JP2016171441A - Monitoring system and flight robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve a monitoring system using a flight robot in which privacy and safety are taken into account.SOLUTION: When moving while setting a position, where an abnormality is detected, as a target position, a flight robot 4 flies toward the target position after rising to a set altitude H1 where highspeed flight is possible, and when approaching the target position, drops to approach the vicinity of the target position and to perform the shooting. When flying above the set altitude H1, the flight robot 4 is controlled to prohibit the shooting by taking account of the privacy. Meanwhile, when the flight altitude of the flight robot 4 is less than the set altitude H1, the travel speed is limited below a reference speed for safety.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a flying robot that takes an image by shooting at a position where the abnormality is detected when an abnormality of an intruding object or the like (for example, a suspicious vehicle or a suspicious person) is detected in a monitoring area, The present invention relates to a monitoring system that uses a monitoring area to monitor.

  Conventionally, as an unmanned aerial vehicle that flies on a predetermined flight route by autonomous control and captures a predetermined range from the air, for example, one disclosed in Patent Document 1 below is known. In Patent Document 1, a helicopter equipped with an autonomous control function is used as an unmanned air vehicle, and aerial images including a reference point set in a survey area are continuously captured and recorded by a camera while flying. Yes.

JP 2006-27331 A

  By the way, when using the unmanned air vehicle disclosed in Patent Document 1 described above as a monitoring application, when going from the standby position of the unmanned air vehicle to the target point, the flight speed is increased after increasing to a predetermined altitude. It will fly to high speed and descend. However, under a high altitude situation, there is a possibility that the angle of view of the camera provided in the unmanned air vehicle includes even outside the monitoring area. As a result, the camera shoots even inappropriate objects outside the monitoring area unrelated to monitoring, which is undesirable for privacy. Also, when flying this kind of unmanned aerial vehicle at a low altitude, there are many obstacles on the flight route, so it is dangerous to increase the flight speed because the obstacles hinder the flight. There is a sex problem. Furthermore, for example, when shooting with a camera from a dark sky, such as at night, lighting is required to assist shooting. However, unexpected lighting from the dark sky could be confusing and uncomfortable for the surrounding residents.

  Accordingly, the present invention is intended to solve the above-described problems, and an object thereof is to realize a monitoring system and a flying robot in consideration of privacy and safety.

In order to achieve the above object, the monitoring system according to the present invention includes an abnormality detection means for detecting an abnormality in the monitoring area,
A flying robot with a flight function;
A flight control device that obtains flight state information through wireless communication with the flying robot, and transmits instruction information to the flight robot to fly to the abnormality detection location and to take a picture when the abnormality detection unit detects an abnormality. A monitoring system consisting of
The flying robot includes an altitude control means for controlling a flight altitude, and an imaging means.
The flight control apparatus includes an imaging control unit that determines whether or not to permit imaging in accordance with a flight altitude acquired as flight state information from the flying robot and controls the imaging unit.

  In the monitoring system according to the present invention, the imaging control unit may prohibit imaging by the imaging unit when a flight altitude acquired from the flying robot is equal to or higher than a set altitude.

  Furthermore, in the monitoring system according to the present invention, when the illuminance around the flying robot during flight is less than or equal to a set illuminance, the flight control device prohibits lighting when the flying robot is flying above a set altitude. You may control so.

  Further, the monitoring system according to the present invention may permit the photographing by the photographing unit to restrict the flying speed to a reference speed or less when the flying altitude of the flying robot is less than the set altitude.

Furthermore, the flying robot according to the present invention includes an altitude control means for controlling the flight altitude,
Photographing means,
The photographing unit is controlled by determining whether or not photographing is permitted according to the flight altitude.

  According to the monitoring system of the present invention, the abnormality detection means detects an abnormality in the monitoring area. A flying robot having a flight function includes altitude control means for controlling the flight altitude and photographing means. When the anomaly detection means detects an anomaly, the flight control device wirelessly communicates with the flying robot to acquire flight state information, and also the flight instruction to the flight robot for shooting to the anomaly detection location and shooting, etc. Send instruction information. Then, the flight control device determines whether to permit photographing according to the flight altitude acquired as the flight state information from the flying robot, and controls the photographing means. With this configuration, the flight control device can remotely control the presence or absence of photographing permission by the photographing means provided in the flying robot according to the flying altitude of the flying robot.

  According to the monitoring system of the present invention, the imaging control unit prohibits imaging by the imaging unit when the flight altitude acquired from the flying robot is equal to or higher than the set altitude. With this configuration, when the flying robot is flying at a set altitude or higher, shooting by the shooting means is prohibited, ensuring privacy without accidentally shooting areas related to privacy other than the monitoring area. can do.

