Defense system

Abstract

To provide a defense system capable of tracking a suspicious flying object that has left a work area.SOLUTION: A defense system 1A includes a facility 10, a photographing device 30 that generates photographic data of a work area of the facility 10, an unmanned flying body 100 that generates video data during flight, and a control device 40A. The control device 40A performs first detection control to detect a suspicious flying object X that has entered the work area, second detection control to detect that the suspicious flying object X has left the facility, and tracking control to cause the unmanned flying body 100 to track the suspicious flying object X that has left the facility.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a defense system using an unmanned aircraft.

Background Art

[0002] Conventionally, in a work area such as a factory or a warehouse, an unmanned aircraft 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 aircraft capable of hovering in the air, and a control device for controlling the unmanned aircraft.

[0003] In the guidance system described in Patent Document 1, the unmanned aircraft 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 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 and making the system unmanned 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).

[0005] Furthermore, in the case of a well-prepared intruder, there is a risk of using an unmanned aircraft to enter a work area such as a factory or a warehouse and secretly photographing the work area with the camera of the unmanned aircraft. In this regard, if an unidentified unmanned aircraft (hereinafter referred to as a suspicious aircraft) that has entered the work area can be captured, it may be possible to identify its owner from the captured suspicious aircraft. Alternatively, there is a possibility of identifying the owner of the suspicious aircraft by tracking the suspicious aircraft that has left the work area without capturing it deliberately.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-52629 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] This invention has been made in view of the above circumstances, and its objective is to provide a defense system capable of tracking suspicious flying objects that have left a work area. [Means for solving the problem]

[0008] To solve the above problems, the defense system according to the present invention is A facility with a work area, A shooting device that photographs the aforementioned work area and generates photographic data, An unmanned aerial vehicle that shoots video during flight and generates video data, A control device that controls the unmanned aerial vehicle and acquires the photographic data and the video data, A defense system that includes, The control device is A first detection control that detects a suspicious aircraft different from the unmanned aircraft that has entered the work area based on the aforementioned photographic data and / or video data, A second detection control that detects, based on the aforementioned photographic data and / or video data, that the suspicious flying object has left the facility, The system is characterized by performing tracking control, which causes the unmanned aircraft to track the suspicious aircraft that has left the facility, based on the aforementioned video data.

[0009] In the aforementioned defense system, The aforementioned unmanned aircraft, Equipped with a microphone to record audio during flight, The control device is The system can be configured to perform recording control during the aforementioned tracking control, which causes the unmanned aircraft to start recording.

[0010] In the aforementioned defense system, The aforementioned unmanned aircraft, The microphone can be configured to include an adjustment unit for adjusting its height.

[0011] In the aforementioned defense system, The aforementioned unmanned aircraft, The system includes an jamming radio wave output unit that outputs jamming radio waves to interfere with the video transmission communication of the suspicious aircraft, and can be configured to output the jamming radio waves to the suspicious aircraft.

[0012] The aforementioned defense system, Includes a cargo handling vehicle that performs cargo handling operations under the control of the control device in the aforementioned work area, The aforementioned cargo handling vehicle is The system includes a jamming radio wave output device that outputs jamming radio waves to interfere with the video transmission communication of the suspicious aircraft, and can be configured to output the jamming radio waves to the suspicious aircraft.

[0013] In the aforementioned defense system, The aforementioned facility is It is provided with a plurality of openings that connect the work area and the external area of ​​the facility when open, and separate the work area and the external area when closed, The control device is When the suspicious flying object is detected, the system can be configured to perform switching control, which opens the first opening among the multiple openings that is within a predetermined range from the suspicious flying object, while closing the second opening that is outside the predetermined range from the suspicious flying object.

[0014] The aforementioned defense system, Includes a guided unmanned aerial vehicle equipped with a capture net, The control device is The guidance unmanned aircraft can be configured to guide the suspicious aircraft into the first opening or to capture the suspicious aircraft.

Advantages of the Invention

[0015] According to the present invention, it is possible to provide a defense system capable of tracking a suspicious flying object that has left the work area.

Brief Description of the Drawings

[0016] [Figure 1] It is a diagram showing a defense system according to the first embodiment. [Figure 2] It is a block diagram of the control device of the first embodiment. [Figure 3] (A) It is a diagram showing the unmanned aerial vehicle of the first embodiment. (B) It is a block diagram of the control unit of the unmanned aerial vehicle of the first embodiment. [Figure 4] It is a flowchart of the first half of the defense process performed by the control device of the first embodiment. [Figure 5] It is a flowchart of the second half of the defense process performed by the control device of the first embodiment. [Figure 6] It is a diagram showing a defense system according to the second embodiment. [Figure 7] (A) It is a diagram showing the unmanned aerial vehicle of the second embodiment. (B) It is a block diagram of the control unit of the unmanned aerial vehicle of the second embodiment. [Figure 8] (A) It is a diagram showing the forklift of the second embodiment. (B) It is a block diagram of the control unit of the forklift of the second embodiment. [Figure 9] It is a flowchart of the defense process performed by the control device of the second embodiment. [Figure 10] It is a diagram showing a defense system according to the third embodiment. [Figure 11] (A) It is a diagram showing one unmanned aerial vehicle of the third embodiment holding a capture net. (B) It is a diagram showing two unmanned aerial vehicles of the third embodiment holding a capture net. [Figure 12] It is a flowchart of the defense process performed by the control device of the third embodiment.

