JP2020050099A - Flight robot and monitoring system - Google Patents

Abstract

To drive away a target mobile object from an intrusion port to the outside of a specific region.SOLUTION: When a detection device 2 detects a target mobile object T having intruded into a specific region S1, during monitoring of a monitored region S2 including a specific region S1 which is physically sectioned, a flight robot 3 is flight controlled so that an intrusion port P of the target mobile object T having intruded into the specific region S1 is estimated using estimation means 11c on the basis of an activity state of the target mobile object, and so that the target mobile object T is guided from the estimated intrusion port P to the outside of the specific region S1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flying robot and a monitoring system that repels a target moving object that has entered a specific area to the outside of the area.

  2. Description of the Related Art Conventionally, fences for preventing entry have been installed in specific areas such as plantations, vegetable fields, and orchards as a measure against animal damage caused by the entry of beasts such as deer and boars.

  However, when the fence is destroyed due to the rush of a beast such as a deer or a boar, the beast enters a specific area inside the fence from the destroyed place, and the specific area is damaged, causing a great deal of damage.

  At that time, most of the beasts that have entered the specific area inside the fence escape from the fence on their own, but there are a lot of individuals who remain in the fence because they do not know where they entered.

  Therefore, in order to prevent damage by the beast that has entered the fence, it is conceivable to trap the beast by trapping it. For example, in Patent Document 1 below, as one method of capturing wild deer, the presence of wild deer was confirmed, the wild deer was confined in a wide-area demarcated area including the area where the deer was present, and a trap was attached. A method of uttering a sound from a drone toward a capture zone is disclosed.

Japanese Patent Application Laid-Open No. 2018-099044

  However, it is forbidden to murder the captured animals unnecessarily, and it was necessary to promptly drive them out of the specified area and escape from the fence.

  The above-mentioned Patent Document 1 is an invention for capturing wild deer, and a wild deer entering from a fence installed so as to surround a specific area such as an afforestation area, a vegetable field, an orchard is taken out of the fence. It is not a way to escape, it is not possible to identify the place where wild deer has entered and quickly escape from the fence.

  In addition, as a fundamental solution, it is conceivable to block the entrance of the beast and prevent it from entering the fence, but it is difficult to identify the place where the beast entered, and it is easy to respond I couldn't do that.

  An object of the present invention is to provide a flying robot and a surveillance system capable of repelling a target moving object from an entrance to an outside of a specific area.

In order to achieve the above object, a flying robot according to the present invention includes a detection unit that detects a target moving object that has entered a physically partitioned specific area,
Estimating means for estimating the entrance where the target moving object has entered the specific area,
When the detection unit detects the target moving object, a flight control unit that performs flight control so as to guide the target moving object from the entrance estimated by the estimation unit to outside the specific area,
It is characterized by having.

Further, the monitoring system according to the present invention is a flying robot that flies in a range including a specific area physically partitioned,
Detecting means for detecting a target moving object that has entered the specific area,
Estimating means for estimating an entrance where the target moving object has entered the specific area,
When the detecting means detects the target moving object, control means for controlling the flight of the flying robot so as to guide the target moving object from the entrance estimated by the estimating means to outside the specific area,
It is characterized by having.

  Furthermore, in the flying robot and the monitoring system according to the present invention, the estimating unit detects an animal path of the target moving object from the image information of the specific area, and estimates the entrance based on the direction of the animal path. You may.

  In the flying robot and the monitoring system according to the present invention, the estimating unit may estimate a position where the target moving object is detected a plurality of times around the specific area from the image information of the specific area as the entrance.

  According to the present invention, when a target moving object that has entered a specific area is detected, the entrance where the target moving object has entered the specific area is estimated, and the target moving object is guided to the estimated entrance to enter the specific area. Can be driven out of a specific area.

FIG. 1 is a schematic configuration diagram of a monitoring system according to the present invention. It is the schematic of the monitoring area | region containing the specific area | region physically partitioned. It is a flowchart of the monitoring system concerning this invention.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS.

[Overview of the present invention]
The present invention relates to a flying robot and a monitoring system that guide a target moving object such as a deer or a boar that has entered a specific area to a location where the target mobile object has entered, and drive it away from the area.

  According to the present invention, when a flying robot (drone) makes a round flight in a monitoring area including a specific area that is physically partitioned, when it is detected that the target moving object has entered the specific area, the target moving object has entered. The entrance is estimated, the flying robot is flight-controlled so as to guide the target moving object in a direction estimated to be the entrance, and the target moving object is driven out of the specific area from the entrance.

