JP2019159620A - Automatic patrolling and monitoring device within area - Google Patents

Abstract

To address, by a technology which always patrols and monitors a state within a monitoring area, and which immediately intimidates when an intrusion of a wildlife is found, a technical problem of conventional wildlife intrusion preventing devices such that it is difficult to detect an intrusion of a wildlife and to execute an intimidation action in a real-time manner.SOLUTION: An automatic patrolling and monitoring device causes a cart to patrol within an area by automatic drive in accordance with a scheduled running plan along a patrol route within the certain area that is set in advance. This automatic patrolling and monitoring device includes: the cart; a detecting unit that detects running information on the cart; a determining unit that creates a running plan for the cart on the basis of the running information on the cart detected by the detecting unit, and of patrol route information that is set in advance; a drive control unit that performs drive control on the cart in accordance with a command from the determining unit; a monitoring unit that detects an intruder in the area; an intimidating unit that takes an intimidation action to the intruder; and a wireless communication unit that performs mutual communication with the exterior. When the monitoring device detects the intruder, the automatic patrolling and monitoring device provided causes the intimidating unit to automatically takes the intimidation action to the intruder.SELECTED DRAWING: Figure 1

Description

The present invention relates to an in-area automatic patrol monitoring device that automatically monitors and alerts a predetermined range on the ground.

Wildlife such as wild boars, raccoons, monkeys, and crows invade ground areas that are divided into certain areas such as golf courses, paddy fields, fields, and ranches, and damage crops and land. For this reason, electric fences and scarlets are installed around the ground area. In recent years, machines imitating wolves threatened by sound and light have been proposed and used. However, birds and beasts quickly become accustomed to these devices, and the effect of chasing them is quickly lost. This is because birds and beasts are easy to get used to without movement.
Birds and animals are afraid of moving objects, just like natural enemy animals and humans. Therefore, for example, in Patent Document 1, a support is provided on a certain area of the ground area, a rail is arranged on the support in a closed curve shape, and a threatening body for driving away birds and beasts can be moved along the rail. A bird and animal threatening device has been proposed.

JP 2008-17799 A

However, in the device of Patent Document 1, although the threatening body moves along the rail, the movement is constant and there is no sudden sudden movement, so the birds and beasts become accustomed to this threatening device over time as well. There is a problem. In addition, it is impossible to detect intruders of birds and beasts and perform threatening operations in real time.

The present invention has been made in view of such circumstances, and an object thereof is to provide an in-area automatic patrol monitoring device that can solve the above-described problems of conventional bird and animal threatening devices.

To achieve the above object, the in-area automatic patrol monitoring apparatus according to the present invention automatically patrols a certain area according to a predetermined patrol route, and includes animals including humans (hereinafter referred to as “intrusion”) that enter the certain area. It is characterized by automatically intimidating the intruder when it is discovered.
That is, the in-area automatic patrol monitoring device according to the first aspect of the present invention is an in-area automatic patrol monitoring device that patrols a cart by an automatic driving according to a planned travel plan along a preset patrol route in a certain area. And a detection unit for detecting cart car travel information, and a determination unit for creating a cart car travel plan from the cart car travel information detected by the detection unit and preset tour route information. And an operation control unit that controls the operation of the cart according to a command from the determination unit, a monitoring unit that detects an intruder into the area, a threatening unit that performs a threatening action against the intruder, and an external A wireless communication unit that performs communication, and when the monitoring device detects an intruder, the threatening unit automatically performs a threatening operation on the intruder.

  In the automatic traveling according to the first aspect of the present invention, for example, a GPS receiver, a gyro sensor, and a speed sensor constitute a detecting unit, and the traveling unit information detected by the detecting unit and preset traveling route information are determined by the determining unit. Comparing and calculating, the cart direction and start / stop / deceleration / acceleration control plan are created, and the cart control wheel direction and motor / engine rotation / brake are controlled by the operation control unit based on the plan. This can be achieved.

  In addition, the detection unit and the determination unit are known to control the direction of travel of the cart and the start / stop / deceleration / acceleration of the cart by detecting the magnetism of the guide wire and the magnetic marker laid along the route with a magnetic sensor. It can also be realized using the technology of a self-propelled golf cart system.

Further, when the position information of the GPS receiver, the gyro sensor or the speed sensor and the magnetic information of the guide wire and magnetic marker laid on the patrol route are used in combination, the automatic driving accuracy of the cart can be further improved.
On public roads, avoiding means such as people and cars are essential, but if there is a patrol route that avoids obstacles in a limited area where people and cars do not enter, the obstacle avoidance function is provided. Automatic patrol is possible only with these technologies that do not have.

  The threatening part has an LED light emitter and a speaker. The monitoring device provided in the cart car consists of a monitoring camera, a sound collecting microphone, an infrared sensor, a laser sensor, and other monitoring means. When an intruder who has entered the monitoring area is detected, the information is transmitted to the threatening part. The unit transmits intruder detection information to the operation control device and stops the cart for a certain period of time to perform a threatening operation on the intruder in real time. The threatening action is performed by blinking the LED light emitter and playing a threatening sound from the speaker. Explosive sounds, distress calls (screams made when birds and beasts are tough), and beasts cry as hijacking sounds. The cart will automatically start again after a certain period of time has passed since the start of the threat.

In addition, the wireless communication unit transmits the image captured by the surveillance camera and the sensing information of the infrared sensor to a predetermined location such as a central control station. Furthermore, the automatic patrol monitoring device in the area can be remotely controlled from a predetermined location such as a central control station through a wireless communication unit.
It is possible to continue the threatening operation by remote control, or to change the patrol plan set in advance and to make a round trip in a certain section until the intruder goes out of the area.

  Next, the in-area automatic patrol monitoring device according to the second aspect of the present invention is characterized in that the detection unit according to the first aspect of the present invention includes a GPS receiver, a gyro sensor, and a speed sensor.

  As in the conventional car navigation system, the detection unit of the second invention detects the traveling position of the cart from the GPS receiver, the gyro sensor, and the speed sensor, and detects the position information and the preset traveling route information. The comparison calculation is performed by the determination unit, and the traveling direction of the cart and the start / stop / deceleration / acceleration are controlled based on the calculation result. In other words, the operation control unit that receives the information from the determination unit controls the wheel direction of the cart and the start / stop of the motor or engine that is the drive unit or the rotation speed and the brake.

In order to improve the accuracy of the detection unit, a fixed GPS base station may be further provided, and Real Time Kinetic GPS (interference positioning method) may be employed. The fixed base station may be provided in the central control station. At this time, a GPS antenna and an antenna for wireless communication with the cart are provided at the central control station.
It is also possible to calculate the traveling speed of the cart from the change due to the Doppler effect of the frequency of the carrier wave received by the GPS receiver caused by the movement of the cart.