Modes for Carrying Out the Invention

[0017] Hereinafter, embodiments of the defense system according to the present invention will be described with reference to the attached drawings.

[0018] [First Embodiment] Figure 1 shows a defense system 1A according to the first embodiment. The defense system 1A includes a facility 10, an opening 20, a camera 30, a control device 40A, and at least one unmanned aerial vehicle 100 (100-1).

[0019] Facility 10 is any building having a work area where a forklift (not shown) or the like performs its work, such as a factory or warehouse. The work area of ​​facility 10 is provided with multiple 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 control device 40A, or a combination of both. The work area (for example, the inner wall surface of facility 10) is provided with multiple reflectors (not shown) for laser guidance of the forklift. If laser guidance of the forklift is not used, the multiple reflectors are not necessary.

[0020] The opening 20 is, for example, an entrance / exit configured to allow an unmanned aerial vehicle 100 and / or a forklift to enter and exit. The entrance / exit constituting the opening 20 includes, for example, a door section consisting of a shutter and / or a sliding door, a signal receiving unit that receives control signals from the control device 40A, and an opening / closing drive unit that opens and closes the door section (switches between an open state and a closed state) according to the control signals from the control device 40A. When the opening 20 is open, it connects the work area with the area outside the facility 10 (hereinafter referred to as the external area), while when it is closed, it physically separates the work area from the external area.

[0021] In this embodiment, three openings 20-1, 20-2, and 20-3 are provided as openings 20 at the positions shown in Figure 1. However, the number, position, size, etc., of the openings 20 can be appropriately changed according to the configuration of the facility 10. In addition, the openings 20 may be windows configured to allow the unmanned aerial vehicle 100 to enter and exit.

[0022] The imaging device 30 is a surveillance camera (e.g., a pan-tilt-zoom camera) that captures video and / or still images of the work area to generate imaging data and transmits the imaging data to the control device 40A. In this embodiment, one imaging device 30 is provided for each of the three openings 20-1, 20-2, and 20-3. The number and / or location of the imaging devices 30 can be changed as appropriate. Also, since the unmanned aerial vehicle 100 can capture video of the work area, the unmanned aerial vehicle 100 may function as a movable imaging device 30.

[0023] When loading and unloading operations such as those performed by forklifts are being carried out in the work area, the opening 20 is usually left open. Therefore, there is a risk that a suspicious aircraft (hereinafter referred to as suspicious aircraft X) different from the unmanned aircraft 100 may enter the work area through the open opening 20. If suspicious aircraft X enters the work area, the camera 30 transmits the image data of suspicious aircraft X to the control device 40A, and the control device 40A detects suspicious aircraft X based on the image data. Details of these operations will be described later.

[0024] As shown in Figure 2, the control device 40A comprises a communication unit 41, a display unit 42, a general control unit 43, a storage unit 44, and a processing unit 45. The control device 40A may also include a remote controller for remotely controlling the unmanned aerial vehicle 100. The control device 40A may be installed outside the facility 10 (external area) as shown in Figure 1, or it may be installed in the work area inside the facility 10.

[0025] The communication unit 41 communicates wirelessly with the aperture 20, the imaging device 30, and the unmanned aerial vehicle 100. For example, the communication unit 41 receives imaging data from the imaging device 30, receives video data from the unmanned aerial vehicle 100, and transmits various commands to the aperture 20 and the unmanned aerial vehicle 100.

[0026] The display unit 42 is composed of, for example, a liquid crystal display. The display unit 42 displays the video captured by the camera 30 and the video captured by the unmanned aerial vehicle 100. The display unit 42 may also display forklift travel information and cargo handling operation information, display the movement routes of the unmanned aerial vehicle 100 and the forklift along with a model diagram of the work area, or display the current position of the unmanned aerial vehicle 100 along with a map of the area around the facility 10.

[0027] The central control unit 43 manages the movement and loading / unloading operations of the forklift. For example, the central control unit 43 creates a schedule for the loading / unloading operations of the forklift and determines a movement route to ensure smooth loading / unloading operations. The central control unit 43 notifies the forklift of the movement route via the communication unit 41. In addition, when the unmanned aerial vehicle 100 is to perform support operations for the forklift (for example, guiding a manned forklift), the central control unit 43 manages the flight of the unmanned aerial vehicle 100. For example, the central control unit 43 creates a flight schedule for the unmanned aerial vehicle 100 and determines a movement route to ensure smooth support operations. The central control unit 43 notifies the unmanned aerial vehicle 100 of the movement route via the communication unit 41.

[0028] The memory unit 44 is configured to store programs and various data for operating the control device 40A. The various data stored in the memory unit 44 include the identification ID and photographic data of the unmanned aerial vehicle 100. The identification ID is a unique ID assigned to each unmanned aerial vehicle 100 in advance, and includes, for example, a registration number issued by the Ministry of Land, Infrastructure, Transport and Tourism and / or a manufacturing number determined by the manufacturer. The identification ID may also be, for example, a remote ID. The photographic data is data relating to photographs of the appearance of the unmanned aerial vehicle 100.

