JP6401846B2 - Defense device and defense system - Google Patents

Description

  The present invention relates to a defense device that protects against disturbances such as rain, snow, hail, sunlight, ultraviolet rays and the like, and a defense system using the defense device by covering the sky of a person or a moving object.

  In order to protect themselves from disturbances such as rain, snow, hail, sunlight and ultraviolet rays, a person opens an umbrella and moves it with his hand. However, if your hands are blocked to carry your luggage, or if you are using a wheelchair or a disabled person who cannot hold an umbrella in your hand, you will not be able to move with your umbrella. .

  In view of this, conventionally, various umbrella holders have been proposed in which an umbrella can be inserted without being held by hand. For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2008-253651) discloses an umbrella holder in which an umbrella holder is provided between a shoulder hook and a belt engaging member that is attached to a belt of a trouser. According to this umbrella holder, after an existing umbrella is mounted on the holder, the umbrella can be held without being held by hand, which is convenient.

JP 2008-253651 A

  However, in the case of a method of holding an umbrella against a human body using an umbrella holder disclosed in Patent Document 1 or the like, it is protected from disturbances such as rain, snow, hail, sunlight and ultraviolet rays. Therefore, the umbrella holder must be carried with the umbrella. Then, after the umbrella holder is attached to the human body, it is necessary to engage the umbrella with the holder of the umbrella holder.

  For this reason, for example, when moving over a short distance such as moving from the garage at home to the entrance to the home, carrying and wearing are troublesome, and in practice, they are not used in many cases.

  In view of the above points, the present invention can protect a moving object such as a person from disturbances such as rain, snow, hail, sunlight and ultraviolet rays without attaching an umbrella to the moving object such as a human body. An object is to provide a defensive device.

In order to solve the above problems, the present invention provides:
A defense device that flies in the air following the moving object so as to protect the moving object from a predetermined disturbance, a sensor device that detects that the moving object has arrived at a defense start position, and the defense device The sensor device transmits a detection signal to the communication device when the sensor device detects that the moving object has arrived at the defense start position, and the communication device When the detection signal is received from the sensor device, the position information of the defense start position detected by the sensor device is acquired based on the detection signal, and the position information of the acquired defense start position is obtained. The defense device in a defense system that transmits the activation information including the defense information to the defense device,
An umbrella for protecting the moving object from the predetermined disturbance by covering the sky of the moving object;
An air moving mechanism for moving the umbrella part in the air;
An aerial movement drive unit for driving the aerial movement mechanism to autonomously move the umbrella part in the air;
A communication unit that receives the activation information from the communication device;
An imaging unit for imaging the moving object;
A control unit;
With
The controller is
Means for activating the device itself by receiving the activation information from the communication device;
Extracting means for extracting the position information included in the received activation information;
Means for controlling the air movement drive unit to move the device to the defense start position corresponding to the position information extracted by the extraction means by the air movement mechanism;
Means for storing captured image information obtained by imaging the moving object by the imaging unit at the defense start position as stored image information of the moving object;
By controlling the aerial movement drive unit to follow the movement of the moving object based on the stored image information of the moving object and the imaged image information obtained by imaging the moving object by the imaging unit. Follow-up movement means for controlling the object to be protected from the predetermined disturbance even during movement of the moving object by the umbrella unit;
A defense device is provided.

  In the defense device of the invention having the above-described configuration, the umbrella portion for protecting the moving object from a predetermined disturbance by covering the sky of the moving object can be moved in the air by the air moving mechanism. It is configured. The air movement mechanism is driven by the air movement drive unit.

  In the defense system in which the defense device of the present invention is used, when the sensor device detects that the moving object has arrived at the defense start position, the sensor device transmits the detection signal to the communication device. The communication device transmits activation information including position information of the defense start position to the defense device based on the received detection signal. When the defense device receives the activation information, the defense device moves to the defense start position indicated by the position information of the defense start position included in the activation information, and performs protection from a predetermined disturbance during movement of the moving object by the umbrella unit. The movement object follows the movement of the moving object. Thereby, the moving object is protected from a predetermined disturbance even during movement by the umbrella part of the defense device.

  The defense device according to the present invention moves following the moving object in a state in which the umbrella part covers the sky of the moving object such as the human body, so that the umbrella is attached to the moving object such as the human body as in the past. Even without this, moving objects such as people can be protected from disturbances such as rain, snow, hail, sunlight, and ultraviolet rays.

It is a figure for demonstrating the structural example of the defense apparatus in 1st Embodiment of the defense system by this invention. It is a block diagram of the structural example of the drive control apparatus part of the defense apparatus in 1st Embodiment of the defense system by this invention. It is a figure for description of a part of block of the block diagram of FIG. It is a figure for description of a part of block of the block diagram of FIG. It is a figure for description of a part of block of the block diagram of FIG. It is a figure for demonstrating the example of a whole structure of 1st Embodiment of the defense system by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example of the defense apparatus in 1st Embodiment of the defense system by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example of the defense apparatus in 1st Embodiment of the defense system by this invention. It is a figure for demonstrating the example of a structure of 2nd Embodiment of the defense system by this invention. It is a block diagram of the structural example of the drive control apparatus part of the defense apparatus in 2nd Embodiment of the defense system by this invention. It is a figure for demonstrating the other structural example of 2nd Embodiment of the defense system by this invention. It is a figure for demonstrating the structural example of 3rd Embodiment of the defense system by this invention. It is a figure which shows the flowchart for demonstrating the example of a processing operation in the vending machine 61 used by 3rd Embodiment of the defense system by this invention. It is a figure for demonstrating the structural example of 4th Embodiment of the defense system by this invention. It is a figure for demonstrating the structural example of 5th Embodiment of the defense system by this invention. It is a figure for demonstrating the structural example of 6th Embodiment of the defense system by this invention.