  Next, the third area automatic patrol monitoring device according to the present invention is an intra-area automatic patrol monitoring device that patrols a cart by an automatic driving according to a scheduled travel plan along a preset patrol route within a certain area. A cart path including a guide line and a magnetic marker that is laid along a patrol route in the monitored area and guides the cart traveling along the patrol route; A cart that detects the vehicle, a determination unit that creates a travel plan of the cart from the magnetic information detected by the detector and preset tour route information, and a cart command to control the driving of the cart An operation control unit, a monitoring unit that detects an intruder in the area, a threatening unit that performs a threatening operation on the intruder, and a wireless communication unit that performs mutual communication with the outside, and the monitoring unit is an intruder Intimidating unit automatically to and performs threatening behavior against intruder upon detection.

The automatic driving according to the third aspect of the present invention can be realized by a technique similar to that of a golf cart guidance device found in a golf course. That is, the cart generated by the signal current of the guide wire is detected by the cart detection unit (magnetic sensor) and the cart direction is controlled by the detection output to allow the cart to run along the patrol route. Can do.
The route change and stop at the fixed point of the cart can be performed by controlling the magnetism of the magnetic marker composed of the magnets installed at the fixed point as in the golf cart guidance system.
The cart is stopped, decelerated, and accelerated by controlling the S pole and N pole of the marker and combining them.
However, when stopping at a fixed point using a stop marker, separate restart control is required. The restart control can be realized, for example, by starting the motor or the engine when a certain time elapses after stopping using a timer.

Further, the fourth area automatic patrol monitoring device of the present invention is characterized in that in the guidance device of the third invention, there is a function for collectively releasing the fixed stop of the cart.
When the golf cart guidance device already installed on the golf course and the existing golf cart vehicle are equipped with the monitoring unit and the threatening unit of the present invention and used as they are for the implementation of the present invention at night and on holidays, the cart vehicle is the first It stops with the magnetic marker for stop.
Therefore, when using this system, it is necessary to cancel the fixed point stop function of the guidance device at once.
As one of the methods, it can be considered that the magnetic marker is realized by an electromagnet instead of a permanent magnet. This is because the current of all the magnetic markers for stopping can be cut off at one place.

Alternatively, a fixed point stop function release circuit for releasing the fixed point stop function by transmitting a fixed point stop release signal from the central control station to the automatic loop inspection device in the area using the wireless communication unit of the automatic tour monitoring device in the area is provided. In this way, the fixed point stop cancellation function can be realized.
Even when the existing golf cart guidance device of the golf course is used as it is for the implementation of the present invention, when changing the cart to an exclusive one for the implementation of the present invention instead of the existing golf cart, Control that ignores the magnetic marker for stopping is sufficient, and the fixed point stop canceling function of the fourth aspect of the present invention is unnecessary.

Furthermore, the fifth area automatic patrol monitoring device of the present invention is characterized in that the magnetic marker of the third invention comprises an electromagnet.
When the magnetic marker is changed from a conventional permanent magnet to an electromagnet, it is possible to centrally control a cart vehicle from a single location by controlling the current flowing through the electromagnet.

  Further, the sixth area automatic patrol monitoring device according to the present invention is an intra-area automatic patrol monitoring device that patrols a cart by an automatic driving according to a planned travel plan along a preset patrol route within a certain area. A cart path including a guiding device that is laid along a patrol route in the monitored area and that guides the traveling of the cart along the patrol route and a transponder ground element, and a magnet of the guiding device. A detection unit having a speed sensor and a magnetic sensor and a driving control information transmitted from the transponder ground unit, a magnetic sensor and a driving control information detected by the detection unit, and a preset tour A decision unit that creates a cart travel plan from route information, and a driving system that performs cart vehicle operation control according to commands from the decision unit. A monitoring unit that detects an intruder in the area, a threatening unit that performs a threatening action against the intruder, and a wireless communication unit that performs mutual communication with the outside, and the monitoring unit detects the intruder Then, the threatening part automatically performs a threatening action against the intruder.

By replacing the magnetic marker of the third aspect of the present invention with a transponder ground element and installing a transponder vehicle upper element on the cart, the distance to the stop position, the speed limit, the branching direction at the point where the guide line branches, etc. Any driving control information can be transmitted to the cart.
The cart that runs along the guide line controls its traveling speed according to the operation control information transmitted from the transponder ground unit. For example, if the distance information to the branch position is transmitted before the branch position of the patrol route, the cart is decelerated to a predetermined speed by the branch point based on the distance information.
If a data transmission path is provided between the transponder ground unit and the central control station, more complicated operation control can be performed according to changes in the surrounding conditions.
This is because the operation control information can be transmitted to the cart from the central control station in real time.

Since the present invention is as described above, the following effects can be obtained.
The in-area automatic patrol monitoring device according to the first aspect of the present invention can automatically patrol a certain area and perform a threatening operation on the intruder in real time when an intruder is found.

  The detection unit of the in-area automatic patrol monitoring device according to the second aspect of the present invention detects the running position of the cart from the GPS receiver, the gyro sensor, and the speed sensor, as in the conventional car navigation system, and the position information. And the pre-set patrol route information are calculated by the judgment unit, and based on the calculation result, the direction of travel of the cart and the start / stop / deceleration / acceleration are controlled. No special equipment is required.

  In addition, since the in-area automatic patrol monitoring device according to the third aspect of the present invention can be realized by the same technology as the golf cart guidance device found in golf courses, a new capital investment is made in an area where the golf cart guidance device is already provided. The forehead can be reduced.

  Moreover, since the automatic patrol monitoring apparatus in the area of the fourth aspect of the present invention adds a function for collectively canceling the fixed point stop of the cart to the guidance apparatus of the third aspect of the present invention, the existing golf cart guidance apparatus is used at night. In this case, it is possible to save the trouble of restarting the cart every time the cart is automatically stopped.

  In the in-area automatic patrol monitoring device according to the fifth aspect of the present invention, since the magnetic marker according to the third aspect of the present invention is composed of an electromagnet, the cart vehicle is advanced, stopped, decelerated, controlled by controlling the current flowing through the electromagnet. It is possible to centrally control the speed increase from one place.

  Further, the in-area automatic patrol monitoring device of the sixth aspect of the present invention replaces the magnetic marker of the third aspect of the present invention with a transponder ground element, and equips the cart with a transponder upper element so that the distance to the stop position is reached. It is possible to transmit all the operation control information such as the speed limit, the direction of branching at the location where the guide line branches, etc. to the cart.