[0029] The processing unit 45 is configured to detect suspicious aircraft X that has entered the work area and to perform defensive processing to track suspicious aircraft X after it has left the work area. The defensive processing includes a first detection control, a second detection control, and a tracking control, etc. Details of each control will be described later.

[0030] As shown in Figure 3(A), the unmanned aerial vehicle 100 (100-1) comprises an airframe 110, a camera 120, a recording unit 130, and a control unit 140. In this embodiment, the unmanned aerial vehicle 100 is a drone, and the suspicious flying object X is also a drone.

[0031] The aircraft 110 comprises a main body 111, a plurality of arms 112 (four in this embodiment) extending radially from the main body 111, rotor blades 113 provided on the upper part of the tip of each arm 112, and a pair of left and right legs 114 provided on the underside of the main body 111. The main body 111 houses a control unit 140 and a battery (not shown). The battery supplies power to various parts of the unmanned aircraft 100.

[0032] The camera 120 is located on the front side of the main body 111. Under the control of the control unit 140, the camera 120 captures video footage during flight and transmits the video data of the captured footage to the control device 40A. The camera 120 may also be equipped with an infrared sensor and an illumination system that emits light during shooting. The mounting position of the camera 120 can be changed as appropriate.

[0033] The recording unit 130 is located on the underside of the main body 111. The recording unit 130 comprises a microphone 131, an adjustment unit 132, and a housing unit 133. The microphone 131 records sound during flight. The adjustment unit 132 adjusts the height of the microphone 131. The housing unit 133 is fixed to the underside of the main body 111 and holds the adjustment unit 132 and houses the microphone 131.

[0034] The adjustment unit 132 includes, for example, a rope and a winding mechanism. One end of the rope is fixed to the microphone 131, and the other end of the rope is fixed to the winding mechanism. The winding mechanism rotates in a first direction (forward rotation) to wind up the rope, shortening the distance between the microphone 131 and the main body 111, and rotates in a second direction (reverse rotation) to feed out the rope, lengthening the distance between the microphone 131 and the main body 111.

[0035] As shown in Figure 3(B), the control unit 140 includes a position information acquisition unit 141, a flight control unit 142, a camera control unit 143, a transmission unit 144, and a recording control unit 145. The control unit 140 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.

[0036] The position information acquisition unit 141 is configured to acquire position information of the aircraft 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 141 outputs the acquired position information to the flight control unit 142 and also transmits the position information to the control device 40A. Note that the position information acquisition unit 141 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 install ceiling markers on the ceiling of the facility 10. Furthermore, the position information acquisition unit 141 may identify the direction that its own camera 120 is facing and transmit information regarding that direction to the control device 40A along with the position information. Alternatively, the control device 40A may analyze the video data of the camera 120 to identify the direction that the camera 120 is facing.

[0037] The flight control unit 142 controls the flight of the aircraft 110 based on the position information from the position information acquisition unit 141 and the movement command (flight command) from the control device 40A. Specifically, the flight control unit 142 controls the rotation of the rotor blades 113 as part of the flight control of the aircraft 110. The flight control unit 142 includes four electric motors for rotating the rotor blades 113 at a predetermined rotational speed, and a speed determination unit for determining the rotational speeds of the four electric motors. For example, if the rotational speeds of the four electric motors are the same, the unmanned aircraft 100 will hover (stop in the air), and if the rotational speeds of the four electric motors are increased simultaneously by the same amount from that state, the unmanned aircraft 100 will ascend, and if the rotational speeds of the four electric motors are changed by different ratios, the direction of travel of the unmanned aircraft 100 can be changed. As a result, the unmanned aircraft 100 can fly to its destination according to the movement path (flight path) determined by the control device 40A.

[0038] The camera control unit 143 instructs the camera 120 to capture video footage during flight and transmits the video data to the control device 40A. If the camera 120 is equipped with an infrared sensor and / or illumination, the camera control unit 143 also controls the infrared sensor and / or illumination. The camera control unit 143 also includes a storage unit for saving the captured video footage. This allows the captured video footage to be saved even if communication with the control device 40A is unstable.

[0039] The transmitting unit 144 transmits transmission information related to the identification ID at a predetermined interval (for example, once per second). The transmission information related to the identification ID is transmitted to the control device 40A via a receiving unit (not shown). In this embodiment, one receiving unit is provided in each of the three openings 20-1, 20-2, and 20-3, but it can be provided in any location. For example, the receiving unit can be provided in the control device 40A.

[0040] The recording control unit 145 controls the recording unit 130. For example, the recording control unit 145 turns on the microphone 131 to start recording, or turns off the microphone 131 to stop recording. The recording control unit 145 also transmits the audio data recorded by the recording unit 130 to the control device 40A, and controls the adjustment unit 132 to adjust the height of the microphone 131.

[0041] Figures 4 and 5 show the defense processing performed by the processing unit 45.

