift 200 arrives at (or just before) the destination A3, the third unmanned aerial vehicle 100-3 flies toward the destination A2.

[0071] The first control unit 405A, 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 the final destinations A1, A2, and A3, respectively (S3). The first control unit 405A 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.

[0072] 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 first control unit 405A transmits a photography command to the second unmanned aerial vehicle 100-2 (S4).

[0073] 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).

[0074] In this case, the first control unit 405A 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 first control unit 405A transmits a movement command to raise or lower the second unmanned aerial vehicle 100-2 to move it to the front of an empty area on the shelf 11, to move it to a position higher than the shelf 11, or to land it 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 first control unit 405A can determine whether or not intruder X can be photographed at the destination A1 based on the video image data.

[0075] 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 second control unit 405B. 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.

[0076] After the first control unit 405A has completed the processing in step S4, the second control unit 405B performs a first determination (S5). In the first determination, the second control unit 405B determines whether intruder X is a first intruder or a second intruder. The second control unit 405B has pre-set conditions for being a first intruder and conditions for being a second intruder. In this embodiment, the first intruder is intruder X whose face was captured by the camera 140 of the second unmanned aerial vehicle 100-2. In this embodiment, the second intruder is intruder X whose face was not captured by the camera 140 of the second unmanned aerial vehicle 100-2 (for example, intruder X wearing a mask, sunglasses and a face covering). The second control unit 405B performs the first determination based on the image data received from the second unmanned aerial vehicle 100-2.

[0077] The second control unit 405B transmits a first water discharge command to the liquid supply device 300 if intruder X is a first intruder, and transmits a second water discharge command to the liquid supply device 300 if intruder X is a second intruder. The first water discharge command is a water discharge command to discharge a first liquid L1 from the hose tip 313. The second water discharge command is a water discharge command to discharge a second liquid L2 from the hose tip 313. The second water discharge command may also be a water discharge command to discharge a mixed liquid of the first liquid L1 and the second liquid L2 from the hose tip 313. Furthermore, the first water discharge command and / or the second water discharge command may include at least one of a command to output visible light from the illumination unit 160 toward intruder X and a command to output a warning sound from the speaker 150.

[0078] The first control unit 405A may, in parallel with the processing of step S6 of the second control unit 405B, transmit a movement command to the second unmanned aerial vehicle 100-2 to return to the waiting location (the starting point of the movement path R1). Since the intruder X is distracted by the water spraying of the third unmanned aerial vehicle 100-3, the second unmanned aerial vehicle 100-2 can return to the waiting location without being noticed by the intruder X.

[0079] 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.

[0080] In Defense System 1, the four components each have their own roles: 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 the first liquid L1 and / or the second liquid L2 to intruder X, and the forklift 200 transports the tank section 320.

[0081] Therefore, the attention of intruder X can be diverted, making it difficult for them to notice the presence of the second unmanned aerial vehicle 100-2. Accordingly, according to the defense system 1 of this embodiment, the second unmanned aerial vehicle 100-2 can photograph intruder X. Furthermore, as described above, since the third unmanned aerial vehicle 100-3 releases the first liquid L1 and / or the second liquid L2 towards intruder X, it can directly act on the intruder X's body (wetting it in this embodiment), causing the intruder X to retreat. Accordingly, according to the defense system 1 of this embodiment, the cargo can be more reliably protected from intruder X.

[0082] Furthermore, in the defense system 1 according to this embodiment, the type of liquid (first liquid L1 or second liquid L2) discharged from the tip of the hose 313 is changed depending on the type of intruder X (first intruder or second intruder). For example, according to the defense system 1 according to this embodiment, the second liquid L2, which is more effective in driving away an intruder X that is thought to have strong malicious intent, i.e., an intruder X whose face could not be photographed by the camera 140 of the second unmanned aerial vehicle 100-2 (for example, an intruder X wearing a mask, etc.), is discharged. Therefore, according to the defense system 1 according to this embodiment, cargo can be protected from malicious intruders X.

[0083] The conditions for determining whether someone is a first intruder and the conditions for determining whether someone is a second intruder can be changed as appropriate. For example, the number of intruders X included in the image data received from the second unmanned aircraft 100-2 may be used as a condition. For example, if there is one intruder X, that one intruder X may be considered the first intruder, while if there are multiple intruders X, those multiple intruders X may be considered the second intruder.

[0084] 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.

[0085] [Differentiation] Figure 8 shows a modified example of the defense system 1'. The defense system 1' has the same configuration as the defense system 1 of the above embodiment, except that it does not have a forklift 200 and the tank section 320 of the liquid supply device 300 is fixed to the road surface of the work area 10.