[Description of First Embodiment]
FIG. 1 is a diagram showing a configuration example of a defense device (first embodiment of the defense device) in the first embodiment of the defense system according to the present invention. The defense device 1 of the first embodiment has a configuration of a flying body that can autonomously fly in the air and move, and assumes a person as a moving object. FIG. 1 (A) is a view of the defense device 1 of this embodiment as viewed from above, and FIG. 1 (B) is a view of the defense device 1 of this embodiment as viewed from the side. is there.

  The defense device 1 of this embodiment includes an aerial flight mechanism 2 having a structure in which an umbrella is attached to a so-called quadcopter, and a drive control unit 3. The aerial flight mechanism unit 2 is driven and controlled by a drive control unit 3. As shown in FIG. 1, the aerial flight mechanism unit 2 is configured by attaching propeller mechanisms 5A, 5B, 5C, 5D to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. ing.

  The propeller mechanisms 5A, 5B, 5C, and 5D are configured to rotate and drive the propellers 52A, 52B, 52C, and 52D by rotating the propeller shafts (not shown) by the engine parts 51A, 51B, 51C, and 51D, respectively. It is configured. The rotation speed and the rotation direction of the engine units 51A, 51B, 51C, 51D are controlled by a drive control signal from the drive control unit 3.

  In this example, each of the engine parts 51A, 51B, 51C, and 51D is independently controlled by a drive control signal from the drive control unit 3, so that the defense device 1 that is a flying object takes off, landing, and ascending. , Descent, right turn, left turn, forward, reverse, right shift, left shift, etc., and posture control such as tilt angle with respect to vertical direction and hover position It can be controlled.

  And in the defense apparatus 1 of this embodiment, the umbrella part 6 is fixedly attached to the housing of the drive control unit 3. In this example, the umbrella portion 6 is configured by attaching a sheet member made of cloth, synthetic fiber, or the like to a frame member made of metal, for example, and has a dome shape as a whole. In this example, the umbrella portion 6 is attached to the casing of the drive control unit 3 by fixing the frame member and adhering the sheet member.

  The umbrella portion 6 is sized to protect the person from disturbances such as rain, snow, hail, hail, hail, sunlight, ultraviolet rays, etc. by covering the sky above the person as an example of the moving object. The sheet member of the umbrella portion 6 is subjected to processing such as waterproof processing, water repellent processing, and ultraviolet ray cutting processing in accordance with the disturbance to be protected. In the first embodiment described below, a case will be described in which a person is protected from rain, snow, hail, hail, hail, and the like.

  Two legs 7A and 7B are further attached to the housing of the drive control unit 3 so as to face each other. In this example, the leg portions 7A and 7B are formed of a pipe member formed in a trapezoidal shape, and the edge portion of the umbrella portion 6 does not contact the landing plane in the landing plane 8 as shown in FIG. Thus, the defense device 1 is formed to be stably held.

  A drive control device unit 10 is provided in the drive control unit 3. FIG. 2 is a block diagram illustrating a configuration example of the drive control device unit 10 in the defense device 1 of this embodiment.

  As shown in FIG. 2, the drive control unit 10 in this embodiment includes an aerial flight drive unit 102, a gyro sensor, and a control unit 101 including a microcomputer (omitted from a microcomputer in FIG. 2) through a system bus 100. 103, geomagnetic sensor 104, altitude sensor 105, rainfall sensor 106, wind sensor 107, current position detection unit 108, object camera 109, peripheral camera 110, memory unit 111, communication unit 112, object recognition unit 113, follow-up movement end Each of the detection unit 114, the flight drive signal generation unit 115, the position and orientation control signal generation unit 116, and the battery check unit 117 is connected.

  The aerial flight drive unit 102 supplies drive control signals to the engine units 51A, 51B, 51C, and 51D of the propeller mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism unit 2 in accordance with the control of the control unit 101.

  The gyro sensor 103 detects an acceleration change in the defense device 1 and is used to detect the traveling direction, speed, and posture of the defense device 1. The geomagnetic sensor 104 is used to detect in which direction the defense device 1 is flying. The altitude sensor 105 is for detecting the altitude at which the defense device 1 is located at the time, and is composed of, for example, an atmospheric pressure sensor.

  The rainfall sensor 106 is used to detect how much rain is falling and how strong (raindrop size, etc.) at that time. The rain sensor 106 is also capable of detecting snow, hail, hail, hail, and the like.

  The wind sensor 107 is used to detect the wind direction and the wind speed. The wind speed can be detected by, for example, a pressure sensor.

  The current position detection unit 108 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the defense device 1. In order to obtain more accurate position information, the current position may be detected using a radio wave from a mobile phone base station or a radio wave from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. .

  The object camera 109 is a camera for imaging a moving object, and when the defense device 1 is located above the moving object, the imaging optical axis is used to image the moving object. The direction is provided in the drive control unit unit 3 so as to face the lower side of the umbrella unit 6. The peripheral camera 110 is a camera for imaging the periphery of the traveling direction when the defense device 1 is flying, and the optical axis direction of the imaging is horizontal when the defense device 1 is in the landing state. It is provided in the drive control unit 3 so as to face.

  The memory unit 111 stores various data for control by the control unit 101. In this example, the memory unit 111 includes a base position storage unit 1111, a follow-up start position storage unit 1112, and a registered captured image storage unit 1113.

  In this embodiment, the defense device 1 is accommodated in a predetermined base when not in use. The location of this base is set and registered by the user and stored in the base location storage unit 1111. The follow-up start position is a position where the defense device 1 waits for recognizing the moving object and starts the follow-up movement when the moving object is recognized. In this embodiment, the follow-up start position is set and registered by the user, It is stored in the follow-up start position storage unit 1112. Furthermore, in this embodiment, the user registers in advance a captured image of a person as an example of a moving object to be protected, and stores and saves it in the registered captured image storage unit 1113.