  For example, when a wild animal such as a deer or a boar is a target moving object, the entrance is detected as an animal path from image information or the like, and is estimated from a positional relationship between the detected animal path and a specific area on a map. Alternatively, it is estimated that the entrance is located near a location where a plurality of target moving objects are outside the specific area and around the specific area (or a location where the target mobile objects have been gathered in the past).

[About monitoring area]
The monitoring area is one or a plurality of areas that can be monitored by the flying robot while patrol, and is an area in a predetermined range including a specific area that is physically partitioned. For example, in FIG. 2, a plantation surrounded by a fence for preventing entry is the specific region S <b> 1, and a predetermined range including the vicinity of the plantation is the monitoring region S <b> 2. The target moving object T is a wild animal such as a deer or a wild boar, a person, or the like, and excludes a car and the like.

[About the configuration of the monitoring system]
As shown in FIG. 1, the monitoring system 1 is schematically configured including a detection device 2, a flying robot 3, a roboport 4, and a monitoring center 5.

  The detection device 2 is disposed in the monitoring area S2, around the specific area S1, and the like, and includes various sensors such as a laser sensor, a microwave sensor, an ultrasonic sensor, and an image sensor. The detection device 2 detects the target moving object T that has entered the specific area S1 of the monitoring area S2, and transmits a detection signal to the monitoring center 5 via a wired or wireless communication network when the target moving object T is detected. I do. For example, when the detection device 2 is configured by a laser sensor, when a specific area S <b> 1 is scanned with a laser beam at a predetermined cycle to detect a target moving object T within a scanning range, a detection signal is transmitted to the monitoring center 5.

  As shown in FIG. 1, the flying robot 3 receives detection information acquisition means 3 a for detecting detection information of a target moving object T that has entered the specific area S <b> 1, and receives radio waves from a satellite or a quasi-zenith satellite. A position information acquiring unit 3b for acquiring GPS (Global Positioning System) position information; and a flight control unit 3c for performing flight control based on the position information and 3D map information (three-dimensional geographic information). The configuration includes a function of calculating a self-position (latitude, longitude, and altitude) using altitude information from a sensor, and a photographing function by an imaging device such as a visible light camera or an infrared camera.

In a normal state, the flying robot 3 stands by at the roboport 4, and when instructed to fly by the monitoring center 5, flies autonomously while avoiding obstacles and patrols the monitoring area S2 according to the flight route of the patrol schedule. Then, the surrounding area is photographed for each monitoring area S2, the image is transmitted to the monitoring center 5, and when the patrol of all the monitoring areas S2 is completed, the image returns to the Roboport 4.
Alternatively, when the detection device 2 detects the target moving object T, the monitoring center 5 creates a flight route according to the detection position, and based on the flight instruction from the monitoring center 5, the flying robot 3 It flies toward the detection position of the moving object T.

  The tour schedule indicates the schedule of the flight route in the monitoring area S2 where the flying robot 3 makes a tour. In addition, the tour schedule may be set such that the monitoring area S2 including a place where the target moving object T is likely to enter from the past image information or the like has a high probability is prioritized.

  The flying robot 3 stores the 3D map information in a storage unit (not shown) in advance, and when the start time of the tour schedule is reached, its own position (latitude and longitude) is obtained from the position information and altitude information from GPS satellites or quasi-zenith satellites. , Altitude), autonomous flight based on the 3D map information, and patrol the monitoring area S2 according to the flight route.

  The flying robot 3 detects the target moving object T that has entered the specific area S1 while waiting at the roboport or patrols the monitoring area S2 according to the flight route. When there is, an autonomous flight or a quasi-autonomous flight is performed toward a place where the target moving object T is detected while avoiding the obstacle.

  The roboport 4 is a waiting place for the flying robot 3 and is provided with equipment for receiving instructions from the monitoring center 5 and taking off and landing of the flying robot 3. The roboport 4 has a mechanism for accommodating the landing flying robot 3 in the port, and has a function of supplying power to the flying robot 3 in a contact or non-contact manner when the flying robot 3 is accommodated in the port. Have.

  The monitoring center 5 is provided, for example, in a facility operated by a security company or the like, and includes a monitoring console 11 including one or a plurality of computers that receives an image captured by the flying robot 3 and displays the received image.

  As shown in FIG. 1, the monitoring console 11 includes a communication unit 11a, a storage unit 11b, an estimation unit 11c, and a flight control unit 11d so that a monitoring person monitors the monitoring area S2. The information received from the detection device 2 and the flying robot 3 via the recording device 11a is recorded, and the information of the abnormality is displayed on the display.

  The storage unit 11b stores 3D map information (three-dimensional geographic information) necessary for the flying robot 3 to patrol the monitoring area S2.