It is a block diagram which shows the whole structure of the in-area automatic patrol monitoring apparatus which concerns on 1st Example of this invention. It is a figure for demonstrating the patrol monitoring operation | movement of 1st Example of this invention. It is a block diagram which shows the whole structure of the area automatic patrol monitoring apparatus which concerns on 2nd Example of this invention. It is a figure for demonstrating the patrol monitoring operation | movement of 2nd Example of this invention. It is a perspective view of the cart according to the second embodiment of the present invention. It is a figure for demonstrating the threatening operation | movement of the area automatic patrol monitoring apparatus which concerns on 2nd Example of this invention. It is a block diagram which shows the whole structure of the in-area automatic patrol monitoring apparatus which concerns on 3rd Example of this invention. It is a figure for demonstrating the patrol monitoring operation | movement of the 3rd Example of this invention.

Embodiments of the present invention will be specifically described below based on the embodiments of the present invention illustrated in the accompanying drawings.

Example 1
In the accompanying drawings, FIGS. 1 and 2 show a first embodiment of the present invention. FIG. 1 is a block diagram showing the entire configuration of an automatic patrol monitoring apparatus in an area, and FIG. It is a figure for demonstrating the patrol monitoring operation | movement of a patrol monitoring apparatus. Referring to FIG. 1, the in-area automatic patrol apparatus according to the first embodiment includes a detection unit 10, a determination unit 20, an operation control unit 30, a monitoring unit 40, a threatening unit 50, and a wireless communication unit 60. I have.

The detection unit 10 includes a GPS receiver 12, a gyro sensor 16, and a speed sensor 14. The GPS receiver 12 receives a signal from a GPS satellite, and thereby detects the absolute position of the cart. The absolute position information detected by the GPS receiver 12 is transmitted to the determination unit 20. Further, the rotation / advance direction of the cart car detected by the gyro sensor 16 and the advancing speed detected by the speed sensor are also transmitted to the determination unit 10.

In FIG. 1, the traveling route information 22 stores map information related to the traveling route, and can be realized, for example, by storing it in an HDD (hard disk drive) mounted on the cart. The tour route information 22 stores at least information about a preset tour route.

Based on the cart position information and travel information transmitted from the detection unit 10, the determination unit 20 performs a comparison operation with the preset traveling route information 22 and transmits a control signal to the operation control unit 30.

The driving control unit 30 is provided to control the cart travel, and includes a speed control circuit 31 and a steering control circuit 32. The driving control unit 30 controls the speed control circuit 31 and the steering control circuit 32 based on the control signal transmitted from the determination unit 20. The speed control circuit 31 controls the cart drive mechanism 36 in accordance with a control signal from the determination unit 20. That is, if the drive mechanism 36 is an engine, the opening degree of the throttle is controlled, and if the drive mechanism 36 is a motor, the current is controlled to control the traveling speed of the cart. Furthermore, the speed control circuit 31 controls the brake of the cart car according to the control signal of the determination unit 20. The steering control circuit 32 controls the driving direction of the cart car by controlling the driving of the steering motor of the cart car steering in accordance with the control signal from the determination unit 20.

The monitoring unit 40 includes a monitoring camera 42, a sound collecting microphone 44, and an infrared sensor 46. The monitoring unit 40 stores an image of the monitoring camera 42 in a steady state according to the traveling position. The monitoring unit 40 constantly compares the image with the image captured by the monitoring camera, and the monitoring unit 40 detects an intruder. be able to. The infrared sensor 46 also detects an intruder by a change in the reflected infrared ray. The sound collecting microphone 44 picks up the sound around the traveling route and, if the intruder makes a sound, detects the intruder by the sound. This is a cry that is unique to birds and beasts.

When the intruder is detected, the monitoring unit 40 transmits information on the presence of the intruder to the central control station 100 through the wireless communication unit 60 and instructs the intimidating unit 50 to perform an intimidating operation. The threatening unit 50 includes an LED light emitter 52 and a speaker 54, and the threatening unit 50 that has received a threatening command causes the LED light emitter 52 to blink and generate a threatening sound from the speaker 54. Further, when the threatening unit 50 receives a threatening command from the monitoring unit 40, the threatening unit 50 also transmits the information to the determination unit 20 and requests a temporary stop of the cart. The threatening unit 50 stops the threatening operation when there is no threatening command from the monitoring unit 40 or when a preset time elapses.

The central control station 100 can confirm the video of the monitoring camera and the sound of the sound collecting microphone transmitted from the monitoring unit 40 through the wireless communication unit 60, and can also remotely control the determination unit 20 through the wireless communication unit 60. . As a result, it becomes possible to monitor the round trip of a certain section by changing the normal route.

With reference to FIG. 2, the automatic patrol operation of the first embodiment will be described. FIG. 2 schematically shows the plane of the traveling area. A traveling route 3 is set inside the area boundary 80. The patrol route 3 does not need to be paved, but at least the cart 1 needs to be able to travel without obstacles. The cart 1 performs patrol monitoring according to the patrol route information stored in advance as described above while receiving the GPS signal from the GPS satellite 90.

The cart 1 and the central control station 100 are connected by wireless communication means, and information on the monitoring unit and the travel position are transmitted to the central control station 100. The central control station 100 is equipped with a GPS receiving antenna and a wireless communication antenna. The centralized control station 100, whose exact position is determined, receives a GPS signal, and adopts a Real Time Kinetic GPS (interference positioning system) that performs GPS signal position correction using the centralized control station 100 as a fixed base station. Yes.

(Example 2)
Next, a second embodiment will be described. FIG. 3 is a block diagram showing the overall configuration of the in-area automatic patrol monitoring device according to the second embodiment. The configuration of the detection unit 10 is different from that of the first embodiment.
The magnetic sensor 18 of the detection unit 10 detects the guide wire 2 provided continuously in the cart path 6 and the magnetic marker 4 provided at the appropriate control location. This part is equivalent to a known cart system in a golf course.

The magnetic sensor 18 of the cart car detects the magnetism of the guide wire 2 laid in the cart car passage 6 along the patrol route, and steering is performed so that the cart car can travel along the guide wire 2 by the detected magnetic strength. Is what you do. Direction control at the branch position of the guide wire 2 is performed by the magnetic marker 4 set in front of the point. When the magnetic sensor 18 of the cart car detects the magnetic pattern of the magnetic marker 4 in a specific arrangement, steering control of the cart car is performed based on the control judgment rule set in the judgment unit 20. Since the configuration and operation of the other parts are the same as those in the first embodiment, description thereof will be omitted.

FIG. 4 is a diagram for explaining the patrol monitoring operation of the second embodiment, and schematically shows the plane of the entire patrol route. Moreover, the guide wire 2 is laid along the patrol route of the second embodiment. And branch marker BM1-BM10 is installed in each branch location of the guide wire 2, and stop marker SM1-SM11 is installed in the stop position.