  In this embodiment, an external portable device 9 that transmits activation information of the defense device 1 described later is prepared as a device that cooperates with the defense device 1 in order to perform the above registration process. The communication unit 112 is a communication unit for connecting to the external portable device 9 through a wireless communication path.

  In this case, as the external portable device 9, a portable notebook personal computer or a high-function mobile phone terminal called a smartphone can be used. That is, a dedicated application program for performing the above-described various information registration processing is installed on these portable notebook computers and smartphones so that they can communicate with the defense device 1 through the communication unit 112. That's fine.

  When registering the position of the base, the user positions the defense device 1 at the base. Then, from the external portable device 9 wirelessly connected by the communication unit 112, the position information detected by the current position detection unit 108, for example, latitude, longitude, and altitude, based on the instruction information to the defense device 1, is used as the base position information. Store in the position storage unit 1111. In this embodiment, the user sends instruction information from the external mobile device 9 to the defense device 1, and the defense device 1 uses the target camera 109 to capture information at a base position or a location near the base. And the imaging information at the position of the base or the vicinity of the base by the peripheral camera 110 is stored in the base position storage unit 1111 in association with the base position information. In this case, the position in the vicinity of the base includes a position in a state where the defense device 1 is hovering over the base and a position in the vicinity of the base when it is heading toward the base.

  As will be described later, when the defense device 1 returns to the base from the state of flight movement, the captured image of the object camera 109 or the peripheral camera 110 and the captured image stored in the base position storage unit 1111 are used. By flying while referring to the comparison, it is possible to return accurately to the base.

  Next, when registering the follow-up start position, the user positions the defense device 1 at each follow-up start position. Then, in the same manner as described above, the instruction information is sent from the external portable device 9 wirelessly connected to the communication unit 112 to the defense device 1, and the defense device 1 stores the position information of the follow start position in the follow start position storage unit 1112. Then, the imaging information at the tracking start position by the object camera 109 and the vicinity thereof, and the imaging information at the tracking start position by the peripheral camera 110 and the vicinity thereof are stored.

  FIG. 3 shows an example of stored data in the follow-up start position storage unit 1112. As shown in FIG. 3, in the follow-up start position storage unit 1112, the name of the follow-up start position designated by the user in the external portable device 9, for example, “base” or “entrance”, and the follow-up start position ID ( ID is identification information), position information, and captured image information of the object camera 109 and the peripheral camera 110 at the follow-up start position are associated with each other and stored for each follow-up start position.

  The external portable device 9 stores the name of the tracking start position specified by the user and the tracking start position ID (ID is identification information) in association with each other in the tracking start position memory. As will be described later, when the activation information is transmitted from the external portable device 9, the user selects the tracking start position specified by the startup information from the tracking start positions stored in the tracking start position memory. You can specify.

  Next, when registering the captured image of the moving object, the user controls the defense device 1 to hover over the person who wants to register in accordance with an instruction from the external portable device 9, The object camera 109 is instructed to image a person to be registered. Then, in the external portable device 9, the name of the person to be registered is input and transmitted to the defense device 1, and an instruction to register the captured image of the person is sent to the defense device 1.

  An example of the stored contents of the registered captured image storage unit 1113 of the memory unit 111 at this time is shown in FIG. That is, the registered captured image storage unit 1113 stores the name of the person, the moving object ID, and information of the image captured by the object camera 109 in association with each other.

  The external portable device 9 also stores the name of the person and the moving object ID in the moving object memory. As will be described later, when the activation information is transmitted from the external portable device 9, the user designates the activation information from the persons as examples of the movement object stored in the movement object memory. A person as a moving object to be selected can be selected and specified.

  The communication unit 112 receives activation information from the external portable device 9 and supplies it to the control unit 101. That is, the communication unit 112 constitutes an activation information receiving unit of this embodiment. The control unit 101 detects that the activation information has been received by the communication unit 112 and activates the defense device 1. An example of the activation information transmitted from the external portable device 9 is shown in FIG. Prior to the transmission of the activation information, the user performs the above-described selection of the follow-up start position and the selection of the moving object in the external portable device 9.

  As shown in FIG. 5, the activation information includes a start command code, a movement object ID of the movement object to be defended, and a follow-up start position ID for specifying a position to start following. As will be described later, the control unit 101 refers to the registered captured image storage unit 1113 with reference to the moving object ID included in the activation information, thereby grasping the moving object to be defended and starting to follow with the following start position ID. By referring to the position storage unit 1112, the position where the tracking starts is grasped.

  In this embodiment, the target object recognition unit 113 captures an image of the moving target imaged by the target camera 109 at the follow-up start position, and the moving target object ID included in the activation information read from the registered captured image storage unit 1113. The person of the moving object to be followed is recognized by comparing the captured image of the moving object associated with the image and recognizing the image. In this embodiment, the object recognition unit 113 recognizes the object captured image captured by the object camera 109 in order to move following the movement of the moving object after recognizing the moving object. And stored in the object image storage unit 118. Then, image recognition for movement following the movement of the moving object is performed using captured image information stored in the object image storage unit 118.

  The moving object recognized by the object recognizing unit 113 is a person in this example, but the object recognized by the object recognizing unit 113 is not only a person's face and body, but also clothes and / or belongings. It can be.

  The follow-up movement end detection unit 114 performs movement following the movement of the moving object, and determines that the moving object has entered the building where the disturbance does not reach or has entered the automobile. It is determined that the tracking movement of the object is finished, and the control unit 101 is notified of the determination result. The determination by the follow-up movement end detection unit 114 is performed by analyzing captured image information of the object camera 109. When it is determined that the follow-up movement is finished, the control unit 101 performs a control process so that the defense device 1 is returned to the base by the flight movement.