  The estimating unit 11c estimates the entrance P at which the target moving object T has entered the specific area S1, based on image information of the specific area S1 (including the periphery). For example, as shown in FIG. 2, if the target moving object T is a deer, information on the trace (so-called animal road) of the deer T moving is detected from the visible light image or the infrared image of the specific area S1, and the detected trace is detected. The entrance P at which the deer T has entered the specific area S1 is estimated from the extension of the inclination of the information on the image. This is because a deer or the like that has once entered tends to frequently enter and leave from the entrance, and as a result, traces of the movement often remain. A well-known technique can be used to find a trace of movement of a deer or the like from the image. For example, by comparing an image photographed during a circular flight with the same past image, a place where a linearity equal to or more than a predetermined length is obtained can be determined as an animal trail. Alternatively, a location where the temperature is different from that of the surroundings and which is on a straight line may be determined as an animal route by using an infrared image.

  Alternatively, a position where the deer T is detected a plurality of times outside the specific area S1 and around the specific area from the image information of the specific area S1 is estimated as the entrance P. This is because when a deer trying to enter the specific area S1 has a small entrance, or when a plurality of deers try to enter at the same time, one or more deers stay around the entrance outside the specific area. Based on the knowledge that there is a tendency, a place where a plurality of deers are staying around the entrance outside the specific area or where a deer is detected a plurality of times retroactively can be estimated as the entrance.

  The flight control means 11d issues a flight instruction (flight route instruction, target position or speed instruction, takeoff instruction, return instruction, ascending instruction, descending instruction, etc.) for directing the flying robot 3 to an arbitrary place, based on the judgment of the observer. The flight of the flying robot 3 is controlled.

  The flight control unit 11d determines the abnormality of the specific area S1 of the monitoring area S2 based on the detection signal of the detection device 2 in a state where the monitoring of the monitoring area S2 is started, and outputs a signal for giving a flight instruction, target moving object information, and obstacle. Various information such as object information is transmitted to the flying robot 3.

  In FIG. 1, the monitoring console 11 of the monitoring center 5 has been described as a configuration including the communication unit 11a, the storage unit 11b, the estimation unit 11c, and the flight control unit 11d. However, the configuration is not limited to this configuration. For example, the flight control device functioning as the communication unit 11a, the storage unit 11b, the estimation unit 11c, and the flight control unit 11d may be provided separately from the monitoring console 11. In this case, the flight control device is installed, for example, at a predetermined location or in the vicinity of the monitoring region S2 or the specific region S1, and communicates with the detection device 2, the flying robot 3, and the monitoring center 5 via a wired or wireless communication network. Sends and receives various information.

  Further, the flying robot 3 may be configured to also have the function of the detection device 2 that detects the target moving object T that has entered the specific area S1. In this case, the flying robot 3 stores the pattern image of the target moving object T in the storage unit in advance, and the flying robot 3 images the monitoring area S2 including the specific area S1 from above with the imaging device, and the captured image Comparison of the information with a reference image (an image in which the target moving object T does not exist in the specific area S1), or comparison of image information before and after the flying robot 3 images the monitoring area S2 including the specific area S1 from above, that is, a pattern The target moving object T that has entered the specific area S1 is detected by matching.

[Operation of the monitoring system]
Next, as an operation of the monitoring system 1 having the above-described configuration, an approach handling process for repelling the target moving object T that has entered the specific area S1 from the entrance P to the outside of the specific area S1 will be described with reference to the flowchart of FIG. I do.

  At the start time of the patrol schedule, the flying robot 3 starts patrol of the monitoring area S2 according to the flight route of the patrol schedule while avoiding obstacles (ST1).

  When the flying robot 3 starts traveling around the monitoring area S2, it is determined whether or not the target moving object T has entered the specific area S1 of the monitoring area S2 (ST2). This determination is made based on whether or not the detection device 2 has detected the target moving object T that has entered the specific area S1. Alternatively, when the flying robot 3 arrives at the monitoring area S2 at the patrol destination and performs photographing, the flying robot 3 detects the target moving object T that has entered the specific area S1 in the monitoring area S2 by pattern matching of the image. It depends on whether it is done.

  When it is determined that the target moving object T has entered the specific area S1 of the monitoring area S2 (ST2-Yes), the estimating unit 11c estimates the entrance P at which the target moving object T has entered the specific area S1 (ST3). ). For example, when the specific area S1 is an area surrounded by a fence and the target moving object T is a wild animal such as a deer or a wild boar, the estimation unit 11c determines the activity state of the wild animal by the following methods (1) and (2). The entrance P is estimated.