[0042] The processing unit 45, which has initiated defense processing, begins receiving image data from the imaging device 30 and video data from the unmanned aerial vehicle 100 via the communication unit 41 (S101). If the processing unit 45 has already received image data and video data at step S101 (for example, if it has been receiving data since before the start of defense processing), it continues the reception.

[0043] Next, the processing unit 45 detects flying objects contained in the captured data and / or video data (S102). The processing unit 45 detects flying objects contained in the captured data and / or video data by analyzing the data using known methods. In step S102, it is sufficient to determine whether or not it is a flying object.

[0044] If the processing unit 45 cannot detect a flying object from the data (NO in S102), it returns to the processing in step S101. However, if it can detect a flying object from the data (YES in S102), it acquires transmission information from the flying object via the receiving unit provided in the opening 20 (S103).

[0045] The processing unit 45 compares the identification ID included in the transmission information of the flying object with the identification ID stored in the storage unit 44 (S104). If the identification ID in the transmission information matches the identification ID in the storage unit 44 (YES in S104), the processing unit 45 determines that the flying object is an unmanned aerial vehicle 100 and returns to the process of step S101. On the other hand, if the identification ID in the transmission information does not match the identification ID in the storage unit 44 (NO in S104), the processing unit 45 proceeds to the process of step S105. The processing unit 45 also determines NO in step S104 if it was unable to obtain transmission information from the flying object in step S103, and proceeds to the process of step S105.

[0046] In step S105, the processing unit 45 compares the data in which the flying object was detected in step S102 with the photographic data stored in the memory unit 44 (S105). If the flying object included in the data corresponds to (matches) the unmanned aerial vehicle 100 included in the photographic data (YES in S105), the processing unit 45 determines that the flying object is the unmanned aerial vehicle 100 and returns to the process in step S101. If the result is NO in step S104 and YES in step S105, the processing unit 45 is considered unable to obtain transmission information from the unmanned aerial vehicle 100 due to some communication failure or malfunction of the transmission unit 144, etc.

[0047] Furthermore, the accuracy of the matching in step S105 can be improved by pre-attaching a unique identification sticker to the unmanned aerial vehicle 100. The processing unit 45 may also calculate the agreement rate between the detected aerial object data and the photographic data, and determine that there is a match if the agreement rate is 90% or higher, and that there is no match if the agreement rate is less than the predetermined value.

[0048] In step S105, if the flying object included in the captured data and / or video data does not correspond to (does not match) the unmanned aerial vehicle 100 (NO in S105), the processing unit 45 identifies the flying object as suspicious flying vehicle X (S106). The processing in steps S101 to S106 above corresponds to the "first detection control" of the present invention.

[0049] Upon detecting the suspicious aircraft X through the first detection control, the processing unit 45 issues various commands based on pre-set settings (S107). These settings include, for example, having the unmanned aircraft 100 record a video of the suspicious aircraft X, or having the unmanned aircraft 100 wait in a predetermined location (for example, an area outside facility 10) (in preparation for the tracking control described later).

[0050] Next, the processing unit 45 detects the departure of the suspicious aircraft X based on the image data and / or video data (S108). The processing unit 45 detects that the suspicious aircraft X has left the facility 10 by analyzing the image data and / or video data in a known manner. For example, if the suspicious aircraft X moves to the area outside the facility 10 via the opening 20, that is, if the data shows that the suspicious aircraft X is in the area outside, the processing unit 45 determines that the suspicious aircraft X has left the facility 10. This step S108 corresponds to the "second detection control" of the present invention.

[0051] Having detected the departure of the suspicious aircraft X through the second detection control, the processing unit 45 initiates tracking control to have the unmanned aerial vehicle 100 track the suspicious aircraft X that has left the facility 10 (S109). After initiating tracking control, the processing unit 45 instructs the unmanned aerial vehicle 100 to film a video of the suspicious aircraft X and acquires video data showing the suspicious aircraft X from the unmanned aerial vehicle 100 (S110).

[0052] Next, the processing unit 45 determines the movement path (flight path) of the unmanned aerial vehicle 100 based on the video data (S111). Specifically, the processing unit 45 can calculate the position of the suspicious aircraft X from the position information of the unmanned aerial vehicle 100, the direction that the camera 120 of the unmanned aerial vehicle 100 is facing, the size of the suspicious aircraft X in the video data, etc. Having calculated the position of the suspicious aircraft X, the processing unit 45 determines the movement path of the unmanned aerial vehicle 100 so that the distance between the suspicious aircraft X and the unmanned aerial vehicle 100 is a predetermined distance. The processing unit 45 may also determine the movement path so that the unmanned aerial vehicle 100 flies above the suspicious aircraft X. Alternatively, the determination of the movement path may be performed by the overall control unit 43.

[0053] Furthermore, if the control device 40A is equipped with a remote controller for remotely controlling the unmanned aerial vehicle 100, the operator of the defense system 1A may remotely control the unmanned aerial vehicle 100 while viewing the video (video showing the suspicious aerial vehicle X) displayed on the display unit 42. In that case, the operator of the defense system 1A may perform the processing from step S111 onwards, including the determination of the movement path, using the remote controller. The remote controller is equipped with switches for starting / stopping video recording, switches for starting / stopping recording by the microphone 131, control switches for the adjustment unit 132, etc.