  When the flight drive signal generation unit 115 flies to the follow-up start position designated from the base by a command based on the activation information by the control unit 101, the position of the base stored in the base position storage unit 1111 of the memory unit 111 The direction and distance from the base position to the designated follow-up start position are calculated from the information and the position information of the designated follow-up start position read from the follow-up start position storage unit 1112. Further, when returning to the base from the current position based on the determination that the control unit 101 has finished the follow-up movement, the position information of the current position detected by the current position detection unit 108 and the base position storage unit 1111 are stored. The direction and distance for returning from the current position to the base is calculated from the position information of the base that is present.

  Then, the flight drive signal generation unit 115 uses information such as the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 105 based on the calculated direction and distance, and further captures images captured by the object camera 109 and the peripheral camera 110. With reference, a flight drive signal for moving from the base position to the designated follow-up start position is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102. In this case, the flight drive signal includes signals for driving the engine units 51A to 51D of the four propeller mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the engine units 51 </ b> A to 51 </ b> D of the aerial flight mechanism unit 2 through the aerial flight drive unit 102.

  In response to this flight drive signal, the aerial flight mechanism unit 2 rotationally drives each of the propellers 52A to 52D to fly from the base to the follow-up start position or from the current position where the follow-up movement is finished to the base by air flight. Move.

  The drive control unit 10 stores the captured images of the object camera 109 and the peripheral camera 110 in the flight movement path from the base to the follow-up start position, and stores the captured image and the target image during the flight movement. The flight drive signal may be generated while comparing and referring to the captured images of the object camera 109 and the peripheral camera 110, and the drive control of the flight movement path from the base of the defense apparatus 1 to the follow-up start position may be performed. Similarly, the captured images of the object camera 109 and the peripheral camera 110 in the flight movement path from the follow-up start position to the current position are stored, the stored captured image is traced in reverse, and the object is detected during the flight movement. The flight drive signal may be generated while comparing and referring to the captured images of the camera 109 and the peripheral camera 110, and the drive control of the flight movement route returning from the current position of the defense device 1 to the base may be performed.

  The position / orientation control signal generation unit 116 is based on the altitude sensor 105, the rain sensor 106, the wind sensor 107, and the captured images of the object camera 109 and the peripheral camera 110, and the position of the umbrella unit 6 relative to the moving object (moving object). Position / posture control signal for controlling the posture such as the vertical position (height position) and the tilt angle and the tilt direction of the umbrella unit 6. . In this case, the position / orientation control signal generation unit 116 generates a position / orientation control signal so that the position and orientation of the umbrella unit 6 are such that disturbance does not reach the moving object as much as possible.

  For example, the position / orientation control signal generation unit 116 has a position where the position and orientation of the umbrella unit 6 are directly above the moving object or slightly shifted in the traveling direction of the moving object when there is rain and almost no wind. The position and orientation control signal is generated so that the inclination angle of the umbrella unit 6 with respect to the vertical direction is zero. However, if there is wind accompanying rain, the position / orientation control signal generation unit 116 considers the position and orientation of the umbrella unit 6 in consideration of the wind direction and wind force, and the traveling direction of the moving object. The position / orientation control signal is generated so as not to reach the position as much as possible. That is, for example, the position of the umbrella unit 6 is shifted from the position directly above the moving object in accordance with the wind direction and the wind force, and the traveling direction of the moving object. The inclination angle and the inclination direction of the unit 6 are also determined according to the wind direction, the wind force, and the traveling direction of the moving object.

  A battery 119 is connected to the battery check unit 117. That is, the defense device 1 of this embodiment has the battery 119 as a drive power source. In this embodiment, a rechargeable secondary battery is used as the battery 119, and a solar panel (not shown) is provided and can be charged by sunlight. In consideration of a case where charging based on sunlight received by a solar panel is insufficient, charging is possible by other charging methods based on electric power from other generators and electric wires.

  In this example, the battery check unit 117 detects the voltage of the battery 119 and the remaining battery level, and checks whether the battery 119 has accumulated sufficient voltage and remaining battery level for the flight based on the detection result. The check result is notified to the control unit 101. In response to the check result from the battery check unit 117, the control unit 101 determines whether or not the state of charge of the battery 119 is sufficient for flight and the remaining battery level.

  When the control unit 101 receives the check result of the battery check unit 117 and determines that the battery 119 does not accumulate sufficient voltage and remaining battery charge for flight, the control unit 101 sends the activation information to the external portable device 9 that has sent the activation information. Sends an error signal indicating insufficient voltage or insufficient battery power. Upon receiving this error signal, the external portable device 9 displays an error message such as “insufficient voltage” or “insufficient battery power” on the display screen to notify the user that the defense device 1 is unavailable. To do.

  The control unit 101 constantly monitors the check result from the battery check unit 117 while the defense device 1 is in flight, and the voltage of the battery 119 and the remaining battery level are in danger of flying. When it is determined that, the defense device 1 is controlled to be forcibly returned to the base. Here, the determination as to whether or not “the voltage of the battery 119 and the remaining battery level are becoming dangerous as the voltage and remaining battery level necessary for flight” refers to the amount of flight movement that returns from the current position to the base. This is a determination as to whether or not the battery 119 can maintain the power supply voltage and the remaining battery level. For this reason, the battery check unit 117 calculates the distance between the current position and the base during the flight of the defense device 1, and the battery 119 has the power supply voltage and the battery remaining amount necessary for the flight movement of the distance. I check to see if it exists.

  In FIG. 2, the object recognition unit 113, the follow-up movement end detection unit 114, the flight drive signal generation unit 115, and the position / orientation control signal generation unit 116 can be realized by the control unit 101 as a software processing function. .