  (1) A narrow path that can be made naturally by the traffic of wild animals, that is, a so-called “animal path” is detected from the image information obtained by imaging the specific area S1, and the entrance P is estimated from the detected positional relationship between the animal path and the fence. .

  (2) From the image information obtained by imaging the specific area S1, an entrance P is estimated near a place where a plurality of groups of wild animals (or a group of wild animals in the past) exist outside the fence of the specific area S1.

  When the entrance P is estimated by the estimating means 11c (ST3), the flying robot 3 follows the target entrance T to the estimated entrance P and drives it away from the entrance P to the outside of the specific area S1. Guide flight (ST4). For example, if the target moving object T is a deer, and the plantation surrounded by a fence for preventing entry as shown in FIG. 2 is the specific area S1, the flying robot 3 approaches the deer T from behind and the deer T To guide the deer T from outside the fence for prevention of entry, and emit a guidance sound (sound of a deer flute) to the deer T toward the entrance P to prevent entry from the entrance P. Drive out of the fence. When the target moving object T is detected, the control is switched to manual control from the monitoring center 5 and the position of the entrance P estimated as the target moving object T is displayed on the monitor of the monitoring center 5 as a symbol. May manually drive the target moving object T from the entrance P while referring to the symbol.

  Then, it is determined whether the flying robot 3 has completed the patrol of the monitoring area S2 (ST5). If it is determined that the flying robot has completed the patrol of the monitoring area S2 (ST5-Yes), the flying robot 3 sets the robot port 4 And the process ends.

  On the other hand, when it is determined that the patrol of the monitoring area S2 by the flying robot 3 has not been completed (ST5-No), the flying robot 3 flies to the next monitoring area S2 according to the flight route of the patrol schedule and moves to the next monitoring area S2. The patrol is continued, the process returns to ST2, and the above-described determination processing is repeated until the flying robot 3 completes the patrol of the monitoring area S2.

  The above-described operation in FIG. 3 is processing for approaching the target moving object T during patrol of the monitoring area S2. However, while the flying robot 3 is waiting at the roboport 4, the detection device 2 enters the specific area S1. When the target moving object T is detected, the flying robot 3 flies to the place where the target moving object T is detected and performs approach handling processing in accordance with a flight instruction from the monitoring center 5.

  As described above, according to the present embodiment, for example, when the flying robot 3 makes a circular flight with a range including the specific region S1 physically partitioned by a fence or the like as the monitoring region S2, when the flying robot 3 performs a target movement such as a deer or a boar, When it is detected that the object T has entered the specific area S1, flight control is performed so as to guide the target moving object T in a direction estimated to be the entrance P. Thus, the target moving object T that has entered the specific area S1 can be guided to the entrance P and driven away from the entrance P to the outside of the specific area S1.

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

DESCRIPTION OF SYMBOLS 1 Monitoring system 2 Detecting device 3 Flying robot 3a Detection information acquisition means 3b Position information acquisition means 3c Flight control means 4 Roboport 5 Monitoring center 11 Monitoring console 11a Communication means 11b Storage means 11c Estimation means 11d Flight control means S1 Specific area S2 Monitoring area T Target moving object P entrance

Claims (6)

Detection information acquisition means for acquiring detection information for detecting a target moving object that has entered a physically partitioned specific area,
Estimating means for estimating the entrance where the target moving object has entered the specific area based on the activity state of the target moving object,
When the detection unit detects the target moving object, a flight control unit that performs flight control to guide the target moving object out of the specific area from the entrance estimated by the estimation unit,
A flying robot comprising: A flying robot that flies over an area that includes a physically partitioned specific area;
Detecting means for detecting a target moving object that has entered the specific area,
Estimating means for estimating the entrance where the target moving object has entered the specific area based on the activity state of the target moving object,
When the detection unit detects the target moving object, a control unit that controls the flight of the flying robot so as to guide the target moving object out of the specific area from the entrance estimated by the estimation unit,
A surveillance system comprising: 2. The apparatus according to claim 1, wherein the estimating unit detects trace information of the movement of the target moving object from image information of the specific area, and estimates the entrance based on a direction of the trace information. 3. Flying robot. 2. The flying robot according to claim 1, wherein the estimating unit estimates a position where the target moving object is detected a plurality of times outside the specific area and around the specific area from the image information of the specific area as the entrance. 3. The method according to claim 2, wherein the estimating unit detects trace information of the movement of the target moving object from image information of the specific area, and estimates the entrance based on a direction of the trace information. 4. Monitoring system. 3. The monitoring system according to claim 2, wherein the estimation unit estimates a position where the target moving object is detected a plurality of times outside the specific area and around the specific area from the image information of the specific area as the entrance. 4.

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