[0054] Having determined the movement path in step S111, the processing unit 45 flies the unmanned aerial vehicle 100 according to the movement path. The unmanned aerial vehicle 100 continuously takes video of the suspicious aircraft X during flight. Based on the video data, the processing unit 45 detects the owner of the suspicious aircraft X (S112). This process in step S112 corresponds to the "third detection control" of the present invention.

[0055] In step S112, the processing unit 45 determines whether the video data satisfies pre-set conditions. These conditions include, for example, (1) the suspicious flying object X has stopped and a person is holding it, (2) the suspicious flying object X has entered a car, or (3) the suspicious flying object X has entered a building. In case (1), the processing unit 45 detects the person holding the suspicious flying object X as the owner of the suspicious flying object X. In case (2), the processing unit 45 detects the car containing the suspicious flying object X as the owner of the suspicious flying object X. In case (3), the processing unit 45 detects the building containing the suspicious flying object X as the owner of the suspicious flying object X. These conditions are just examples, and the operator of the defense system 1A can arbitrarily set conditions in the control device 40A.

[0056] If the processing unit 45 fails to detect the owner of the suspicious flying object X (NO in S112), it returns to the process of step S110. If it successfully detects the owner of the suspicious flying object X (YES in S112), it proceeds to the process of step S113. In step S113, the processing unit 45 instructs the unmanned aerial vehicle 100 to film a video of the owner and obtains video data showing the owner from the unmanned aerial vehicle 100 (S113). The owner is, as described above, a person, a car, or a building.

[0057] Along with the processing in step S113, the processing unit 45 performs recording control and causes the unmanned aerial vehicle 100 to start recording with the microphone 131 (S114). At this time, in order to prevent the owner from noticing the presence of the unmanned aerial vehicle 100, it is preferable for the processing unit 45 to make the unmanned aerial vehicle 100 hover above the owner and control the adjustment unit 132 to lower only the microphone 131. In the cases of (2) and (3) above, for example, the microphone 131 is lowered to near the window of a car or building.

[0058] Next, the processing unit 45 determines whether or not to continue control (S115). For example, the processing unit 45 determines to continue control if the recording time is within a predetermined time (YES in S115). Here, if the owner is moving with the suspicious aircraft X, the processing unit 45 may determine the movement path of the unmanned aircraft 100 in the same way as in step S111 and have the unmanned aircraft 100 track the owner.

[0059] For example, if the recording time exceeds a predetermined time, the processing unit 45 determines that it will not continue control (NO in S115), terminates tracking control, and ends the series of defense processes. Having terminated the defense processes, the processing unit 45 returns the unmanned aircraft 100 to the facility 10.

[0060] As described above, the defense system 1A according to this embodiment can detect suspicious aircraft X that have entered the work area and can track suspicious aircraft X that have left the work area. Furthermore, since video and audio data concerning the owner of suspicious aircraft X can be obtained, evidence of the misuse of suspicious aircraft X can be secured.

[0061] [Second Embodiment] Figure 6 shows a defense system 1B according to the second embodiment. The defense system 1B includes a facility 10, an opening 20, a camera 30, a control device 40B, unmanned aerial vehicles 100 (first unmanned aerial vehicle 100-1 and second unmanned aerial vehicle 100-2), and a forklift 200 (corresponding to the "cargo handling vehicle" of the present invention). Components that are the same as those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0062] The first unmanned aerial vehicle 100-1 has the same configuration as the unmanned aerial vehicle 100(100-1) of the first embodiment. The second unmanned aerial vehicle 100-2 has the same configuration as the unmanned aerial vehicle 100(100-1) of the first embodiment, except that it is equipped with an jamming radio wave output unit 150 and has a control unit 140' instead of a control unit 140, as shown in Figure 7.

[0063] The jamming radio wave output unit 150 is configured to output jamming radio waves to the suspicious aircraft X. The jamming radio waves are primarily intended to interfere with the video transmission communications of the suspicious aircraft X. In other words, the jamming radio wave output unit 150 outputs jamming radio waves to prevent the video of the work area secretly filmed by the suspicious aircraft X from being uploaded to the cloud or elsewhere. The jamming radio wave output unit 150 includes, for example, a radio wave transmitting circuit (including an antenna) that emits jamming radio waves in a predetermined frequency band. The jamming radio wave output unit 150 may also include a reflector to give directionality to the jamming radio waves emitted by the radio wave transmitting circuit.

[0064] The control unit 140' has the same configuration as the control unit 140 of the first embodiment, except that it includes a radio wave control unit 146. The radio wave control unit 146 controls the jamming radio wave output unit 150. Specifically, the radio wave control unit 146 controls the on / off state of the jamming radio wave output unit 150 under the control of the control device 40B. The jamming radio wave output unit 150 outputs jamming radio waves when it is on and does not output jamming radio waves when it is off. In addition, the radio wave control unit 146 controls the frequency modulation of the jamming radio waves and controls the intensity modulation of the jamming radio waves under the control of the control device 40B.