  Further, according to the monitoring system of the present invention, the flight control device controls the lighting to be prohibited from being lit while the flying robot is flying above the set altitude when the illuminance around the flying robot during flight is less than the set illuminance. To do. With such a configuration, the flying robot is prohibited to turn on the lighting when the ambient illuminance is lower than the set illuminance and moving at a set altitude or higher, such as at night. Unexpected lighting from will not confused or discomfort the surrounding residents.

  In addition, according to the monitoring system of the present invention, when the flying altitude of the flying robot is less than the set altitude, photographing by the photographing means is permitted and the flying speed is limited to a reference speed or less. With this configuration, when the flight altitude is less than the set altitude, the flying robot can fly and move while restricting the flight speed to a reference speed or less and maintaining safety. In addition, since the speed of the flying robot is limited to a reference speed or less, it is possible to perform shooting without causing blurring or frame skipping in shooting by the shooting unit.

  Furthermore, according to the flying robot of the present invention, the altitude control means for controlling the flight altitude and the photographing means are provided, and the photographing means is controlled by determining whether or not photographing is permitted according to the flying altitude. With such a configuration, it is possible to control the imaging unit by determining whether or not to permit imaging based on the determination of the flying robot alone without depending on an instruction from the flight control device.

It is an image figure which shows the outline | summary of the monitoring system which concerns on this invention. It is a mimetic diagram showing the whole surveillance system composition concerning the present invention. It is a block block diagram of the flying robot in the monitoring system which concerns on this invention. It is a block block diagram of the flight control apparatus in the monitoring system which concerns on this invention. It is explanatory drawing which shows the specific example of control of the flying robot in the monitoring system which concerns on this invention. It is a flowchart of the coping process which the flight control apparatus in the monitoring system which concerns on this invention performs.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS. 1 to 6 of the accompanying drawings.

[Outline of the present invention]
In the present invention, when an abnormality of an intruding object or the like (such as a suspicious vehicle or a suspicious person) is detected in the monitoring area, the flying robot flies to a position where the abnormality is detected, and a target location in the monitoring area is imaged. It relates to a monitoring system. When the flying robot in this monitoring system moves at the position where the abnormality is detected as the target position, it will fly up to the set altitude at a low speed and then fly toward the target position at a high speed. And take a picture. At this time, while the flying robot is flying above the set altitude, it is controlled to prohibit photographing in consideration of privacy. On the other hand, if the flying altitude of the flying robot is less than the set altitude, the moving speed is limited to a reference speed or less for safety. As a result, privacy can be secured, and a monitoring system and a flying robot in consideration of safety are realized.

[Monitoring system configuration]
As shown in FIGS. 1 and 2, the monitoring system 1 of the present embodiment is constructed by an abnormality detection means 2, a robot port 3, a flying robot 4, a flight control device 5, and a monitoring center 6. In the monitoring system 1, as shown in FIG. 1, when the abnormality detection means 2 detects an abnormality that has occurred in the monitoring area E (for example, a suspicious vehicle M that has entered the monitoring area E), the abnormality detection is abnormal. The detection means 2 notifies the flight control device 5. The flight control device 5 gives a flight instruction to the flying robot 4 via the robot port 3 when there is a report of abnormality detection from the abnormality detection means 2. The flying robot 4 flies toward the monitoring area E in accordance with a flight instruction from the flight control device 5, and images a target location (for example, a peripheral area including the target M) set around the abnormality occurrence location in the monitoring area E. To do. The monitoring center 6 displays a captured image transmitted from the flying robot 4 via the flight control device 5 on a monitor and monitors the monitoring area E. Hereinafter, the structure of each part which comprises the monitoring system 1 is demonstrated. The flight route used in this example means a route on which the flying robot 4 flies, that is, a flight route.

[Configuration of abnormality detection means]
The abnormality detection means 2 outputs an abnormality detection signal when an abnormality of an intruding object or the like (suspicious vehicle or suspicious person) is detected in the monitoring area E, or when a fire, glass or the like is detected, and the flight control device 5 includes various sensors for reporting an abnormality in the monitoring area E. Specifically, for detecting an intruding object, the abnormality detecting means 2 can be configured by various object detecting sensors such as a laser sensor, a microwave sensor, an ultrasonic sensor, an image sensor, an infrared sensor, and the like, and other fires are detected. A fire detection sensor that detects glass breakage, a glass breakage detection sensor that detects glass breakage, and the like can be configured as the abnormality detection means 2. For example, when the abnormality detection means 2 is configured by a laser sensor, as shown in FIG. 1, the target object (intruding object) M that is an abnormality target is scanned with a laser beam at a predetermined period and enters the scanning range S indicated by diagonal lines. When an abnormality is detected, an abnormality detection signal is transmitted to the flight control device 5 via a LAN or the like, for example, to notify the abnormality in the monitoring area E.