The branch markers BM1 to BM10 always generate S pole magnetism, and the stop markers SM1 to SM11 always generate N pole magnetism. In FIG. 1, when the cart 1 goes straight in the direction of the arrow, when the magnetic sensor 18 of the cart 1 passes the branch marker BM1, the first S pole magnetism is detected.

The determination unit stores a control that “turns to the right when the first S pole magnetism is detected”, and the cart 1 bends along the right guide line 2. The same operation is performed when the magnetic marker BM2 passes, and the cart 1 travels to the stop marker SM2. Therefore, the magnetic sensor-18 detects the N pole magnetism of the stop marker SM2, and stores it in the control section "If the first N pole magnetism is detected, it will stop for one minute and then start again". Travel according to the control.

After that, the cart 1 is also travel-controlled in the same manner and goes around the patrol route. In addition, when using the existing golf course cart system or when the fixed point stop of the cart is unnecessary, the fixed point stop function cancellation circuit 15 of FIG. 3 may be provided to cancel the fixed point stop function for each cart. it can. Furthermore, the fixed point stop function of all carts can be canceled by remote control from the central control station 100.

FIG. 5 is a perspective view of the cart according to the second embodiment. A GPS receiving antenna 13 and a wireless communication antenna 17 are provided on the top of the cart 1. The wireless communication antenna 17 performs wireless communication with the central control station 100. A surveillance camera 42 is mounted on the front surface of the cart 1 to constantly shoot a video of the external situation. This moving image is recorded at the central control station 100 via the wireless communication unit 60.

Further, a sound collecting microphone 44 and an infrared sensor 46 are provided on the front surface of the cart 1. If an intruder is detected by the monitoring camera 42, the sound collecting microphone 44, and the infrared sensor 46, the threatening unit 50 operates, the LED light emitter 52 blinks, and a threatening sound flows from the speaker 54.

A magnetic sensor 18 is provided at the lower front of the cart 1. One set of magnetic sensors 18 are provided on the left and right sides, and the cart 1 travels along the guide line 2 by detecting the magnetism of the guide line 2 and comparing the strength of the magnetism detected by the left and right magnetic sensors. Can do. The cart 1 may be equipped with a bumper in preparation for contact with an obstacle or an intruder.

FIG. 6 is a diagram for explaining the threatening operation of the in-area automatic patrol monitoring device according to the second embodiment. The situation is shown when the cart 1 that performs patrol monitoring along the guide line 2 detects a boar 95 that is an intruder. When the detection unit 10 of the cart 1 detects the wild boar 95, the LED light emitter 52 automatically blinks and simultaneously a threatening sound flows from the speaker 54.

(Example 3)
Next, a third embodiment will be described with reference to FIGS. FIG. 7 is a block diagram showing the overall configuration of the in-area automatic patrol monitoring device according to the third embodiment, and FIG. 8 is a diagram for explaining the patrol monitoring operation of the third embodiment. 7 is obtained by replacing the magnetic marker 4 of FIG. 3 with a transponder ground element 8 and adding a transponder vehicle upper element 9 to the detection unit 10.

  The transponder ground unit 8 has a function of performing data transmission with the transponder vehicle upper unit 9 of the detection unit 10. The frequency of the carrier used for data transmission / reception between the transponder ground element 8 and the transponder vehicle upper element 9 is 1500 kHz to 3000 kHz, and the modulation method uses FSK modulation (frequency shift). The communication system uses a duplex communication system so that bidirectional information transmission is possible.

FIG. 8 shows a state in which the guide line 2 is laid along the cyclic route in the area boundary line 80, and the transponder ground elements TP1 to TP25 are arranged at important points. The cart 1 travels along the guide line 2, and when it passes through the transponder ground element TP1, the transponder upper element 9 receives the distance information to the next branch and the right turn command information at the next branch. The cart 1 coming to the branch point is controlled to travel along the right guide line 2, and then receives the distance information to the next branch and the right turn information at the next branch by the transponder ground element TP 2.
The cart 1 repeats the same operation thereafter, and performs unmanned patrol monitoring along the patrol route.

  Each of the transponder ground units TP1 to TP25 performs data transmission with the central control station 100, and can change the traveling route of the cart 1 from the central control station 100 at any time. For example, when the cart 1 detects an intruder, control information may be transmitted to a transponder ground unit necessary to reciprocate a certain section of the cyclic route until there is no intruder.

DESCRIPTION OF SYMBOLS 1 Cart car 2 Guide line 3 Traveling route 4 Magnetic marker 6 Cart car path 8 Transponder ground element 9 Transponder car element 10 Detection part 12 GPS receiver 13 GPS receiving antenna 14 Speed sensor 15 Fixed point stop function cancellation circuit 16 Gyro sensor 17 Wireless communication antenna 18 Magnetic sensor 20 Judgment unit 22 Travel route information 30 Operation control unit 31 Speed control circuit 32 Steering control circuit 34 Wheel 36 Drive mechanism 38 Brake 40 Monitoring unit 42 Monitoring camera 44 Sound collecting microphone 46 Infrared sensor 50 Threatening unit 52 LED luminous body 54 Speaker 60 Wireless communication unit 80 Area boundary line 90 GPS satellite 95 Wild boar 100 Centralized control stations BM1 to BM10 Branch markers SM1 to SM11 Stop markers TP1 to TP25 Transponder ground unit

The present invention relates to an in-area automatic patrol monitoring device that automatically monitors and alerts a predetermined range on the ground.

Wildlife such as wild boars, raccoons, monkeys, and crows invade ground areas that are divided into certain areas such as golf courses, paddy fields, fields, and ranches, and damage crops and land. For this reason, electric fences and scarlets are installed around the ground area. In recent years, machines imitating wolves threatened by sound and light have been proposed and used. However, birds and beasts quickly become accustomed to these devices, and the effect of chasing them is quickly lost. This is because birds and beasts are easy to get used to without movement.
Birds and animals are afraid of moving objects, just like natural enemy animals and humans. Therefore, for example, in Patent Document 1, a support is provided on a certain area of the ground area, a rail is arranged on the support in a closed curve shape, and a threatening body for driving away birds and beasts can be moved along the rail. A bird and animal threatening device has been proposed.

JP 2008-17799 A

However, in the device of Patent Document 1, although the threatening body moves along the rail, the movement is constant and there is no sudden sudden movement, so the birds and beasts become accustomed to this threatening device over time as well. There is a problem. In addition, it is impossible to detect intruders of birds and beasts and perform threatening operations in real time.

The present invention has been made in view of such circumstances, and an object thereof is to provide an in-area automatic patrol monitoring device that can solve the above-described problems of conventional bird and animal threatening devices.