[Usage example of defense device 1]
FIG. 6 is a diagram for explaining an example of use of the defense device 1 according to the first embodiment. This use case is a case where it is used to protect a householder from disturbance when rain, snow, reeds, reeds, reeds, etc. are falling during the movement between the entrance of the house and the garage. .

  In this example, as shown in FIGS. 6A and 6B, a garage 23 is installed at a position away from the entrance 22 of the house 21, and the base 24 of the defense device 1 is placed on the roof of the garage 23, for example. Is provided.

  In this example, as described above, the external portable device 9 (not shown in FIG. 6) used together with the defense device 1 is used as the defense device 1, and a captured image of a person living in the house 21 is captured. In addition, it is assumed that the position of the base 24 and the entrance 22 of the house 21 are registered as follow-up start positions while being registered as moving objects.

  In this example, the external portable device 9 is configured as a smartphone owned by a householder, and a necessary software program is installed in advance. When there are a plurality of householders, all captured images of the householders are registered in the defense device 1 as moving objects. The smartphones possessed by each of the householders store all the information stored in the external portable device 9 when registering the follow-up start position and the captured image.

  FIG. 6A shows that the defense device 1 is used to move from the garage 23 to the entrance 22 in order to protect against rain, for example, after the family member 25 returns home by car and puts the car in the garage 23. Is the case. In the case of the example of FIG. 6A, the householder 25 launches an application for starting up the defense device 1 on the smartphone he / she owns, designates a base as a follow-up start position, and moves himself / herself as a movement target. Designate it as an object and send the activation information.

  The defense device 1 that is in the standby state at the base 24 is activated when the activation information is received, recognizes that the follow-up start position is the base 24 from the follow-up start position ID included in the start information, and includes the activation information in the start information. Recognizing that the moving object is the householder 25 from the included moving object ID, the captured image of the householder 25 is read from the registered captured image storage unit 1113 of the memory unit 111 and supplied to the target recognition unit 113. .

  Then, the vehicle starts from the base 24, hoveres over the exit of the garage 23, stands by, and starts imaging with the object camera 109. Then, when the householder 25 comes out of the garage 23, the defense device 1 matches the captured image captured by the object camera 109 with the registered captured image of the householder 25 read from the registered captured image storage unit 1113 of the memory unit 111. By performing image recognition for determination, the householder 25 is recognized, and when recognized, the captured image of the householder 25 captured by the target camera 109 at that time is recorded in the target image storage unit 118. Store as a captured image.

  Then, when the householder 25 moves toward the entrance of the house 21, the defense device 1 detects the movement from the captured image of the object camera 109 and moves in flight following the movement of the householder 25. At this time, as described above, according to the detection output of the rain sensor 106 and the wind sensor 107 and the movement direction of the householder 25, the defense device 1 controls the position and posture of the umbrella unit 6 with respect to the moving object, It is made into the optimal state in order to protect the householder 25 from the rain as a disturbance.

  When the house 25 detects that the house 21 has entered the house 21 through the door of the entrance 22 of the house 21 and has entered a region where rain as a disturbance does not reach, the defense device 1 determines that the following movement has ended, After flying to 24, it returns to the base 24 and enters a standby state. This standby state is a state of low power consumption in which the control unit 101 only needs to receive the activation information, and the power supply voltage is not supplied from the battery 119 to the other units.

  Next, FIG. 6 (B) uses the defense device 1 to move from the entrance 22 to the garage 23 in order to protect the house 26 in the house 21 from going out by car, for example, from rain. Is the case. In the case of the example of FIG. 6B, the householder 26 launches an application for starting up the defense device 1 on the smartphone he / she owns, specifies the entrance 22 of the house 21 as a follow-up start position, Designate yourself as a moving object and send activation information.

  The defense device 1 that is in a standby state at the base 24 is activated when the activation information is received, and recognizes that the tracking start position is the entrance 22 of the house 21 from the tracking start position ID included in the startup information. From the moving object ID included in the activation information, it is recognized that the moving object is the house 26, the captured image of the house 26 is read from the registered captured image storage unit 1113 of the memory unit 111, and the object recognition unit 113. To supply.

  Then, the vehicle starts from the base 24 and flies to the entrance 22 of the house 21, hovers over the entrance 22 and stands by, and starts imaging with the object camera 109. Then, when the householder 26 comes out of the door of the entrance 22, the defense device 1 captures the captured image captured by the object camera 109 and the registered captured image of the householder 26 read from the registered captured image storage unit 1113 of the memory unit 111. The object person is recognized by performing image recognition for determining the coincidence of the object, and when the object person 26 is recognized, the object image storage unit 118 captures the image captured by the object camera 109 at that time, and the object to follow and move. Stored as a captured image of an object.

  When the householder 26 moves toward the garage 23, the defense device 1 detects the movement from the captured image of the object camera 109, and moves in flight following the movement of the householder 26. At this time, as described above, the defense device 1 controls the position and posture of the umbrella unit 6 according to the detection output of the rain sensor 106 and the wind sensor 107 and the movement direction of the householder 26, and the rain as a disturbance. It is in an optimal state to protect the family member 26 from.

  When the housekeeper 26 enters the vehicle in the garage 23 and detects that the rain as a disturbance has entered the area where the rain does not reach, the defense device 1 determines that the follow-up movement has ended and moves to the base 24 in flight. Then, it returns to the base 24 and enters a standby state.

[Example of processing operation of control unit 101 of defense device 1]
Next, an example of processing operation of the control unit 101 until the defense device 1 receives the activation information from the standby state and returns to the base will be described with reference to FIG. 7 and the flowchart of FIG. 7 and 8, the object recognition unit 113, the follow-up movement end detection unit 114, the flight drive signal generation unit 115, and the position and orientation control signal generation unit 116 are controlled by the control unit 101. This is explained as a case of being configured.