[Roboport configuration]
The roboport 3 is a standby place for the flying robot 4, and includes equipment for receiving an instruction from the flight control device 5 and for taking off and landing the flying robot 4. The robot port 3 includes a mechanism for accommodating the flying robot 4 in the port when the flying robot 4 is landed. When the flying robot 4 is accommodated in the port, the robot port 3 is brought into contact or non-contact with the flying robot 4. Has a function of supplying power.

[Configuration of flying robot]
The flying robot 4 stands by at the roboport 3 in a normal state where it has not received a flight instruction from the flight control device 5. When the abnormality detection means 2 detects an abnormality and notifies the flight control device 5, flight control is performed. In response to an instruction from the device 5, the aircraft flies toward a target position (destination) P while avoiding an obstacle at a speed corresponding to the flight altitude.

  As shown in FIG. 3, the flying robot 4 includes a rotor 11, a rotor driving unit 12, a flight state detecting unit 13, a position information receiving unit 14, an altitude sensor 15, an imaging unit 16, an illumination 17, an antenna 18, and a distance measuring sensor 19. , Illuminance sensor 20, storage unit 21, power supply 22, and robot control unit 23.

  The rotor 11 is composed of, for example, four rotating bodies, and is driven by the rotor driving unit 12 so as to fly the body of the flying robot 4 such as ascending, descending, changing direction, and moving forward.

  The rotor drive unit 12 drives each rotating body of the rotor 11 under the control of the rotor control means 33b described later in order to fly the aircraft of the flying robot 4 such as ascending, descending, changing direction, and moving forward.

  The flight state detection unit 13 detects the flight state of the flying robot 4. For example, the flight state detection unit 13 detects various directions such as an orientation sensor that detects the orientation of the flying robot 4, an acceleration sensor that detects the attitude and acceleration of the flying robot 4, and a gyro sensor. Consists of sensors. The detection results of these various sensors are input to the attitude control means 33 described later as flight state information of the flying robot 4.

  The position information receiving unit 14 detects the current position of the flying robot 4 by using a satellite positioning system such as a global navigation satellite system (GNSS). The current position of the flying robot 4 detected by the position information receiving unit 14 is input as position information (GNSS signal) of the flying robot 4 to the self-position positioning means 33a described later.

  The altitude sensor 15 measures the current altitude of the flying robot 4 based on the barometric pressure value of the barometric sensor or a laser beam projected and received vertically from the body of the flying robot 4 under the control of the robot controller 23. The current altitude of the flying robot 4 measured by the altitude sensor 15 is input to the self-position positioning means 33a described later as altitude information.

  The imaging unit 16 is configured by, for example, a camera using an image sensor, and captures the surroundings of the flying robot 4 (for example, forward and downward) with a color image. The photographing unit 16 controls photographing permission (prohibition cancellation) / prohibition, photographing angle, and the like by photographing control means 34 described later. An image photographed by the photographing unit 16 is input to a photographing control unit 34 described later.

  The illumination 17 is composed of an illumination device such as an LED illumination that assists photographing by the photographing unit 16, and is turned on / off by illumination control means 35 described later. The illumination 17 is lit when the surroundings of the flying robot 4 in flight are dark and become below the set illuminance under the condition that the flying robot 4 is flying below the set altitude H1. On the other hand, lighting of the illumination 17 is prohibited under the condition that the flying robot 4 is flying at a set altitude H1 or higher.

  The antenna 18 is provided in the robot main body, and performs wireless communication with the flight control device 5 by using a low-power radio, Wi-Fi, or the like.

  The distance measuring sensor 19 projects and receives electromagnetic waves, visible rays, sound waves, etc. in the horizontal direction or vertically downward of the flying robot 4 under the control of the robot controller 23, and measures the distance between the flying robot 4 and its surroundings. To do. As the distance measuring sensor 19, for example, a laser sensor, a microwave sensor, an infrared sensor, an ultrasonic sensor, or the like can be used. The measurement result by the distance measuring sensor 19 is input to the obstacle detection means 32 described later as the surrounding information of the flying robot 4.

  The illuminance sensor 20 is provided as necessary, and detects the brightness around the flying robot 4. The detection result of the illuminance sensor 20 is input to the illumination control means 35 described later as illuminance information.

  The storage unit 21 sequentially stores images captured by the imaging unit 16 when the flying robot 4 is in flight.

  The power source 22 is composed of a rechargeable battery such as a lithium polymer battery, for example, and supplies necessary power to each part of the flying robot 4.