To achieve the above object, the in-area automatic patrol monitoring apparatus according to the present invention automatically patrols a certain area according to a predetermined patrol route, and includes animals including humans (hereinafter referred to as “intrusion”) that enter the certain area. It is characterized by automatically intimidating the intruder when it is discovered.
That is, the in-area automatic patrol monitoring device according to the first aspect of the present invention is an in-area automatic patrol monitoring device that patrols a cart by an automatic driving according to a planned travel plan along a preset patrol route in a certain area. And a detection unit for detecting cart car travel information, and a determination unit for creating a cart car travel plan from the cart car travel information detected by the detection unit and preset tour route information. And an operation control unit that controls the operation of the cart according to a command from the determination unit, a monitoring unit that detects an intruder into the area, a threatening unit that performs a threatening action against the intruder, and an external A wireless communication unit that performs communication, and when the monitoring device detects an intruder, the threatening unit automatically performs a threatening operation on the intruder.

  In the automatic traveling according to the first aspect of the present invention, for example, a GPS receiver, a gyro sensor, and a speed sensor constitute a detecting unit, and the traveling unit information detected by the detecting unit and preset traveling route information are determined by the determining unit. Comparing and calculating, the cart direction and start / stop / deceleration / acceleration control plan are created, and the cart control wheel direction and motor / engine rotation / brake are controlled by the operation control unit based on the plan. This can be achieved.

  In addition, the detection unit and the determination unit are known to control the direction of travel of the cart and the start / stop / deceleration / acceleration of the cart by detecting the magnetism of the guide wire and the magnetic marker laid along the route with a magnetic sensor. It can also be realized using the technology of a self-propelled golf cart system.

Further, when the position information of the GPS receiver, the gyro sensor or the speed sensor and the magnetic information of the guide wire and magnetic marker laid on the patrol route are used in combination, the automatic driving accuracy of the cart can be further improved.
On public roads, avoiding means such as people and cars are essential, but if there is a patrol route that avoids obstacles in a limited area where people and cars do not enter, the obstacle avoidance function is provided. Automatic patrol is possible only with these technologies that do not have.

  The threatening part has an LED light emitter and a speaker. The monitoring device provided in the cart car consists of a monitoring camera, a sound collecting microphone, an infrared sensor, a laser sensor, and other monitoring means. When an intruder who has entered the monitoring area is detected, the information is transmitted to the threatening part. The unit transmits intruder detection information to the operation control device and stops the cart for a certain period of time to perform a threatening operation on the intruder in real time. The threatening action is performed by blinking the LED light emitter and playing a threatening sound from the speaker. Explosive sounds, distress calls (screams made when birds and beasts are tough), and beasts cry as hijacking sounds. The cart will automatically start again after a certain period of time has passed since the start of the threat.

In addition, the wireless communication unit transmits the image captured by the surveillance camera and the sensing information of the infrared sensor to a predetermined location such as a central control station. Furthermore, the automatic patrol monitoring device in the area can be remotely controlled from a predetermined location such as a central control station through a wireless communication unit.
It is possible to continue the threatening operation by remote control, or to change the patrol plan set in advance and to make a round trip in a certain section until the intruder goes out of the area.

  Next, the in-area automatic patrol monitoring device according to the second aspect of the present invention is characterized in that the detection unit according to the first aspect of the present invention includes a GPS receiver, a gyro sensor, and a speed sensor.

  As in the conventional car navigation system, the detection unit of the second invention detects the traveling position of the cart from the GPS receiver, the gyro sensor, and the speed sensor, and detects the position information and the preset traveling route information. The comparison calculation is performed by the determination unit, and the traveling direction of the cart and the start / stop / deceleration / acceleration are controlled based on the calculation result. In other words, the operation control unit that receives the information from the determination unit controls the wheel direction of the cart and the start / stop of the motor or engine that is the drive unit or the rotation speed and the brake.

In order to improve the accuracy of the detection unit, a fixed GPS base station may be further provided, and Real Time Kinetic GPS (interference positioning method) may be employed. The fixed base station may be provided in the central control station. At this time, a GPS antenna and an antenna for wireless communication with the cart are provided at the central control station.
It is also possible to calculate the traveling speed of the cart from the change due to the Doppler effect of the frequency of the carrier wave received by the GPS receiver caused by the movement of the cart.

Next, the third area automatic patrol monitoring device of the present invention uses a self-propelled golf cart system having an automatic stop function at a fixed point found in a golf course, and uses a self-propelled golf cart system to set a patrol route within a predetermined area. In accordance with the planned travel plan, an automatic patrol monitoring device in the area that causes the cart to patrol by automatic driving, laid along the patrol route in the monitored area, and the cart car traveling along the patrol route A cart path with a guidance device having a magnetic marker including a guide line and a stop marker for guiding
The cart is composed of a cart that travels in the cart path, and the cart has a detection unit that detects the magnetism of the guidance device, magnetic information detected by the detection unit, and preset traveling route information. A determination unit that creates a vehicle, an operation control unit that controls the operation of the cart according to a command from the determination unit, a monitoring unit that detects an intruder into the area, and a threatening unit that performs a threatening action against the intruder A wireless communication unit that performs mutual communication with the outside and a fixed point stop function release circuit, and when the monitoring unit detects an intruder, the threatening unit automatically performs a threat action against the intruder, and a fixed point stop function release circuit Cancels the fixed point stop function by the stop marker of the cart .

The automatic driving according to the third aspect of the present invention can be realized by a technique similar to that of a golf cart guidance device found in a golf course. That is, the cart generated by the signal current of the guide wire is detected by the cart detection unit (magnetic sensor) and the cart direction is controlled by the detection output to allow the cart to run along the patrol route. Can do.
The route change and stop at the fixed point of the cart can be performed by controlling the magnetism of the magnetic marker composed of the magnets installed at the fixed point as in the golf cart guidance system.
The cart is stopped, decelerated, and accelerated by controlling the S pole and N pole of the marker and combining them.
And when the fixed point stop of a cart is unnecessary, a fixed point stop function cancellation | release circuit can be provided in a cart and a fixed point stop function can be cancelled | released for every cart.

Furthermore, the fourth area automatic patrol monitoring device according to the fourth aspect of the present invention is characterized in that, in the third aspect of the present invention , remote control of the fixed point stop function release circuit of the cart is performed from the central control station through the wireless communication unit .
When the golf cart guidance device already installed on the golf course and the existing golf cart vehicle are equipped with the monitoring unit and the threatening unit of the present invention and used as they are for the implementation of the present invention at night and on holidays, the cart vehicle is the first It stops with the magnetic marker for stop.

Therefore, the fixed point stop release function can be realized by the fixed point stop function release circuit by transmitting the fixed point stop release signal from the central control station to the in- area automatic tour monitoring device by using the wireless communication unit of the in-area automatic tour monitoring device. .
Even when the existing golf cart guidance device of the golf course is used as it is for the implementation of the present invention, when changing the cart to an exclusive one for the implementation of the present invention instead of the existing golf cart, Control that ignores the magnetic marker for stopping is sufficient, and the fixed point stop canceling function of the third aspect of the present invention is unnecessary.

