JP2019159662A - Monitor device, monitor program, and monitor system utilizing flying bodies - Google Patents

Abstract

To provide a monitor device adapted to perform a monitor operation using a plurality of flying bodies in a particular region.SOLUTION: A monitor device according to the present invention performs monitoring in a monitoring region based on a movement history of a moving device (flying bodies) 20 that moves within a virtually meshed monitoring region 30. The monitor device comprises an acquiring section that acquires a current mesh location in which the moving device exists, a storage section that stores a past mesh location in which the moving device existed in a past constant time, an arithmetic section that computes by weighting a movement-destination mesh location to which the moving device should move next based on the past mesh location and the current mesh location, and a transmitting section that sends information about the movement-destination mesh location to the moving device.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a monitoring device, a monitoring program, and a monitoring system using a flying object, and more particularly to a technique for monitoring a specific area using a plurality of flying objects.

  Patent Document 1 proposes a search work support system that automatically plans a search work by an unmanned aerial vehicle (UAV). Patent Document 2 proposes a signal source search method and a signal source search system capable of searching for a signal source by a small unmanned aerial vehicle.

JP 2014-162316 A JP 2011-112370 A

  By the way, in recent years, from the viewpoint of ensuring safety in territorial waters and airspace, it has become necessary to constantly monitor or temporarily monitor a specific area, which is an important issue for national defense. In Patent Documents 1 and 2 described above, it is not suitable for performing monitoring work in a wide area.

  Accordingly, an object of the present invention is to provide a technique for performing monitoring work by a plurality of flying objects in a specific region.

According to the present invention,
A monitoring device that monitors a monitoring area based on a movement history of a moving apparatus that moves in a virtually meshed monitoring area,
An acquisition unit for acquiring a current mesh position where the moving device exists;
A storage unit for storing a past mesh position in which the mobile device has existed within a certain past period;
Based on the past mesh position and the current mesh position, a calculation unit that calculates a destination mesh position to which the moving device should move next;
A transmission unit that transmits information on the destination mesh position to the mobile device;
A monitoring device is obtained.

  According to the present invention, it is possible to provide a mechanism capable of objectively ensuring the safety of a flying object and a technology for identifying it.

It is an image figure of the monitoring state by the monitoring system by embodiment of this invention. 1 is a configuration diagram of a system according to an embodiment of the present invention. It is a schematic diagram which shows the external appearance of the airframe of the drone shown by FIG. It is a functional block diagram of the drone of FIG. It is a functional block diagram of the monitoring apparatus of FIG. It is an image figure of the monitoring work by the system by this Embodiment. It is an image figure of the data record of the movement history of the drone shown in FIG. It is a figure which shows the example of the calculation formula regarding the calculation of the movement destination of the drone shown in FIG. It is evaluation of the destination calculated by the calculation formula of FIG. It is a figure which shows the processing flow of the monitoring apparatus by this Embodiment. It is another figure which shows the processing flow of the monitoring apparatus by this Embodiment. It is a figure which shows the modification at the time of using the drone of several apparatuses for the system by this Embodiment. It is an image figure of the data record of the movement history of a plurality of drones in the system of FIG. It is a figure which shows the example of the calculation formula regarding the calculation of the movement destination of each drone shown in FIG.

The contents of the embodiment of the present invention will be listed and described. A monitoring apparatus and a monitoring program according to an embodiment of the present invention have the following configuration.
[Item 1]
A monitoring device that monitors a monitoring area based on a movement history of a moving apparatus that moves in a virtually meshed monitoring area,
An acquisition unit for acquiring a current mesh position where the moving device exists;
A storage unit for storing a past mesh position in which the mobile device has existed within a certain past period;
Based on the past mesh position and the current mesh position, a calculation unit that calculates a destination mesh position to which the moving device should move next;
A transmission unit that transmits information on the destination mesh position to the mobile device;
Monitoring device.
[Item 2]
The monitoring device according to item 1, wherein
The arithmetic unit weights the surrounding mesh within a predetermined distance from the current mesh position, and performs greater weighting as the distance from the past mesh is greater.
Monitoring device.
[Item 3]
The monitoring device according to item 2, wherein
For each of the past mesh positions, further comprising an assigning unit for assigning a parameter that decreases from an initial value as time elapses from the time of acquisition,
The weighting calculates the destination mesh position based on both a distance from the past mesh and a parameter given to each of the past mesh.
Monitoring device.
[Item 4]
The monitoring device according to any one of Items 1 to 3,
The acquisition unit acquires the current mesh position and the past mesh position related to another moving device,
Monitoring device.
[Item 5]
The monitoring device according to any one of Items 1 to 4,
A display unit;
A display output unit that outputs the monitoring region, the current mesh position, and the past mesh position to the display unit;
Monitoring device.