  The control unit 101 of the defense device 1 monitors reception of activation information (step S101). When determining that the activation information has been received, the control unit 101 activates the defense device 1 by supplying the power supply voltage of the battery 119 to each unit (step S102). Next, the control unit 101 checks the voltage of the battery 119 and the remaining battery level to determine whether or not the voltage and remaining battery level sufficient for flight are accumulated (step S103).

  If it is determined in step S103 that the voltage of the battery 119 and the remaining battery level are not sufficient, the control unit 101 sends an error signal indicating that the voltage is insufficient or the remaining battery level is insufficient to the external mobile phone that transmitted the activation information. The process is sent to the device 9 (step S104), the process is stopped, and the process returns to the standby state. As described above, the external portable device 9 that has received the error signal notifies the user that the voltage is insufficient or the battery is insufficient, so that the user recognizes that the defense device 1 cannot be activated.

  When it is determined in step S103 that the voltage of the battery 119 and the remaining battery level are sufficient, the control unit 101 refers to the stored content of the tracking start position storage unit 1112 by using the tracking start position ID included in the activation information. The tracking start position is grasped, and the captured image of the person as the moving object is grasped by referring to the registered captured image storage unit 1113 by the moving object ID included in the activation information (step S105). In step S105, the control unit 101 always checks the voltage of the battery 119 and the remaining battery level in parallel, and when the voltage of the battery 119 and the remaining battery level become insufficient as described above. , Execute processing to return to the base. Also at that time, the control unit 101 sends an error signal to the external portable device 9 that has transmitted the activation information, so that it is notified.

  Next, the control unit 101 determines whether the grasped follow-up start position is the current position, that is, whether it is a base (step S106). When the grasped follow-up start position is determined not to be the current position, in step S105 The flight travels to the grasped follow-up start position (step S107). Then, the control unit 101 hovers and stands by while performing imaging by the object camera 109 at the follow-up start position (step S108).

  Further, when it is determined in step S106 that the grasped follow-up start position is the current position, the control unit 101 hovers and stands by while performing imaging with the object camera 109 at the follow-up start position near the base ( Step S108).

  Next, the control unit 101 recognizes the moving object by comparing the captured image captured by the object camera 109 with the captured image of the person to be the moving object read from the registered captured image storage unit 1113. It is determined whether or not (step S109). When it is determined in step S109 that the moving object is not recognized, the control unit 101 returns the process to step S108 and repeats the processes after step S108.

  When it is determined in step S109 that the moving object has been recognized, the control unit 101 causes the umbrella unit 6 to set the moving object to a position and posture that protects the moving object from disturbance such as rain in the sky above the moving object. The defense device 1 is controlled (step S111 in FIG. 8).

  And the control part 101 discriminate | determines from the picked-up image of the target object camera 109 whether the moving target object moved (step S112), and when it determines with the moving target object not moving, a process is step S111. The process after step S111 is repeated.

  When it is determined in step S112 that the moving object has moved, the control unit 101 causes the defense device 1 to fly and follow the movement of the moving object, and the position of the umbrella unit 6 and The inclination angle and the inclination direction are controlled so that the disturbance protection such as rainfall is optimal (step S113).

  Then, the control unit 101 determines from the captured image of the object camera 109 whether or not the moving object has entered an area where disturbance does not reach (step S114), and if the moving object enters an area where disturbance does not reach. If it is determined that there is not, the process returns to step S111, and the processes after step S111 are repeated.

  When it is determined in step S114 that the moving object has entered an area where disturbance does not reach, the control unit 101 performs flight control to return the defense device 1 to the base, and after landing on the base, returns to the standby state. (Step S115). Then, this processing operation ends.

[Effect of the first embodiment]
As described above, according to the defense system and defense device 1 of the first embodiment described above, when the user sends activation information from the external portable device 9, the defense device 1 flies over the user. The umbrella unit 6 protects the user from disturbances. Therefore, the user does not need to attach a holder for holding the umbrella to the human body like the conventional umbrella holder described at the beginning, and does not need to carry the umbrella or the holder at all. So it is very convenient.

  In addition, according to the defense device 1 of the first embodiment described above, by registering in advance a person or the like of a moving object to be protected, the defense device 1 automatically selects the registered moving object. It has the effect of recognizing and protecting against disturbance.

  Further, according to the defense device 1 of the above-described first embodiment, the position at which the defense device 1 wants to start defense from disturbance is registered in the defense device 1 as the follow-up start position, and the activation information There is an effect that the defense against the disturbance can be started from the registered follow-up start position only by including information for specifying the follow-up start position.

  According to the defense device 1 of the above-described first embodiment, the horizontal position and height position, the tilt angle and the tilt direction of the umbrella unit 6 with respect to the moving object are determined based on the amount of disturbance such as rainfall, wind direction, and wind force. Since the control is automatically performed according to the above, the protection effect against disturbance can always be optimized.

[Second Embodiment]
In the first embodiment described above, the user of the defense device 1 is limited to a householder or the like. However, the defense device 1 according to the present invention can be applied even when an unspecified number of users are assumed. The second embodiment is a case of the defense device 1A assuming such an unspecified number of users.

  As will be described later, the configuration of the defense device 1A of the second embodiment is the first except for the configuration of the processing unit for activating the defense device 1A and recognizing the moving object at the follow-up start position. This is the same as the defense device 1 of the embodiment. Before describing an example of the configuration of the defense device 1A, a usage pattern assumed for the defense device 1A of the second embodiment will be described first.

  The example described below is a case where the hospital and the pharmacy are located at a distance from each other, and the defense device 1A is used in the movement from the hospital to the pharmacy. In this case, the moving object is a patient who has visited a hospital and is a wheelchair user. A wheelchair user can operate the wheelchair with both hands to move the wheelchair, and when it is raining or snowing, the user cannot insert his / her umbrella. The protective device 1A is very useful.