  The robot controller 23 controls the entire flying robot 4 as a whole. As shown in FIG. 3, the robot controller 23 includes a communication control unit 31, an obstacle detection unit 32, an attitude control unit 33, an imaging control unit 34, and an illumination control unit. 35.

  The communication control unit 31 performs wireless communication with the flight control device 5 via the antenna 18 and performs various information (a flight route instruction from the flight control device 5 to the flying robot 4, a target position P and speed instruction, a take-off instruction, a feedback) Instructions, flight state information, position information, altitude information, etc. from the flying robot 4 to the flight control device 5 are transmitted and received. Further, the communication control unit 31 transmits the live image captured by the imaging unit 16 to the flight control device 5 by wireless communication.

  The obstacle detection means 32 determines the presence or absence of an obstacle around the flying robot 4 based on the surrounding information of the flying robot 4 detected by the distance measuring sensor 19.

  The attitude control means 33 controls the attitude of the flying robot 4 in flight based on various detection signals from the flight state detector 13, position information from the position information receiver 14, and altitude information from the altitude sensor 15. Yes, it includes self-positioning means 33a and rotor control means 33b.

  The self-positioning means 33a calculates the self-position (latitude, longitude, altitude) using the position information (GNSS signal) received by the position information receiving unit 14 and the altitude information measured by the altitude sensor 15.

  The rotor control means 33b is instructed by the flight control device 5 to control the rotor drive unit 12 while avoiding obstacles according to the presence or absence of obstacles by the obstacle detection means 32 and to control the altitude and speed of the flying robot 4. Control to achieve the target value.

  The shooting control unit 34 starts and ends shooting of the shooting unit 16, controls the shooting angle of the shooting unit 16, acquires an image shot by the shooting unit 16, and transmits a live image from the communication control unit 31 to the flight control device 5. Process such as. In addition, the imaging control unit 34 controls the imaging angle (permission cancellation / prohibition) and the imaging angle in accordance with instructions from the flight control device 5.

  The illumination control means 35 transmits the brightness information of the captured image or the illuminance information of the illuminance sensor 20 provided as necessary to the flight control device 5 and follows the instructions from the flight control device 5 accompanying this transmission. Control on / off.

  The illumination control unit 35 determines whether or not the illuminance around the flying robot 4 is less than or equal to the set illuminance from the luminance information of the captured image or the illuminance information of the illuminance sensor 20, and transmits the determination result to the flight control device 5. You can also

[Configuration of flight control device]
The flight control device 5 is installed, for example, in a predetermined location in the monitoring area E or in the vicinity of the monitoring area E. The flight control device 5 is connected to the abnormality detection unit 2 via, for example, a LAN and receives an abnormality detection signal from the abnormality detection unit 2 when an abnormality occurs in the monitoring area E. The flight control device 5 wirelessly communicates with the flying robot 4 when receiving an abnormality detection signal from the abnormality detection means 2, and controls the flying robot 4 based on various information transmitted from the flying robot 4. The function of the monitoring device which performs is provided. The flight control device 5 gives various control instructions to the flying robot 4 when receiving various instructions such as a shooting instruction by the flying robot 4 and a flight instruction to a predetermined position from the monitoring console 6 a of the monitoring center 6.

  The flight control device 5 controls the flight of the flying robot 4 and includes a communication unit 41, a storage unit 42, and a control unit 43 as shown in FIG.

  The communication unit 41 performs wireless communication such as low-power wireless and Wi-Fi communication with the flying robot 4, and information such as the position (latitude, longitude, altitude) and speed as flight state information from the flying robot 4. And various control signals corresponding to the received information are transmitted to the flying robot 4. When the communication unit 41 receives a flight instruction of the flying robot 4 from the monitoring console 6 a of the monitoring center 6, the communication unit 41 transmits various control signals according to the flight instruction to the flying robot 4. Further, the communication unit 41 transmits the image captured by the imaging unit 16 of the flying robot 4 to the monitoring center 6 via a virtual dedicated network (VPN) constructed on a wide area network (WAN) such as the Internet.

  The storage unit 42 is composed of, for example, a ROM, a RAM, and the like, and includes a flight area map that represents the area in which the flying robot 4 flies in three dimensions of latitude, longitude, and altitude, and monitoring area information that is various information related to the monitoring area E Data for communicating with the flying robot 4, various parameters for controlling the flight of the flying robot 4, position information (latitude and longitude information) of the robot port 3, the type of the abnormality detection means 2 in the monitoring area E, and the abnormality In addition to the installation position information (latitude and longitude information) of the detection means 2, various programs for realizing the functions of the flight control device 5 are stored.