<Details of the embodiment>
Hereinafter, a monitoring device and a monitoring program according to embodiments of the present invention will be described with reference to the drawings.

<Outline>
As shown in FIG. 1, the monitoring system realized by the monitoring device according to the present embodiment is for making a flying object moving in a monitoring area more uniformly and efficiently perform monitoring work.

  As shown in the figure, the monitoring system meshes the monitoring area 30 into 20 × 35 and collects information (video) of the monitoring area by flying a plurality of drones. In the drawing, the movement history (movement route) of the drone within a certain period is shown in white. The white portion changes to black as time elapses, and after the certain period, becomes the same color (100% black) as the portion other than the moving path.

<Overview>
As shown in FIG. 2, the monitoring system according to the embodiment of the present invention includes a monitoring device 10 and a plurality of drones 20. The monitoring device 10 and each drone 20 are configured to be communicable via a network. In the drawing, in order to facilitate understanding of the concept, the monitoring device 10 and the drone 20 are shown as separate bodies. However, the monitoring device 10 may be mounted on any of the drones 20. A plurality of drones 20 may jointly realize the function of the monitoring device 10.

<Drone configuration>
The drone 20 according to the present embodiment has the following configuration. Note that the drone according to the present embodiment is a multicopter, an unmanned aerial vehicle (UAV), a RPAS (remote piloted air systems), or a UAS (UnmannedAntance). Sometimes.

  3 and 4 are functional block diagrams of the drone 20 according to the first embodiment. First, the flight controller 21 can have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)). The camera 5U and the camera 5L are mounted on the aircraft via a gimbal, and can be rotated in the vertical direction with respect to the aircraft by the gimbal, for example. Preferably, it is possible to rotate in three axis directions (pitch angle, roll angle, yaw angle) with respect to the airframe. In addition, in this example, as shown in FIG. 2, a flying body having two cameras above and below the aircraft is cited. However, the overhead line is moved upward and downward by either the upper or lower camera. If an image can be captured, a flying object having a single camera can be used.

  The flight controller 21 has a memory 22 and can access the memory. The memory 22 stores logic, code, and / or program instructions that can be executed by the flight controller to perform one or more steps.

  The memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. Data obtained from cameras and sensors may be transmitted directly to the memory and stored. For example, still image / moving image data shot by a camera or the like is recorded in a built-in memory or an external memory. The camera is installed on the flying object via a gimbal.

The flight controller includes a control module configured to control the state of the aircraft. For example, the control module may adjust the spatial arrangement, velocity, and / or acceleration of an aircraft that has six degrees of freedom (translational motion x, y, and z, and rotational motion θ _x , θ _y, and θ _z ). The propulsion mechanism (motor, etc.) of the flying object is controlled via the ESC. The propeller is rotated by the motor to generate lift of the flying object. The control module can control one or more of the states of the mounting unit and sensors.

  A flight controller is a transceiver configured to transmit and / or receive data from one or more external devices (eg, transceiver 23, terminal, display, or other remote controller). Can communicate with. The transceiver can use any suitable communication means such as wired or wireless communication.

  For example, the transmission / reception unit 24 uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, etc. can do.

  The transmission / reception unit 24 may transmit and / or receive one or more of data acquired by sensors, a processing result generated by the flight controller, predetermined control data, a user command from a terminal or a remote controller, and the like. it can.

  The sensors 25 according to the present embodiment may include an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, a proximity sensor (eg, a rider), or a vision / image sensor (eg, a camera).

  Further, the image processing unit 31 temporarily stores image data captured by the camera 5 in the memory 32. Note that the image data can include all or part of the functions of the image processing unit 31 in a management terminal or the like outside the drone (not shown).

  Next, functional blocks of the monitoring apparatus 10 according to the present embodiment will be described with reference to FIG. In the present embodiment, information (position information) on the monitoring area is set in advance by the area information management unit and is virtualized. The size of the mesh can be appropriately set from several hundred meters square to several kilometers square according to the entire area of the monitoring area. The set mesh is managed by the mesh management unit.

  Note that some or all of the functions of the monitoring device 10 described above may be a computer terminal located at a point away from the drone 20 and connected via a network, or may be provided in the housing of the drone 20. Also good.

  The receiving unit of the monitoring device 20 receives position information and video information from the drone 20. The acquired video information is stored in the storage unit. On the other hand, the acquired position information is stored in the storage unit together with the corresponding mesh identification information (coordinate information or the like). At this time, the evaluation unit associates a parameter that changes with time with the identification information of the mesh, and also stores it in the storage unit.

  The position information according to the present embodiment includes a current mesh position that is current position information of the drone 20 and a past mesh position that is past position information of the drone 20.