  In this second embodiment, as shown in FIG. 9 (A), a patient 31 who is a wheelchair user pays a medical examination fee and asks for a prescription of medicine in hospital accounting. The attendant 32 is informed that he / she goes to the pharmacy and receives the medicine described in the prescription. Then, when moving from the hospital to the pharmacy, the staff member 32 is requested to receive a service for using the defense device 1A.

  Then, in this example, the clerk 32 delivers the bracelet-type transmission device 33 to the patient 31 as a user of the defense device 1A. The transmission device 33 is a device having a function of sending a transmission signal including identification information for identifying the transmission device 33 to the defense device 1A. The defense device 1A receives a transmission signal from the transmission device 33 and recognizes the identification information, thereby recognizing a person wearing the bracelet-type transmission device 33 as a movement object to be protected. To do.

  The clerk 32 who handed the bracelet-type transmission device 33 to the patient 31 operates a button 34 for transmitting activation information to the defense device 1A.

  As shown in FIG. 9B, the defense device 1A of the second embodiment is accommodated in a standby state in a base provided in a hospital building 35. When receiving the activation information based on the operation of the button 34, the defense device 1A activates the defense device 1A in the same manner as in the first embodiment. And 1 A of defense apparatuses wait for the vicinity of the exit of the building 35 of the hospital for going to a pharmacy as a tracking start position, and wait for reception of the transmission signal containing the identification information from the bracelet-type transmission apparatus 33.

  When the patient 31 wearing the bracelet-type transmitter 33 on his arm arrives in the vicinity of the exit of the hospital building 35, the protective device 1A receives a transmission signal from the bracelet-type transmitter 33. The defense device 1A compares the identification information included in the received transmission signal with the identification information registered in advance, and detects a match, thereby detecting the patient 31 wearing the bracelet-type transmission device 33. Recognize that it is a moving object to be protected.

  When the defense apparatus 1A recognizes the movement target object to be protected, the defense apparatus 1A moves over the patient 31 that is the movement target, protects against rain, and images the patient of the movement target with the target camera 109. The captured image is stored in the object image storage unit 118 so as to be an object for subsequent follow-up movement.

  Therefore, when the patient 31 operates the wheelchair to move to the pharmacy, the defense device 1A follows the movement and travels in a flying manner while protecting the patient 31 from rainfall in the same manner as in the first embodiment. When the patient 31 enters the pharmacy building 36, the defense device 1A will land at a place prepared in the pharmacy building 36 and wait for the patient 31 to return. At this time, 1 A of defense apparatuses will be in a standby state, maintaining the state which can receive the transmission signal from the bracelet type transmission apparatus 33, and minimize power consumption.

  When the patient 31 receives the medicine and tries to leave the pharmacy building 36, the standby defense device 1A receives the transmission signal from the bracelet-type transmission device 33, restarts, and is positioned above the patient 31. Then, the patient 31 is recognized again. Then, following the movement of the patient 31 from the pharmacy building 36 to the hospital building 35, the patient 31 is moved in flight while protecting the patient 31 from rain.

  When the patient 31 enters the hospital building 35, the defense device 1A that has recognized that the moving object has entered a place where disturbance does not reach stands by at the base. The patient 31 then returns to the hospital accounting counter and returns the bracelet-type transmitter 33. The clerk 32 who confirms the return of the bracelet type transmitting device 33 operates the button 37 and sends an end instruction to the defense device 1A. When receiving this end instruction, the defense device 1A deletes the current captured image of the moving object stored in the object image storage unit 118, and returns to the standby state at the base.

[Configuration of Defense Device 1A of Second Embodiment]
As shown in FIG. 10, the configuration of the defense device 1 </ b> A of the second embodiment is different from the configuration of the defense device 1 shown in FIG. 2 only in the following points, and the rest is the defense of the first embodiment. The configuration is exactly the same as that of the device 1.

  That is, the defense device 1A of the second embodiment in FIG. 10 has a function of receiving a transmission signal from the bracelet-type transmission device 33 instead of the communication unit 112 in the defense device 1 of the first embodiment. A communication unit 112A is provided. The base location storage unit 1111 of the memory unit 111 stores information on the location of the hospital base. The follow-up start position storage unit 1112 stores information on the position of the exit of the hospital building 35. However, the registered captured image storage unit 1113 is not provided in the memory unit 111. Instead, the memory unit 111 is provided with an identification information storage unit 1114 that stores identification information included in a transmission signal from the bracelet-type transmission device 33. When a plurality of defense devices 1A are prepared and a plurality of bracelet-type transmission devices 33 including different identification information are prepared, the identification information storage unit 1114 of the memory unit 111 of the defense device 1A includes A plurality of different pieces of identification information are stored.

  Furthermore, the object recognition unit 113A in the defense device 1A of the second embodiment does not have a function of recognition processing of a moving object by matching processing between the registered captured image and the captured image of the object camera 109. An object obtained by simply capturing an image of a person holding the bracelet-type transmitting device 33 with the object camera 109 is associated with the identification information included in the transmission signal from the bracelet-type transmitting device 33, A function of storing in the image storage unit 118 and recognizing the stored image as a captured image of the moving object is provided.

  Other configurations of the defense device 1A are exactly the same as those of the defense device 1 of the first embodiment, as shown in FIG.

[Effects of Second Embodiment]
According to the defense device 1A of the second embodiment, at the follow-up start position, the moving object is authenticated by the identification information included in the transmission signal from the bracelet-type transmission device 33, and the target camera 109 is used. The captured image of the moving object imaged in step 1 is stored in the object image storage unit 118 as the captured image of the moving object that follows and moves in association with the identification information. Then, the defense device 1A moves to follow the moving object based on the captured image stored in the object image storage unit 118. Thereby, according to 1 A of defense apparatuses of 2nd Embodiment, like the defense apparatus 1 of 1st Embodiment, not only the movement object registered beforehand is made a defense object, but arbitrary movement It is possible to follow and move the target object as a defense target.