Further, the fifth area automatic patrol monitoring device of the present invention uses a self-propelled golf cart system having an automatic stop function at a fixed point found in a golf course, to set a patrol route in a predetermined fixed area. In addition, an automatic patrol monitoring device in the area that makes the cart car patrol by automatic driving according to the planned travel plan, and is laid along the patrol route in the monitored area, and the cart car travels along the patrol route A cart car passage having a guide device having a magnetic marker including a guide wire and a stop marker, and a cart car traveling in the cart car passage, the cart car detecting a magnetism of the guide device; A determination unit for creating a travel plan of the cart from the magnetic information detected by the detection unit and preset tour route information, and the car according to a command from the determination unit A driving control unit that performs driving control of a car, a monitoring unit that detects an intruder into the area, a threatening unit that performs a threatening operation against the intruder, and a wireless communication unit that performs mutual communication with the outside When the monitoring unit detects an intruder, the threatening unit automatically performs a threatening action against the intruder, and after the cart stops at the stop marker of the guidance device, a timer is used to stop the motor of the cart Alternatively, the engine is started.

When the cart is stopped by a stop marker using a self-propelled golf cart system having an automatic stop function at a fixed point found in a golf course, a separate restart control is required. The restart control can be realized, for example, by starting the motor or the engine when a certain time elapses after stopping using a timer.

Further, the sixth area automatic patrol monitoring device of the present invention is characterized in that the magnetic marker of the third invention is composed of an electromagnet.
When the magnetic marker is changed from a conventional permanent magnet to an electromagnet, it is possible to centrally control a cart vehicle from a single location by controlling the current flowing through the electromagnet.

Further, the seventh area automatic patrol monitoring device of the present invention is an intra-area automatic patrol monitoring device that patrols a cart by an automatic driving according to a planned travel plan along a preset patrol route within a certain area. A cart path including a guiding device that is laid along a patrol route in the monitored area and that guides the traveling of the cart along the patrol route and a transponder ground element, and a magnet of the guiding device. A detection unit having a speed sensor and a magnetic sensor and a driving control information transmitted from the transponder ground unit, a magnetic sensor and a driving control information detected by the detection unit, and a preset tour A decision unit that creates a cart travel plan from route information, and a driving system that performs cart vehicle operation control according to commands from the decision unit. A monitoring unit that detects an intruder in the area, a threatening unit that performs a threatening action against the intruder, and a wireless communication unit that performs mutual communication with the outside, and the monitoring unit detects the intruder Then, the threatening part automatically performs a threatening action against the intruder.

By replacing the magnetic marker of the third aspect of the present invention with a transponder ground element and installing a transponder vehicle upper element on the cart, the distance to the stop position, the speed limit, the branching direction at the point where the guide line branches, etc. Any driving control information can be transmitted to the cart.
The cart that runs along the guide line controls its traveling speed according to the operation control information transmitted from the transponder ground unit. For example, if the distance information to the branch position is transmitted before the branch position of the patrol route, the cart is decelerated to a predetermined speed by the branch point based on the distance information.
If a data transmission path is provided between the transponder ground unit and the central control station, more complicated operation control can be performed according to changes in the surrounding conditions.
This is because the operation control information can be transmitted to the cart from the central control station in real time.

Since the present invention is as described above, the following effects can be obtained.
The in-area automatic patrol monitoring device according to the first aspect of the present invention can automatically patrol a certain area and perform a threatening operation on the intruder in real time when an intruder is found.

  The detection unit of the in-area automatic patrol monitoring device according to the second aspect of the present invention detects the running position of the cart from the GPS receiver, the gyro sensor, and the speed sensor, as in the conventional car navigation system, and the position information. And the pre-set patrol route information are calculated by the judgment unit, and based on the calculation result, the direction of travel of the cart and the start / stop / deceleration / acceleration are controlled. No special equipment is required.

In addition, since the in-area automatic patrol monitoring device according to the third aspect of the present invention can be realized by the same technology as the golf cart guidance device found in golf courses by newly providing a fixed point stop function release circuit, In the area where the apparatus is already provided, a new capital investment can be reduced.

In addition, the in-area automatic patrol monitoring device according to the fourth aspect of the present invention remotely controls the fixed point stop function release circuit of the cart according to the third aspect of the present invention from a central control station , so that an existing golf cart guidance device can be installed at night. When used, it is possible to save the trouble of restarting the cart every time the cart is automatically stopped.

In addition, the in-area automatic patrol monitoring device of the fifth aspect of the present invention can save the trouble of restarting the cart every time the cart stops automatically when using an existing golf cart guidance device at night.

The area automatic tour monitoring device of the present invention the sixth, the magnetic marker of the third invention is constituted by an electromagnet, and progression-stop and deceleration of the cart wheel by controlling the current flowing through the electromagnet It is possible to centrally control the speed increase from one place.

Further, the in-area automatic patrol monitoring device according to the seventh aspect of the present invention replaces the magnetic marker according to the third aspect of the present invention with a transponder ground element and equips the cart with a transponder upper element so that the distance to the stop position is reached. It is possible to transmit all the operation control information such as the speed limit, the direction of branching at the location where the guide line branches, etc. to the cart.

It is a block diagram which shows the whole structure of the in-area automatic patrol monitoring apparatus which concerns on 1st Example of this invention. It is a figure for demonstrating the patrol monitoring operation | movement of 1st Example of this invention. It is a block diagram which shows the whole structure of the area automatic patrol monitoring apparatus which concerns on 2nd Example of this invention. It is a figure for demonstrating the patrol monitoring operation | movement of 2nd Example of this invention. It is a perspective view of the cart according to the second embodiment of the present invention. It is a figure for demonstrating the threatening operation | movement of the area automatic patrol monitoring apparatus which concerns on 2nd Example of this invention. It is a block diagram which shows the whole structure of the in-area automatic patrol monitoring apparatus which concerns on 3rd Example of this invention. It is a figure for demonstrating the patrol monitoring operation | movement of the 3rd Example of this invention.

Embodiments of the present invention will be specifically described below based on the embodiments of the present invention illustrated in the accompanying drawings.

Example 1
In the accompanying drawings, FIGS. 1 and 2 show a first embodiment of the present invention. FIG. 1 is a block diagram showing the entire configuration of an automatic patrol monitoring apparatus in an area, and FIG. It is a figure for demonstrating the patrol monitoring operation | movement of a patrol monitoring apparatus. Referring to FIG. 1, the in-area automatic patrol apparatus according to the first embodiment includes a detection unit 10, a determination unit 20, an operation control unit 30, a monitoring unit 40, a threatening unit 50, and a wireless communication unit 60. I have.