  The control unit 43 reads the software module from the storage unit 42, performs each process with a CPU or the like, and performs overall control of each unit, and includes a flight control unit 43a, an imaging control unit 43b, and a state confirmation unit 43c.

  The flight control means 43a acquires flight state information, position information, and altitude information from the flying robot 4 via the communication unit 41, and provides control signals related to the flight of the flying robot 4 such as the target position P and speed of the flying robot 4. It transmits to the flying robot 4 via the communication unit 41 and controls the flight of the flying robot 4. For example, if the flying altitude of the flying robot 4 is equal to or higher than the set altitude H1, the speed is controlled so that the flying robot 4 flies at a high speed (for example, 5 to 15 m / s). Further, if the flying altitude of the flying robot 4 is less than the set altitude H1, the flying robot 4 flies at a low speed (for example, 2 to 3 m / s: a speed that can be avoided when an obstacle is detected) below the reference speed. To control the speed.

  The imaging control means 43 b controls imaging by the imaging unit 16 of the flying robot 4, and an imaging permission signal (imaging prohibition release signal) based on altitude information at the current position acquired from the flying robot 4 via the communication unit 41. Alternatively, a photographing prohibition signal is transmitted to the flying robot 4 via the communication unit 41. Further, the imaging control means 43b transmits an instruction signal for starting imaging, stopping imaging, and ending imaging to the flying robot 4 at an arbitrary timing according to an instruction from the monitoring console 6a of the monitoring center 6. For example, when the altitude information of the flying robot 4 at the current position becomes equal to or higher than the set altitude H1, a shooting prohibiting signal for prohibiting shooting by the shooting unit 16 is transmitted to the flying robot 4 via the communication unit 41. As long as the altitude information of the flying robot 4 is equal to or higher than the set altitude H1, transmission of a shooting permission signal (shooting prohibition release signal) to the flying robot 4 is prohibited. In this case, for example, even if an imaging start instruction is received from the monitoring console 6a of the monitoring center 6, transmission of the imaging start signal to the flying robot 4 is similarly prohibited. On the other hand, when the altitude information of the flying robot 4 at the current position is less than the set altitude H1, a shooting permission signal (shooting prohibition release signal) that permits shooting by the shooting unit 16 is sent to the flying robot 4 via the communication unit 41. Send. As a result, the photographing by the photographing unit 16 of the flying robot 4 becomes possible until the photographing prohibition signal is transmitted to the flying robot 4 again when the altitude information of the flying robot 4 is higher than the set altitude H1. The imaging control unit 43d may transmit an imaging angle control signal for controlling the imaging angle of the imaging unit 16 to the flying robot 4 via the communication unit 41 as necessary.

  Moreover, the imaging control means 43b determines whether or not the illuminance around the flying robot 4 in flight is equal to or lower than the set illuminance using the luminance information and illuminance information of the captured image acquired from the flying robot 4, and the determination result Based on the altitude information described above, an on / off control signal for turning on / off the illumination 17 of the flying robot 4 is transmitted to the flying robot 4. That is, the imaging control means 43b prohibits the lighting 17 from being turned on when the flying robot 4 is flying below a set illuminance that is dark, such as at night, and the flying robot 4 is flying above the set altitude H1. Therefore, an off control signal is transmitted to the flying robot 4 via the communication unit 41. On the other hand, when the flying robot 4 is flying below a set illuminance that is dark, such as at night, and the flying robot 4 is flying below the set altitude H1, an ON control signal is communicated to turn on the illumination 17. This is transmitted to the flying robot 4 via the unit 41.

  When a determination result indicating whether or not the illuminance around the flying robot 4 in flight is equal to or lower than the set illuminance is transmitted from the flying robot 4, the lighting 17 of the flying robot 4 is turned on / off based on the determination result. The imaging control means 43 b transmits an on / off control signal to be turned off to the flying robot 4. The current time can also be used to determine whether or not the illuminance around the flying robot 4 in flight is equal to or lower than the set illuminance.

  The state confirmation unit 43c is for confirming the state of the flying robot 4, and periodically confirms whether or not the function of the flying robot 4 is normal when the flying robot 4 is waiting at the robot port 3.