[0065] The control device 40B has the same configuration as the control device 40A of the first embodiment, except that the memory unit 44 stores various data on the unmanned aircraft, the radio control unit 146 issues control commands, and the forklift 200 issues driving commands and cargo handling commands.

[0066] The memory unit 44 has pre-stored various data for unmanned aerial vehicles (UAVs) other than the UAV 100 (first UAV 100-1 and second UAV 100-2). The various data includes photographic data of the UAV, the frequency band for the UAV's control communication, and the frequency band for the UAV's video transmission communication, all of which are associated with each other and stored in memory unit 44. In other words, if an UAV can be identified from its photographic data, then the frequency band for its control communication and the frequency band for its video transmission communication can be identified.

[0067] Here, the frequency band for control communication is the frequency band used for communication to transmit commands (movement commands for the unmanned aerial vehicle) between the unmanned aerial vehicle and the remote controller. The frequency band for video transmission communication is the frequency band used for communication to transmit video captured by the unmanned aerial vehicle (for example, uploading it to the cloud). While these two may overlap in some cases, generally different frequency bands are used to prevent interference. For example, a higher frequency band is used for video transmission communication than for control communication.

[0068] As shown in Figure 8(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, an jamming radio wave output device 240, and a control unit 250.

[0069] 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 the control unit 250. The cargo handling device 220 may have other attachments in addition to, or instead of, the forks 222.

[0070] 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 multiple reflectors installed in the facility 10. The calculation unit of the laser scanner 230 stores the positions of the reflectors 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 along the movement path determined by the control device 40B while acquiring current location information regarding the current location of the vehicle body 210.

[0071] The jamming device 240 is configured to output jamming signals to the suspicious aircraft X, similar to the jamming device 150 of the second unmanned aircraft 100-2. In this embodiment, the jamming device 240 is mounted on the vehicle body 210 or cargo handling device 220 so as to output jamming signals upwards. A larger jamming device 240 than the jamming device 150 can be used. The function of the jamming device 240 is the same as that of the jamming device 150.

[0072] As shown in Figure 8(B), the control unit 250 includes a position estimation unit 251, a driving control unit 252, a cargo handling control unit 253, and an interference radio wave control unit 254. The control unit 250 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.

[0073] The position estimation unit 251 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 251 corresponds to the calculation unit of the laser scanner 230. The position estimation unit 251 outputs the acquired position information to the driving control unit 252 and also transmits the position information to the control device 40B. The position estimation unit 251 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.

[0074] The travel control unit 252 controls the movement of the vehicle body 210 based on the position information from the position estimation unit 251 and the movement command (travel command) from the control device 40B. As a result, the forklift 200 can travel to its destination according to the travel path determined by the control device 40B.

[0075] The cargo handling control unit 253 controls the cargo handling equipment 220 based on cargo handling commands from the control device 40B. In this embodiment, cargo handling commands include, for example, commands to raise and lower the mast 221 and the forks 222.

[0076] The jamming signal control unit 254 controls the jamming signal output device 240. Specifically, the jamming signal control unit 254 controls the on / off state of the jamming signal output device 240 under the control of the control device 40B. The jamming signal output device 240 emits jamming signals when it is on and does not emit jamming signals when it is off. In addition, the jamming signal control unit 254 controls the frequency modulation of the jamming signals and the intensity modulation of the jamming signals under the control of the control device 40B.

[0077] Figure 9 shows the defense processing performed by the processing unit 45 of the control device 40B. The defense processing in this embodiment includes the processing of step S107B instead of the processing of step S107 in the first embodiment. Other processing is the same as in the first embodiment and is therefore omitted from the description. In the tracking control from S109 to S115, the processing unit 45 causes the first unmanned aircraft 100-1 to track the suspicious aircraft X.

[0078] In step S107B, the processing unit 45 issues various commands based on pre-set settings (S107B). The settings include, in addition to the settings in the first embodiment, matters related to interfering radio waves.

[0079] Specifically, the processing unit 45 determines whether the suspicious aircraft X corresponds to an unmanned aircraft stored in the memory unit 44, and if so, reads out the frequency band for the operation communication and the frequency band for the video transmission communication of that unmanned aircraft. Next, the processing unit 45 issues a control command to the second unmanned aircraft 100-2 to output jamming radio waves, and also issues a control command to the forklift 200 to output jamming radio waves. The second unmanned aircraft 100-2 and the forklift 200 output jamming radio waves to the suspicious aircraft X in accordance with the control commands. The jamming radio waves are controlled to have a frequency within the frequency band of the video transmission communication. Furthermore, the output of jamming radio waves by the second unmanned aircraft 100-2 and the forklift 200 continues, for example, until the departure of the suspicious aircraft X is detected in step S108.

[0080] According to the defense system 1B of this embodiment, in addition to the effects of the first embodiment, it is possible to prevent the video footage of the work area secretly filmed by the suspicious flying object X from being uploaded to the cloud or elsewhere.