The detection unit 10 includes a GPS receiver 12, a gyro sensor 16, and a speed sensor 14. The GPS receiver 12 receives a signal from a GPS satellite, and thereby detects the absolute position of the cart. The absolute position information detected by the GPS receiver 12 is transmitted to the determination unit 20. Further, the rotation / advance direction of the cart car detected by the gyro sensor 16 and the advancing speed detected by the speed sensor are also transmitted to the determination unit 10.

In FIG. 1, the traveling route information 22 stores map information related to the traveling route, and can be realized, for example, by storing it in an HDD (hard disk drive) mounted on the cart. The tour route information 22 stores at least information about a preset tour route.

Based on the cart position information and travel information transmitted from the detection unit 10, the determination unit 20 performs a comparison operation with the preset traveling route information 22 and transmits a control signal to the operation control unit 30.

The driving control unit 30 is provided to control the cart travel, and includes a speed control circuit 31 and a steering control circuit 32. The driving control unit 30 controls the speed control circuit 31 and the steering control circuit 32 based on the control signal transmitted from the determination unit 20. The speed control circuit 31 controls the cart drive mechanism 36 in accordance with a control signal from the determination unit 20. That is, if the drive mechanism 36 is an engine, the opening degree of the throttle is controlled, and if the drive mechanism 36 is a motor, the current is controlled to control the traveling speed of the cart. Furthermore, the speed control circuit 31 controls the brake of the cart car according to the control signal of the determination unit 20. The steering control circuit 32 controls the driving direction of the cart car by controlling the driving of the steering motor of the cart car steering in accordance with the control signal from the determination unit 20.

The monitoring unit 40 includes a monitoring camera 42, a sound collecting microphone 44, and an infrared sensor 46. The monitoring unit 40 stores an image of the monitoring camera 42 in a steady state according to the traveling position. The monitoring unit 40 constantly compares the image with the image captured by the monitoring camera, and the monitoring unit 40 detects an intruder. be able to. The infrared sensor 46 also detects an intruder by a change in the reflected infrared ray. The sound collecting microphone 44 picks up the sound around the traveling route and, if the intruder makes a sound, detects the intruder by the sound. This is a cry that is unique to birds and beasts.

When the intruder is detected, the monitoring unit 40 transmits information on the presence of the intruder to the central control station 100 through the wireless communication unit 60 and instructs the intimidating unit 50 to perform an intimidating operation. The threatening unit 50 includes an LED light emitter 52 and a speaker 54, and the threatening unit 50 that has received a threatening command causes the LED light emitter 52 to blink and generate a threatening sound from the speaker 54. Further, when the threatening unit 50 receives a threatening command from the monitoring unit 40, the threatening unit 50 also transmits the information to the determination unit 20 and requests a temporary stop of the cart. The threatening unit 50 stops the threatening operation when there is no threatening command from the monitoring unit 40 or when a preset time elapses.

The central control station 100 can confirm the video of the monitoring camera and the sound of the sound collecting microphone transmitted from the monitoring unit 40 through the wireless communication unit 60, and can also remotely control the determination unit 20 through the wireless communication unit 60. . As a result, it becomes possible to monitor the round trip of a certain section by changing the normal route.

With reference to FIG. 2, the automatic patrol operation of the first embodiment will be described. FIG. 2 schematically shows the plane of the traveling area. A traveling route 3 is set inside the area boundary 80. The patrol route 3 does not need to be paved, but at least the cart 1 needs to be able to travel without obstacles. The cart 1 performs patrol monitoring according to the patrol route information stored in advance as described above while receiving the GPS signal from the GPS satellite 90.

The cart 1 and the central control station 100 are connected by wireless communication means, and information on the monitoring unit and the travel position are transmitted to the central control station 100. The central control station 100 is equipped with a GPS receiving antenna and a wireless communication antenna. The centralized control station 100, whose exact position is determined, receives a GPS signal, and adopts a Real Time Kinetic GPS (interference positioning system) that performs GPS signal position correction using the centralized control station 100 as a fixed base station. Yes.

(Example 2)
Next, a second embodiment will be described. FIG. 3 is a block diagram showing the overall configuration of the in-area automatic patrol monitoring device according to the second embodiment. The configuration of the detection unit 10 is different from that of the first embodiment.
The magnetic sensor 18 of the detection unit 10 detects the guide wire 2 provided continuously in the cart path 6 and the magnetic marker 4 provided at the appropriate control location. This part is equivalent to a known cart system in a golf course.

The magnetic sensor 18 of the cart car detects the magnetism of the guide wire 2 laid in the cart car passage 6 along the patrol route, and steering is performed so that the cart car can travel along the guide wire 2 by the detected magnetic strength. Is what you do. Direction control at the branch position of the guide wire 2 is performed by the magnetic marker 4 set in front of the point. When the magnetic sensor 18 of the cart car detects the magnetic pattern of the magnetic marker 4 in a specific arrangement, steering control of the cart car is performed based on the control judgment rule set in the judgment unit 20. Since the configuration and operation of the other parts are the same as those in the first embodiment, description thereof will be omitted.

FIG. 4 is a diagram for explaining the patrol monitoring operation of the second embodiment, and schematically shows the plane of the entire patrol route. Moreover, the guide wire 2 is laid along the patrol route of the second embodiment. And branch marker BM1-BM10 is installed in each branch location of the guide wire 2, and stop marker SM1-SM11 is installed in the stop position.

The branch markers BM1 to BM10 always generate S pole magnetism, and the stop markers SM1 to SM11 always generate N pole magnetism. In FIG. 1, when the cart 1 goes straight in the direction of the arrow, when the magnetic sensor 18 of the cart 1 passes the branch marker BM1, the first S pole magnetism is detected.

The determination unit stores a control that “turns to the right when the first S pole magnetism is detected”, and the cart 1 bends along the right guide line 2. The same operation is performed when the magnetic marker BM2 passes, and the cart 1 travels to the stop marker SM2. Therefore, the magnetic sensor-18 detects the N pole magnetism of the stop marker SM2, and stores it in the control section "If the first N pole magnetism is detected, it will stop for one minute and then start again". Travel according to the control.

After that, the cart 1 is also travel-controlled in the same manner and goes around the patrol route. In addition, when using the existing golf course cart system or when the fixed point stop of the cart is unnecessary, the fixed point stop function cancellation circuit 15 of FIG. 3 may be provided to cancel the fixed point stop function for each cart. it can. Furthermore, the fixed point stop function of all carts can be canceled by remote control from the central control station 100.