[About monitoring center configuration]
As shown in FIG. 2, the monitoring center 6 includes a monitoring console 6a such as a terminal device that receives an image captured by the flying robot 4 via the flight control device 5 and displays the received image. Further, the monitoring center 6 operates the monitoring console 6a at the discretion of the monitoring person to fly a flight instruction (flight route instruction, target position P or speed instruction, take-off instruction, return instruction). , Ascending instructions, etc.). For example, when the monitor finds an intruding object (for example, a suspicious vehicle or a suspicious person) into the monitoring area E from the image displayed on the monitor 6a, the monitor operates the monitor 6a to set the flying robot 4 on the site. A target position (latitude, longitude) P to be directed to is set, and the set target position P is transmitted as a control signal to the flying robot 4 via the flight control device 5. Further, it is possible to issue a still image or moving image photographing instruction, a photographing end instruction, an illumination lighting instruction, or the like at an arbitrary location to the storage unit 21 of the flying robot 4 main body based on the judgment of the supervisor. As a result, for example, when it is difficult to confirm due to the image being disturbed by the terminal device of the monitoring console 6a, it can be recorded in the storage unit 21 in the main body of the flying robot 4 and confirmed later. However, as described above, even if the flight control device 5 receives a shooting instruction or the like from the monitoring console 6a, the flight control device 5 is controlled to prohibit shooting if the altitude information of the flying robot 4 is equal to or higher than the set altitude H1. In addition, while the flying robot 4 is photographing at a low altitude, the surveillance staff can give an ascending instruction to the flying robot 4 from the monitoring console 6a for observation in a wide area. In this case, the flight control device 5 transmits an imaging prohibition signal to the flying robot 4 when the flying robot 4 reaches the set altitude H1 or higher.

[Action processing]
Next, a countermeasure process executed by the flight control device 5 of the monitoring system 1 when an abnormality occurs in the monitoring area E will be described with reference to FIGS.

  If there is an intruding object (such as a suspicious vehicle or a suspicious person) in the monitoring area E as an abnormality in the monitoring area E, the abnormality detecting means 2 detects this intruding object as the target M. Then, the abnormality detection means 2 transmits an abnormality detection signal based on the target M to the flight control device 5 to notify the flight control device 5 that an abnormality has occurred in the monitoring area E.

  In the coping process of FIG. 6, first, it is determined whether or not the abnormality detection means 2 has detected an abnormality based on the presence or absence of an abnormality detection signal from the abnormality detection means 2 (ST1).

  When the abnormality detection signal is input from the abnormality detecting unit 2 and the abnormality detecting unit 2 determines that the abnormality has been detected, the flight control device 5 calculates and sets the target position P and the flight route to be directed to the flying robot 4. (ST2).

  Then, the flight control device 5 transmits a flight route instruction to the target position P to the flying robot 4 via the robot port 3 (ST3). Subsequently, the flight control device 5 transmits a takeoff instruction to the flying robot 4 via the roboport 3 (ST4). When the flight robot 4 receives the flight route instruction and take-off instruction from the flight control device 5 to the target position P via the roboport 3, the rotor control unit 33b controls the rotor drive unit 12 to drive each rotor 11. The robot takes off from the roboport 3, flies along the flight route, and moves toward the target position P.

  Next, the flight control device 5 determines whether or not the flying altitude of the flying robot 4 flying toward the target position P is equal to or higher than the set altitude H1 (ST5). When the flight control device 5 determines that the flight altitude of the flying robot 4 is equal to or higher than the set altitude H1, the flight control device 5 transmits a shooting prohibition signal to the flying robot 4 as a shooting prohibition command in order to prohibit shooting by the shooting unit 16 of the flying robot 4. (ST6).

  Here, the reason why the flying robot 4 taking off from the robot port 3 is raised to the set altitude H1 or more is that there are few obstacles at a high altitude, it can move at a high speed, and can arrive at the target position P early. . On the other hand, when the flying altitude of the flying robot 4 is high, the photographing unit 16 can photograph a wide range, and there is a possibility that an area other than the monitoring area E is reflected in the image. For this reason, the flight control device 5 performs control so as to prohibit photographing by the photographing unit 16 at a set altitude H1 or more in consideration of privacy.

  The “prohibition of shooting” here refers to a case where image storage is prohibited in the storage unit 21 of the flying robot 4 main body, but transmission of live video to the flight control device 5 is permitted, or both are prohibited. In any case. Further, as a photographing prohibition method, any of control by the flying robot 4 main body control unit, activation prohibition control of the camera itself as the photographing unit 16, and instruction signal transmission control by the flight control device 5 may be used.

  In this example, as shown in FIG. 5, the flying robot 4 is prohibited from flying (except during takeoff and landing) at altitudes from the ground surface H0 to the lower flight altitude H2 (for example, 5 m). Further, at the altitude from the lower flight altitude H2 to the set altitude H1 (for example, 10 m), photographing by the photographing unit 16 is permitted, and the flying speed of the flying robot 4 is limited to a low speed equal to or lower than the reference speed. Further, at the altitude of the set altitude H1 or higher, shooting by the shooting unit 16 is prohibited and the flying robot 4 can fly at high speed. Even when the flying altitude of the flying robot 4 is less than the set altitude H1, if the flying altitude is less than the lower flying altitude H2, the photographing by the photographing unit 16 is prohibited. This is to prevent improper shooting of an object due to an unexpected situation, for example, when the flying robot 4 unexpectedly arrives unexpectedly. In addition, the flight upper limit altitude of the flying robot 4 is set to a flight limit altitude (for example, 50 m). Moreover, the speed at the time of takeoff and landing is set to a low speed (for example, 1 m / sec).