[0081] Furthermore, if the frequency band for the control communication of the suspicious aircraft X and the frequency band for the video transmission communication are the same, and if the priority is to identify the owner of the suspicious aircraft X, it is preferable to cause the second unmanned aircraft 100-2 and / or the forklift 200 to emit jamming radio waves to the extent that the suspicious aircraft X does not become inoperable. For example, the processing unit 45 may issue a control command to emit jamming radio waves intermittently at a predetermined period.

[0082] Furthermore, if the first unmanned aerial vehicle 100-1 is equipped with an jamming radio wave output unit 150 and a radio wave control unit 146, the processing unit 45 may issue a control command to the first unmanned aerial vehicle 100-1 to output jamming radio waves when the first unmanned aerial vehicle 100-1 is tracking the suspicious aircraft X.

[0083] [Third Embodiment] Figure 10 shows a defense system 1C according to the third embodiment. The defense system 1C includes a facility 10, an opening 20, a camera 30, a control device 40C, unmanned aerial vehicles 100 (first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2, third unmanned aerial vehicle 100-3), and a forklift 200. Components that are the same as those in the second embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0084] As shown in Figure 11(A), the third unmanned aerial vehicle 100-3 has the same configuration as the unmanned aerial vehicle 100(100-1) of the first embodiment, except that it is equipped with a capture net 160 and a net holding unit 161, and does not have a recording unit 130 and a recording control unit 145. The third unmanned aerial vehicle 100-3 corresponds to the "guidance unmanned aerial vehicle" of the present invention.

[0085] The capture net 160 is a net used to restrict the flight of the suspicious flying object X or to capture it. In this embodiment, the capture net 160 is rectangular, but its shape and size can be changed as appropriate. Furthermore, any material can be used for the capture net 160 as long as it does not tear when it comes into contact with the suspicious flying object X.

[0086] The net holding section 161 is configured to hold the capture net 160. As shown in Figure 11(A), when the capture net 160 is held by one third unmanned aerial vehicle 100-3, the third unmanned aerial vehicle 100-3 holds the capture net 160 by clamping the center of the upper end with the net holding section 161. As shown in Figure 11(B), when the capture net 160 is held by two third unmanned aerial vehicles 100-3, the left third unmanned aerial vehicle 100-3 holds the string attached to the left upper end of the capture net 160 with the net holding section 161, and the right third unmanned aerial vehicle 100-3 holds the string attached to the right upper end of the capture net 160 with the net holding section 161. Any known configuration can be used for the net holding section 161 as long as it can hold the capture net 160 during flight.

[0087] The control device 40C has the same configuration as the control device 40B of the second embodiment, except that it issues commands to the third unmanned aircraft 100-3 and controls the switching of the opening 20.

[0088] During switching control, the processing unit 45 opens the first opening among the multiple openings 20 that is within a predetermined range from the suspicious flying object X, while closing the second opening that is outside the predetermined range from the suspicious flying object X. The predetermined range can be set as appropriate by the control device 40C.

[0089] For example, if the suspicious aircraft X is at the position shown in Figure 10, the first openings within a predetermined range from the suspicious aircraft X are openings 20-1 and 20-2, and the second opening outside the predetermined range from the suspicious aircraft X is opening 20-3. In this case, the processing unit 45 opens openings 20-1 and 20-2, while closing opening 20-3. Furthermore, the processing unit 45 causes the third unmanned aircraft 100-3 to restrict the path of the suspicious aircraft X, guiding the suspicious aircraft X to the open openings 20-1 and 20-2.

[0090] Figure 12 shows the defense processing performed by the processing unit 45 of the control device 40C. The defense processing in this embodiment is the same as in the second embodiment, except that it includes the processing in step S107C.

[0091] In step S107C, the processing unit 45 performs switching control and causes the third unmanned aircraft 100-3 to restrict the path of the suspicious aircraft X, guiding the suspicious aircraft X into the open opening 20.

[0092] During switching control, the processing unit 45 calculates the distance between the openings 20 (20-1 to 20-3) and the suspicious flying object X. It opens the openings 20 whose calculated distance is below a predetermined threshold, while closing the openings 20 whose calculated distance exceeds a predetermined threshold. For example, the processing unit 45 obtains the position information (position coordinates) of the suspicious flying object X by analyzing the image data generated by the imaging device 30 using a known method. Alternatively, if the imaging device 30 is equipped with a distance sensor (e.g., LiDAR, millimeter-wave radar, or stereo camera) for measuring the distance to the suspicious flying object X, the processing unit 45 may calculate the position coordinates of the suspicious flying object X based on the position information of the imaging device 30 (presumably stored in the memory unit 44), information regarding the measurement results measured by the distance sensor, and the direction in which the imaging device 30 is facing. The processing unit 45 can use the position coordinates obtained as described above to calculate the distance between the openings 20-1 to 20-3 and the suspicious flying object X.

[0093] Regarding the restriction of the suspicious aircraft X's path, the processing unit 45 does not position the third unmanned aircraft 100-3 on a virtual straight line connecting the suspicious aircraft X and the open opening 20, so that the suspicious aircraft X moves toward the open opening 20. In other words, if the suspicious aircraft X is flying on a path other than the above-mentioned virtual straight line, the processing unit 45 positions the third unmanned aircraft 100-3 ahead of the suspicious aircraft X's path, thereby restricting the suspicious aircraft X's path. This allows the suspicious aircraft X to be guided toward the open opening 20.