[0086] According to the modified defense system 1', it has the same effects as the defense system 1 of the above embodiment, except for the effect of being able to transport the tank section 320 (for example, the effect of being able to move the hose tip section 313 while shortening the straight distance of the hose middle section 312).

[0087] [Other variations] The defense system according to the present invention comprises an unmanned aerial vehicle (UAV) capable of hovering in the air within a predetermined work area, a first control unit for controlling the UAV, a liquid supply device, a second control unit for controlling the liquid supply device, and a detection device for detecting an intruder entering the work area. The liquid supply device comprises a hose section consisting of a hose base end into which liquid flows from a liquid supply source, a hose middle section that serves as a liquid flow path, and a hose tip for discharging liquid, and a flow rate adjustment unit for adjusting the flow rate of liquid discharged from the hose tip. The UAV includes a holding unit for holding the hose tip. The first control unit flies the UAV toward the detection location of the intruder when the detection device detects an intruder, and the second control unit controls the flow rate adjustment unit to discharge liquid from the hose tip when the UAV arrives at the detection location, with the hose tip facing the intruder. The configuration can be modified as appropriate.

[0088] 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 400 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.

[0089] 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 to issue a warning to the intruder X and to photograph the intruder X. Furthermore, instead of the forklift 200, a fourth unmanned aerial vehicle capable of transporting a tank unit 320 may be used.

[0090] 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 that transports the tank section of the liquid supply device is preferably a forklift.

[0091] In the above embodiment, the liquids of the present invention were a first liquid L1 and a second liquid L2, but either one may be used alone. Furthermore, if the defense system of the present invention is equipped with two third unmanned aerial vehicles 100-3 and two forklifts 200, the tank section 320 transported by the first forklift 200 may contain only the first liquid L1, and the tank section 320 transported by the second forklift 200 may contain only the second liquid L2.

[0092] If the liquid of the present invention is only water (for example, tap water), the liquid supply device does not need to have a tank. In this case, the base end of the hose is connected to the liquid supply source (for example, a water tap). [Explanation of Symbols]

[0093] 1. 1' Defense System 10 work 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 Holding part 171 Hole 180 Control Unit 200 forklifts 210 vehicle body 220 Cargo handling equipment 230 Laser Scanners 240 Lighting Section 250 Sound Source Section 260 Control Unit 300 Liquid supply device 310 Hose section 311 Hose base end 312 Hose middle section 313 Hose tip 320 Tank section 321 Tank No. 1 322 Tank No. 2 323 First channel section 324 Second channel section 325 Third channel section 326 Pump 330 Flow rate adjustment section 400 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 first control unit that controls the first unmanned aircraft, the second unmanned aircraft, and the third unmanned aircraft, Liquid supply device, A second control unit that controls the liquid supply device, A defense system equipped with, The liquid supply device is A hose section comprising a base end into which liquid flows from a liquid supply source, an intermediate section of the hose that serves as a flow path for the liquid, and a tip section of the hose that discharges the liquid, The system includes a flow rate adjustment unit that adjusts the flow rate of the liquid discharged from the tip of the hose, 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 The hose tip is equipped with a holding part, The first control unit is, When the detection unit detects the intruder, the second and third unmanned aircraft are flown toward the detection location of the intruder, and the imaging unit of the second unmanned aircraft is instructed to photograph the intruder. The second control unit is, A defense system characterized in that when the third unmanned aircraft arrives at the detection position, the flow rate adjustment unit is controlled to release the liquid from the tip of the hose while the tip of the hose is facing the intruder.

2. The work area further comprises a movable body that moves within the aforementioned work area. The liquid supply device is The liquid supply source comprises a tank section containing the liquid, The aforementioned moving body is The tank section is provided with a tank holding section for holding the tank section, The first control unit is, When the detection unit detects the intruder, it moves the mobile body together with the third unmanned aerial vehicle. The defense system according to claim 1.

3. The mobile body equipped with the tank holding section is a forklift equipped with a cargo handling device. The tank section is held by the cargo handling device. The defense system according to claim 2.

4. The aforementioned tank section is A first tank for storing the first liquid as the aforementioned liquid, The system comprises a second tank for storing a second liquid, which is different from the first liquid, as the aforementioned liquid, The aforementioned flow rate adjustment unit is At least one of the first liquid and the second liquid is introduced into the base end of the hose. The defense system according to claim 2.

5. The second control unit is, A first determination is made as to whether the aforementioned intruder is a first intruder or a second intruder. If the intruder is the first intruder, the first liquid is released from the tip of the hose; however, if the intruder is the second intruder, the second liquid or a mixture of the first and second liquids is released from the tip of the hose. The defense system according to feature 4.

6. The first intruder is the intruder whose face was captured by the camera unit, The second intruder is the intruder whose face could not be captured by the camera. The defense system according to claim 5, characterized in that it is the same as described in claim 5.

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