  The set altitude H1 is appropriately set as a fixed value for each site according to the height of a structure, a structure such as a power pole, a tree, etc. existing on the flight route on which the flying robot 4 flies. Thereby, it is possible to control the flying robot 4 to reach the target position P earlier while reducing the risk of damage to the flying robot 4 and ensuring safety.

  Next, the flight control device 5 determines whether or not the flying robot 4 has flew to the vicinity of the target position P (ST7). If the flight control device 5 determines that the flying robot 4 has not moved to the vicinity of the target position P, the flight control device 5 returns to the process of ST5. When it is determined that the flying robot 4 has moved to the vicinity of the target position P, the flight control device 5 transmits a descent instruction to the flying robot 4 (ST8). When the flying robot 4 receives the lowering instruction from the flight control device 5, the rotor control unit 33b controls the rotor driving unit 12 to drive each rotor 11 and lower the airframe.

  Next, the flight control device 5 determines whether or not the flying robot 4 descends and the flight altitude is equal to or lower than the set altitude H1 (ST9). When the flight control device 5 determines that the flying altitude of the flying robot 4 is equal to or lower than the set altitude H1, the flight control device 5 transmits a shooting prohibition release signal to the flying robot 4 as a shooting prohibition release command (shooting permission command) (ST10). When the flying robot 4 receives the shooting prohibition release signal from the flight control device 5, the shooting control unit 43 b releases the shooting of the shooting unit 16 and takes a shot of the surrounding area including the target M in the monitoring area E. When the flight control device 5 determines that the flying robot 4 has moved to the vicinity of the target position P, the flight control device 5 may transmit an imaging start signal. At this time, when the flight altitude is equal to or higher than the set altitude H1, shooting is prohibited. However, when the flight altitude is less than the set altitude H1, a shooting prohibition release command is received and shooting is started. Thus, by separating the shooting start signal and the shooting permission signal, it is possible to prevent unnecessary shooting when the flight route is set to be lower than the set altitude H1.

  In this way, the flying robot 4 takes off from the roboport 3 and rises, and when the flying altitude of the flying robot 4 becomes equal to or higher than the set altitude H1, the flight control device 5 controls the shooting unit 16 to prohibit shooting. Then, when the flying robot 4 flies to the vicinity of the target position P and moves while the photographing of the photographing unit 16 is prohibited, the flying robot 4 descends, and the flying altitude of the flying robot 4 becomes less than the set altitude H1, and is photographed from the flight control device 5. When the prohibition release signal is received, the photographing prohibition of the photographing unit 16 is canceled and the periphery including the target (for example, the car) M is photographed by the photographing unit 16.

  Next, the flight control device 5 determines whether or not the shooting by the shooting unit 16 of the flying robot 4 is finished (ST11). When the flight control device 5 determines that the shooting by the shooting unit 16 of the flying robot 4 has ended, the processing for handling an abnormality is ended.

  When the flight control device 5 determines that shooting by the shooting unit 16 of the flying robot 4 has been completed in the above-described handling process, the flight control device 5 transmits a return instruction to the flying robot 4 as necessary, and causes the flying robot 4 to Return to Roboport 3

  Further, the flight control device 5 may perform control so as to prohibit photographing by the photographing unit 16 of the flying robot 4 in the initial state where the flying robot 4 is waiting at the robot port 3 in the above-described countermeasure processing. . In this case, when the flying robot 4 takes off from the robot port 3 and flies to the vicinity of the target position P, it is determined whether or not the flying robot 4 descends and the flying altitude is equal to or lower than the set altitude H1. When it is determined that the flying altitude of the flying robot 4 is equal to or lower than the set altitude H1, a shooting prohibition release signal is transmitted to the flying robot 4 as a shooting prohibition release command (shooting permission command). As a result, when the flying robot 4 receives the shooting prohibition release signal from the flight control device 5, the shooting prohibition by the shooting unit 16 is canceled and the surrounding including the target M is shot by the shooting unit 16.