[0094] According to the defense system 1C of this embodiment, in addition to the effects of the second embodiment, the suspicious flying object X can be quickly removed from the facility 10.

[0095] In this implementation, the explanation uses the example of a single suspicious aircraft X. However, if there are multiple suspicious aircraft X, one suspicious aircraft X may be removed from facility 10, and the remaining suspicious aircraft X may be captured.

[0096] When capturing the suspicious aircraft X, the processing unit 45 transmits a capture command to the third unmanned aircraft 100-3 in step S107C. Upon receiving the capture command, the third unmanned aircraft 100-3 flies toward the suspicious aircraft X, makes contact with the capture net 160, and captures the suspicious aircraft X. The processing unit 45 can confirm that the suspicious aircraft X has been captured based on video data from the camera 120 of the third unmanned aircraft 100-3 and the detection value of a sensor that detects the weight of the capture net 160 installed on the third unmanned aircraft 100-3. The captured suspicious aircraft X is recovered by a worker or forklift 200 located within the facility 10.

[0097] 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.

[0098] The defense system according to the present invention includes a facility having a work area, a photography device that photographs the work area and generates photographic data, an unmanned aerial vehicle that photographs video in flight and generates video data, and a control device that controls the unmanned aerial vehicle and acquires the photographic data and video data, wherein the control device can be configured as appropriate, provided that it performs: a first detection control that detects a suspicious aircraft different from the unmanned aerial vehicle that has entered the work area based on the photographic data and / or video data; a second detection control that detects that the suspicious aircraft has left the facility based on the photographic data and / or video data; and a tracking control that causes the unmanned aerial vehicle to track the suspicious aircraft that has left the facility based on the video data.

[0099] The forklift 200 in the above embodiment is a laser-guided unmanned forklift, but it may also be an unmanned forklift using a method other than laser guidance, or a manned-unmanned forklift capable of switching between manned and unmanned operation. Furthermore, the material handling vehicle of the present invention is not limited to a forklift, but may be a vehicle other than a forklift (for example, an automated guided vehicle) as long as it performs some kind of material handling operation. [Explanation of Symbols]

[0100] 1A-1C Defense System 10 facilities 11 shelves 20 openings 30 Imaging device 40A~40C Control Unit 100 Unmanned Aerial Vehicles 110 aircraft 111 Main body 112 Arm 113 Rotary Wings 114 Legs 120 Cameras 130 Recording Section 131 Mike 132 Adjustment section 133 Containment Unit 140 Control Unit 150 Jamming Radio Wave Output Section 160 Capture net 161 Net holding part 210 vehicle body 220 Cargo handling equipment 221 Mast 222 Fork 230 Laser Scanners 240 Jamming device 250 Control Unit

Claims

1. A facility with a work area, A shooting device that photographs the aforementioned work area and generates photographic data, An unmanned aerial vehicle that shoots video during flight and generates video data, A control device that controls the unmanned aerial vehicle and acquires the photographic data and the video data, A defense system that includes, The control device is A first detection control that detects a suspicious aircraft different from the unmanned aircraft that has entered the work area based on the aforementioned photographic data and / or video data, A second detection control that detects, based on the aforementioned photographic data and / or video data, that the suspicious flying object has left the facility, Based on the aforementioned video data, the unmanned aircraft is instructed to perform tracking control to track the suspicious aircraft that has left the facility. A defense system characterized by the following features.

2. The aforementioned unmanned aircraft, Equipped with a microphone to record audio during flight, The control device is During the aforementioned tracking control, recording control is performed to initiate recording on the unmanned aerial vehicle. The defense system according to claim 1.

3. The aforementioned unmanned aircraft, The microphone is equipped with an adjustment unit for adjusting its height. The defense system according to claim 2.

4. The aforementioned unmanned aircraft, The system includes an jamming signal output unit that outputs jamming signals to interfere with the video transmission communication of the suspicious aircraft, and outputs the jamming signals to the suspicious aircraft. The defense system according to claim 1.

5. Includes a cargo handling vehicle that performs cargo handling operations under the control of the control device in the aforementioned work area, The aforementioned cargo handling vehicle is The device includes an jamming signal output device that outputs jamming signals to interfere with the video transmission communication of the suspicious aircraft, and outputs the jamming signals to the suspicious aircraft. The defense system according to claim 1.

6. The aforementioned facility is It is provided with a plurality of openings that connect the work area and the external area of ​​the facility when open, and separate the work area and the external area when closed, The control device is When the suspicious aircraft is detected, a switching control is performed to open the first opening, which is within a predetermined range from the suspicious aircraft, while closing the second opening, which is outside the predetermined range from the suspicious aircraft. The defense system according to claim 1.

7. Includes a guided unmanned aerial vehicle equipped with a capture net, The control device is The guidance unmanned aircraft is to guide the suspicious aircraft into the first opening or to capture the suspicious aircraft. The defense system described in claim 6.

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