  The calculation unit calculates a destination mesh that is a mesh to which the drone 20 should move next based on the past mesh position stored in the storage unit and the current mesh position. At this time, in order to monitor the monitoring area as efficiently and uniformly as possible, the calculation unit determines the destination mesh so as to be away from the most recently monitored mesh. Specifically, the surrounding mesh within a predetermined distance from the current mesh position is weighted as the distance from the past mesh increases, and the final value is obtained by multiplying the value of the parameter assigned to the mesh. Perform weight correction.

  A method of determining the destination mesh will be described with reference to FIGS. As shown in FIG. 6, the monitoring region 30 is meshed in a horizontal (x direction) 10 squares × vertical (y direction) 8 squares. The drone 20 starts (0,0) and moves to (1,0), (1,0), (1,1), (1,2), (2,2), (3,2) Went.

  As shown in FIG. 7, the data record of movement is stored in the storage unit with time. The data record has at least a mesh position, a mesh x coordinate, a mesh y coordinate, and a parameter V. For each fixed period, the current mesh position n, the previous mesh position that existed immediately before (n-1), the position that existed immediately before (n-2) ... In the form, the past mesh position (n-5), which was positioned five times before, is managed.

  The parameter V is reduced by one when a certain period (data record update period) elapses. The update period of the data record is a case where the drone 20 moves to a mesh different from the current mesh position, but may be a time unit of several seconds to several hours, for example.

  The drone 20 acquires its own position information and transmits it to the monitoring device 10. In the monitoring device, it is grasped in which mesh the drone 20 exists from the received position information. FIG. 8 is a diagram showing the positional relationship between the mesh and the drone 20. As shown in the figure, each mesh passed in the past is managed as a past mesh position in association with information of x coordinate, y coordinate, and parameter V. The parameter is updated when a predetermined time has elapsed.

  The parameter V in the present embodiment is a temporary decreasing function that can be expressed by V (t) = − at + b (where b is the value of the parameter that is first given, t is the elapsed time, and a is an arbitrary constant). It is. However, other attenuation functions may be used. In other words, any function can be adopted as long as the parameter value decreases with time. This is because the newness of information disappears over time.

  As shown in FIG. 8, the drone 20 is located at the position of the coordinates (3, 2), and the value of the parameter V just given is 6. The mesh to which the drone 20 can move next is one of the neighboring surrounding meshes # 1 to # 7.

The monitoring apparatus in the present embodiment sets the moving destination of the drone 20 to be further away from the mesh monitored in the past. At this time, in the past mesh position {(0,0), (1,0), (1,0), (1,1), (1,2), (2,2)} The farther away from the previous mesh position _n-1 (2,2), the farther away from the past mesh position _n-2 (1,2), which was located next. As described above, the weight for selection as a destination candidate increases with the passage of time (that is, the past mesh position that has existed in the past). This is because the freshness of information about meshes that have been monitored in the past becomes lower.

  In other words, the parameter V can also be defined as information freshness (information freshness). If the information is fresh, it is less necessary to monitor (search) the mesh further, but if the information is less fresh, it is more necessary to re-monitor (re-search) the mesh. It should be noted that the information freshness of the monitoring area before monitoring is 0 for all meshes.

FIG. 9 shows a mathematical expression of the above concept. FIG. 9 shows a method for calculating the weight F of the destination mesh. As shown in the figure, F is expressed as an inner product of distances (D ₁ , D ₂ ... D _n ) from past mesh positions and assigned parameters (V ₁ , V ₂ ... V _n ). Can do. In the present embodiment, D is 1 if adjacent to each other. That is, in FIG. 8, the distance D between # 2 and # 3 is 1, and the distance between # 2 and # 3 is also 1.

  As shown in FIG. 8, F was calculated from the meshes # 1 to # 7 by the formula shown in FIG. In the figure, (x coordinate, y coordinate, parameters V, F) are shown. In this case, the F value at mesh position # 7 is the highest. That is, when importance is attached to further away from the latest past mesh position, the mesh that the drone 20 should move next is # 7.

  Subsequently, a processing flow of the monitoring apparatus 10 will be described with reference to FIGS. 8 and 9. As shown in FIG. 10, the monitoring device 10 acquires the current mesh position from the position information transmitted from the drone 20 (step S701). A parameter is assigned to the current mesh position (step S702). The current mesh position and the parameter are associated with each other and stored in the storage unit (step S703). The parameter on the data record in the storage unit is updated at regular intervals (step S704). The update is performed until the parameter becomes 0 (S705).

  As illustrated in FIG. 11, another process of the monitoring device 10 acquires the current mesh position (step S801), and reads the past mesh position and parameters from the storage unit (step S802). Weights of mesh positions that are candidates for the destination mesh are weighted by the calculation formula shown in FIG. 9, and the destination mesh is calculated (step 803). The calculated destination mesh information is transmitted to the drone 20 (step S804).