FIG. 5 is a perspective view of the cart according to the second embodiment. A GPS receiving antenna 13 and a wireless communication antenna 17 are provided on the top of the cart 1. The wireless communication antenna 17 performs wireless communication with the central control station 100. A surveillance camera 42 is mounted on the front surface of the cart 1 to constantly shoot a video of the external situation. This moving image is recorded at the central control station 100 via the wireless communication unit 60.

Further, a sound collecting microphone 44 and an infrared sensor 46 are provided on the front surface of the cart 1. If an intruder is detected by the monitoring camera 42, the sound collecting microphone 44, and the infrared sensor 46, the threatening unit 50 operates, the LED light emitter 52 blinks, and a threatening sound flows from the speaker 54.

A magnetic sensor 18 is provided at the lower front of the cart 1. One set of magnetic sensors 18 are provided on the left and right sides, and the cart 1 travels along the guide line 2 by detecting the magnetism of the guide line 2 and comparing the strength of the magnetism detected by the left and right magnetic sensors. Can do. The cart 1 may be equipped with a bumper in preparation for contact with an obstacle or an intruder.

FIG. 6 is a diagram for explaining the threatening operation of the in-area automatic patrol monitoring device according to the second embodiment. The situation is shown when the cart 1 that performs patrol monitoring along the guide line 2 detects a boar 95 that is an intruder. When the detection unit 10 of the cart 1 detects the wild boar 95, the LED light emitter 52 automatically blinks and simultaneously a threatening sound flows from the speaker 54.

(Example 3)
Next, a third embodiment will be described with reference to FIGS. FIG. 7 is a block diagram showing the overall configuration of the in-area automatic patrol monitoring device according to the third embodiment, and FIG. 8 is a diagram for explaining the patrol monitoring operation of the third embodiment. 7 is obtained by replacing the magnetic marker 4 of FIG. 3 with a transponder ground element 8 and adding a transponder vehicle upper element 9 to the detection unit 10.

  The transponder ground unit 8 has a function of performing data transmission with the transponder vehicle upper unit 9 of the detection unit 10. The frequency of the carrier used for data transmission / reception between the transponder ground element 8 and the transponder vehicle upper element 9 is 1500 kHz to 3000 kHz, and the modulation method uses FSK modulation (frequency shift). The communication system uses a duplex communication system so that bidirectional information transmission is possible.

FIG. 8 shows a state in which the guide line 2 is laid along the cyclic route in the area boundary line 80, and the transponder ground elements TP1 to TP25 are arranged at important points. The cart 1 travels along the guide line 2, and when it passes through the transponder ground element TP1, the transponder upper element 9 receives the distance information to the next branch and the right turn command information at the next branch. The cart 1 coming to the branch point is controlled to travel along the right guide line 2, and then receives the distance information to the next branch and the right turn information at the next branch by the transponder ground element TP 2.
The cart 1 repeats the same operation thereafter, and performs unmanned patrol monitoring along the patrol route.

  Each of the transponder ground units TP1 to TP25 performs data transmission with the central control station 100, and can change the traveling route of the cart 1 from the central control station 100 at any time. For example, when the cart 1 detects an intruder, control information may be transmitted to a transponder ground unit necessary to reciprocate a certain section of the cyclic route until there is no intruder.

DESCRIPTION OF SYMBOLS 1 Cart car 2 Guide line 3 Traveling route 4 Magnetic marker 6 Cart car path 8 Transponder ground element 9 Transponder car element 10 Detection part 12 GPS receiver 13 GPS receiving antenna 14 Speed sensor 15 Fixed point stop function cancellation circuit 16 Gyro sensor 17 Wireless communication antenna 18 Magnetic sensor 20 Judgment unit 22 Travel route information 30 Operation control unit 31 Speed control circuit 32 Steering control circuit 34 Wheel 36 Drive mechanism 38 Brake 40 Monitoring unit 42 Monitoring camera 44 Sound collecting microphone 46 Infrared sensor 50 Threatening unit 52 LED luminous body 54 Speaker 60 Wireless communication unit 80 Area boundary line 90 GPS satellite 95 Wild boar 100 Centralized control stations BM1 to BM10 Branch markers SM1 to SM11 Stop markers TP1 to TP25 Transponder ground unit

Claims (6)

An in-area automatic patrol monitoring device that patrols a cart by automatic driving according to a scheduled travel plan along a patrol route in a predetermined area,
With cart car,
A detection unit for detecting cart driving information;
A determination unit for creating a travel plan of the cart from the travel information of the cart and the preset traveling route information detected by the detection unit;
An operation control unit for controlling the operation of the cart according to a command from the determination unit;
A monitoring unit that detects intruders in the area;
A threatening part that performs threatening actions against intruders;
A wireless communication unit that performs mutual communication with the outside,
An in-area automatic patrol monitoring device, wherein when a monitoring device detects an intruder, a threatening unit automatically performs a threatening operation against the intruder.   The in-area automatic patrol monitoring device according to claim 1, wherein the detection unit includes a GPS receiver, a gyro sensor, and a speed sensor. An in-area automatic patrol monitoring device that patrols a cart by automatic driving according to a scheduled travel plan along a patrol route in a predetermined area,
A cart path including a guide line that is laid along a patrol route in the monitored area and that guides the travel of the cart along the patrol route and a magnetic marker;
A detection unit for detecting the magnetism of the guidance device;
A determination unit that creates a travel plan of the cart from the magnetic information detected by the detection unit and the preset traveling route information;
An operation control unit for controlling the operation of the cart according to a command from the determination unit;
A monitoring unit that detects intruders in the area;
A threatening part that performs threatening actions against intruders;
A wireless communication unit that performs mutual communication with the outside,
An in-area automatic patrol monitoring device, wherein when a monitoring unit detects an intruder, a threatening unit automatically performs a threatening operation against the intruder.   The in-area automatic patrol monitoring device according to claim 3, further comprising a batch release function of fixed point stop of the cart.   The in-area automatic patrol monitoring apparatus according to claim 3, wherein the magnetic marker is an electromagnet. An in-area automatic patrol monitoring device that patrols a cart by automatic driving according to a scheduled travel plan along a patrol route in a predetermined area,
A cart path including a guide line laid along a patrol route in the monitored area and guiding a cart car traveling along the patrol route and a transponder ground element; and
A magnetic sensor that detects the magnetism of the guidance device, a transponder vehicle arm that receives operation control information transmitted from the transponder ground element, and a detection unit that includes a speed sensor;
A determination unit for creating a cart travel plan from magnetic information and operation control information detected by the detection unit and preset tour route information;
An operation control unit for controlling the operation of the cart according to a command from the determination unit;
A monitoring unit that detects intruders in the area;
A threatening part that performs threatening actions against intruders;
A wireless communication unit that performs mutual communication with the outside,
An in-area automatic patrol monitoring device, wherein when a monitoring unit detects an intruder, a threatening unit automatically performs a threatening operation against the intruder.

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