  By the way, when the flying robot 4 is caused to fly to the target position P, the flying robot 4 may be caused to fly and move while photographing by the photographing unit 16. Therefore, the flight control device 5 may determine whether or not the flight movement is necessary while photographing. In this case, when the flight control device 5 determines that the flight movement is necessary while photographing, if the flying altitude of the flying robot 4 is equal to or lower than the set altitude H1, the flying robot 4 flies while photographing with the photographing unit 16. A command is transmitted to the flying robot 4 to move. Thereby, if the target position P is, for example, an intruding object (for example, a suspicious person or a suspicious vehicle) that moves in the monitoring area E, the intruding object can be tracked while photographing by the photographing unit 16. When the flight control device 5 determines that the flight movement is not necessary while photographing, the flight control device 5 transmits a command to the flight robot 4 to fly and move the flight robot 4 at a flight altitude higher than the set altitude H1. Thereby, the flying robot 4 can fly at high speed, and the flying robot 4 can arrive at the target position P early.

  Further, when the flying robot 4 is flying in a dark surrounding such as at night, the surroundings are based on information taken by the imaging unit 16 of the flying robot 4, illuminance information of the illuminance sensor 20, current time, and the like. If the illuminance of the flying robot 4 is determined to be equal to or lower than the set illuminance, the lighting 17 is turned on. An effect equivalent to the prohibition of photographing can be obtained without making the surrounding residents feel bothered by the ready lighting.

  Further, when the flying robot 4 is less than the set altitude H1, control is performed so as to enable photographing with the camera as the photographing unit 16, but on the other hand, since the possibility of collision with an obstacle increases, the moving speed is set as a reference. Limited to lower speeds. Thereby, when an obstacle is detected by the measurement refusal sensor 19, there is a high possibility that it can be avoided at a low speed, and safety is improved.

  In the above-described embodiment, in consideration of security, the flight control device 5 transmits a control signal to the flying robot 4 based on the information acquired from the flying robot 4 to allow shooting of the shooting unit 16 (cancellation cancellation). In this configuration, the flying robot 4 itself controls the altitude information of the altitude sensor 15, the brightness information of the captured image, the illuminance information of the illuminance sensor 20, and the current time. May be used to control photographing permission (prohibition cancellation) / prohibition of the photographing unit 16 and lighting / prohibition control of the illumination 17. In addition, it may be possible to issue a shooting start instruction from an external communication terminal. In this case, when the altitude information obtained from the altitude sensor 15 is equal to or higher than the set altitude H1, the imaging control means 34 of the flying robot 4 performs control so as to prohibit imaging even if an imaging start instruction is received from the communication terminal. Can do.

  Although the best mode of the monitoring system and the flying robot according to the present invention has been described above, the present invention is not limited by the description and drawings according to this mode. That is, it is a matter of course that all other forms, examples, operation techniques, and the like made by those skilled in the art based on this form are included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Monitoring system 2 Abnormality detection means 3 Flight control apparatus 4 Roboport 5 Flying robot 6 Monitoring center 6a Monitoring table 11 Rotor 12 Rotor drive part 13 Flight state detection part 14 GNSS receiving part 15 Altitude sensor 16 Image pick-up part 17 Illumination 18 Antenna 19 Distance measurement Sensor 20 Illuminance sensor 21 Storage unit 22 Power supply 23 Robot control unit 31 Communication control unit 32 Obstacle detection unit 33 Attitude control unit 33a Self-position positioning unit 33b Rotor control unit 34 Imaging control unit 35 Illumination control unit 41 Communication unit 42 Storage unit 43 Control unit 43a Flight control means 43b Imaging control means 43c Status confirmation means E Monitoring area H0 Ground surface H1 Set altitude H2 Lower flight altitude M Target P Target position S Scanning range

Claims (5)

An anomaly detection means for detecting an anomaly in the monitoring area;
A flying robot with a flight function;
A flight control device that obtains flight state information through wireless communication with the flying robot, and transmits instruction information to the flight robot to fly to the abnormality detection location and to take a picture when the abnormality detection unit detects an abnormality. A monitoring system consisting of
The flying robot includes an altitude control means for controlling a flight altitude, and an imaging means.
The flight control apparatus includes a shooting control unit that determines whether to allow shooting according to a flight altitude acquired as flight state information from the flying robot and controls the imaging unit. . The monitoring system according to claim 1, wherein the imaging control unit prohibits imaging by the imaging unit when a flight altitude acquired from the flying robot is equal to or higher than a set altitude. The flight control device performs control so that lighting is prohibited while the flying robot is flying above a set altitude when the illuminance around the flying robot during flight is less than or equal to a set illuminance. The monitoring system according to 1 or 2. The monitoring system according to any one of claims 1 to 3, wherein when the flying altitude of the flying robot is less than a set altitude, photographing by the imaging unit is permitted and the flying speed is limited to a reference speed or less. . Altitude control means for controlling the flight altitude;
Photographing means,
A flying robot characterized by controlling whether or not to allow photographing according to the flight altitude and controlling the photographing means.

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