  Although the embodiment described above is a case where the drone 20 is a single machine, as shown in FIG. 12, two (or more) machines may be used. In this case, as shown in FIG. 13 and FIG. 14, the movement destination candidates are calculated based on the current mesh position, past mesh position, and parameters of the other drones 20.

  As shown in FIG. 1, the monitoring apparatus 10 according to the present embodiment may include a display unit for visualizing the current mesh position and past mesh position and parameters described above to the administrator. As shown in the figure, the portion where the parameter V is 0 is shown in black, and the most recently assigned parameter is shown in white. The current shore of the parameter is shown as a gradation that changes from black to white.

  According to the monitoring apparatus described above, the monitoring area can be monitored comprehensively. Further, even when monitoring is performed by a plurality of drones 20, it is possible to efficiently monitor based on each other's monitoring history (moved mesh position).

<Hardware configuration of monitoring device>
The monitoring apparatus according to the present embodiment may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

  The monitoring device includes at least a processor, a memory, a storage, a transmission / reception unit, an input / output unit, and the like, which are electrically connected to each other through a bus.

  The processor is an arithmetic device that controls the operation of the entire monitoring apparatus, performs data transmission / reception control between elements, and performs information processing necessary for application execution. For example, the processor is a CPU (Central Processing Unit), and executes each information process by executing a program stored in the storage and expanded in the memory.

  The memory includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary memory composed of a nonvolatile storage device such as a flash memory or an HDD (Hard Disc Drive). The memory is used as a work area of the processor, and stores a basic input / output system (BIOS) executed when the monitoring apparatus is activated, various setting information, and the like.

  The storage stores various programs such as application programs. A database storing data used for each process may be constructed in the storage.

  The transmission / reception unit connects the monitoring device to the network. Note that the transmission / reception unit can appropriately apply wired communication or wireless communication, and may include a near field communication interface such as a wireless LAN or Bluetooth (registered trademark).

  The input / output unit is an information input device such as a keyboard, a mouse, a microphone, a photographing unit (camera), a touch panel, and an output device such as a display or a speaker.

  The bus is commonly connected to each of the above elements, and transmits, for example, an address signal, a data signal, and various control signals.

  The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.

1 Monitoring System 10 Monitoring Device 20 Drone 21, 22 Camera 30 Monitoring Area

Claims (7)

A monitoring device that monitors a monitoring area based on a movement history of a moving apparatus that moves in a virtually meshed monitoring area,
An acquisition unit for acquiring a current mesh position where the moving device exists;
A storage unit for storing a past mesh position in which the mobile device has existed within a certain past period;
Based on the past mesh position and the current mesh position, a calculation unit that calculates a destination mesh position to which the moving device should move next;
A transmission unit that transmits information on the destination mesh position to the mobile device;
Monitoring device. The monitoring device according to claim 1,
The arithmetic unit weights the surrounding mesh within a predetermined distance from the current mesh position, and performs greater weighting as the distance from the past mesh is greater.
Monitoring device. The monitoring device according to claim 2,
For each of the past mesh positions, further comprising an assigning unit for assigning a parameter that decreases from an initial value as time elapses from the time of acquisition,
The weighting calculates the destination mesh position based on both a distance from the past mesh and a parameter given to each of the past mesh.
Monitoring device. A monitoring device according to any one of claims 1 to 3,
The acquisition unit acquires the current mesh position and the past mesh position related to another moving device,
Monitoring device. The monitoring device according to any one of claims 1 to 4,
A display unit;
A display output unit that outputs the monitoring region, the current mesh position, and the past mesh position to the display unit;
Monitoring device. Based on the movement history of a mobile device that moves in a virtually meshed monitoring area, a monitoring device that monitors the monitoring area,
An acquisition unit for acquiring a current mesh position where the moving device exists;
A storage unit for storing a past mesh position in which the moving device has existed within a certain past period;
Based on the past mesh position and the current mesh position, a calculation unit that calculates a destination mesh position to which the moving device should move next;
Function as a transmission unit for transmitting information on the destination mesh position to the mobile device;
Monitoring program. A monitoring system including a moving device that moves in a virtually meshed monitoring region, and a monitoring device that monitors the monitoring region based on a movement history of the moving device,
The mobile device transmits the video captured at the current mesh position and the mesh position where the mobile device is present to the monitoring device,
The monitoring device stores a past mesh position that the moving device has existed in a past fixed time, and a moving destination mesh position to which the moving device should move next based on the past mesh position and the current mesh position And sending information about the destination mesh position to the mobile device,
The moving device moves to the destination mesh position;
Monitoring program.