[Another usage example of the defense device 1A of the second embodiment]
FIG. 9 shows an example in which the defense device 1A protects a patient moving between a hospital and a pharmacy from disturbance. For this reason, the defense apparatus 1A assumed that the patient as a user always returns from the pharmacy to the hospital after moving from the hospital to the pharmacy. However, when it is not assumed that the patient returns from the pharmacy to the hospital, the protective device 1A returns to the hospital base when the patient enters the pharmacy from the hospital to the pharmacy and no disturbance is reached. The identification information and captured image stored in the object image storage unit 118 may be deleted. In this case, the bracelet-type transmitter 33 may be returned by the patient at the pharmacy and handed over from the pharmacy to the hospital.

  Yet another example using the defense device 1A of the second embodiment is shown in FIG. The example of FIG. 11 is a case where a visitor can move between a plurality of buildings where various attractions are performed in the theme park while being protected from disturbance by the defense device 1A. is there.

  In this example, when a visitor 38 makes a contract for a defense service against disturbance by the defense device 1 </ b> A at the gate 41 of the theme park, the bracelet-type transmission device 33 described above is lent. Therefore, when the attendee 38 wears the bracelet-type transmission device 33 and waits at the gate 41, the attendant 38 waits at the base of the gate 41 based on the operation of the start button by the attendant of the gate 41 of the theme park. One of the defense devices 1A is flying. And 1 A of defense apparatuses authenticate as a moving object with the identification information contained in the transmission signal from the bracelet type transmission apparatus 33 with which the attendant 38 is equipped, and image the attendant 38 with the object camera 109 As described above, the captured image of the visitor 38 is stored in the object image storage unit 118 in association with the identification information.

  And 1A of defense apparatuses carry out the flight movement following the movement of the visitor 38. FIG. When the visitor 38 enters the building 42 of a certain attraction A, the defense device 1A determines that the visitor 38 has entered an area where disturbance does not reach, returns to the base of the gate 41, and stores it in the object image storage unit 118. The stored identification information and captured image are erased. And 1 A of defense apparatuses return to the standby state which receives the starting instruction | indication of the defense service of the disturbance with respect to the next attendant.

  The building 42 of the attraction A is also provided with a base for the defense device 1A, and a plurality of defense devices 1A stand by in a standby state. The defense device 1 </ b> A that has returned to the base of the gate 41 may wait for the base of the building 42 without returning to the base of the gate 41. In addition, the building 42 of this attraction A has a function of receiving a transmission signal from the bracelet type transmission device 33 worn by the visitor 38 and transferring it to the defense device 1A waiting at the base. A device 421 is provided. The defense device 1A in this example receives a signal from the relay device 421 by the communication unit 112A. In this case, 1 A of defense apparatuses discriminate | determine whether the received signal is the signal from the relay apparatus 421, or the transmission signal from the bracelet-type transmission apparatus 33 with the information which shows the transmission apparatus contained in a received signal.

  When the visitor 38 enters the building 42, the relay device 421 receives a transmission signal from the bracelet-type transmission device 33 worn by the visitor 38 and sends the received transmission signal to the base of the building 42. A call is sent to the waiting defense device 1A. Then, one of the defense devices 1A at the base of the building 42 is in a communication connection state with the relay device 421, and the one defense device 1A receives a transmission signal from the relay device 421. And 1 A of defense apparatuses will be in the state which waits reception of the transmission signal from the bracelet type transmission apparatus 33, extracting and hold | maintaining the identification information contained in the received transmission signal.

  When the visitor 38 comes to the exit of the building 42 and the defense device 1A receives a transmission signal from the bracelet-type transmission device 33, the defense device 1A includes the identification information included in the received transmission signal, Confirming the coincidence with the identification information received from the relay device 421, authenticates the moving object. When the authentication is completed, the defense device 1A captures the image of the visitor 38 with the object camera 109 in the sky above the visitor 38, and stores the captured image of the visitor 38 as described above. The information is stored in the unit 118 in association with the identification information.

  And 1A of defense apparatuses carry out the flight movement following the movement of the visitor 38. FIG. When the visitor 38 enters the building 43 of another attraction B, the defense device 1A determines that the visitor 38 has entered an area where disturbance does not reach and returns to the base of the building 42 of the attraction A, and the object image The identification information and captured image stored in the storage unit 118 are deleted. Then, the defense device 1A returns to the standby state for providing a disturbance defense service for the visitors who enter the building 42 next time.

  Similarly to the building 42, the building 43 of the attraction B is also provided with a base for the defense device 1A, and a plurality of defense devices 1A stand by in a standby state. The defense device 1 </ b> A may wait at the base of the building 43 without returning to the base of the building 42. In addition, in the building 43 of the attraction B, a relay having a function of receiving a transmission signal from the bracelet-type transmission device 33 worn by the visitor 38 and transferring it to the defense device 1A standing by at the base. A device 431 is provided.

  Therefore, when the visitor 38 enters the building 43, the relay device 431 receives the transmission signal from the bracelet-type transmission device 33 worn by the visitor 38 and receives the received transmission in the same manner as described above. A signal is transmitted to the defense device 1A standing by at the base of the building 43. Then, one of the defense devices 1A at the base of the building 43 is in communication with the relay device 431, and the one defense device 1A receives the transmission signal from the relay device 431 and receives the received transmission signal. The identification information contained in is extracted and held, and the reception of a transmission signal from the bracelet-type transmission device 33 is awaited.

  When the visitor 38 comes to the exit of the building 43 and the defense device 1A receives a transmission signal from the bracelet-type transmission device 33, the defense device 1A includes the identification information included in the received transmission signal, A match with the identification information received from the relay device 431 is confirmed, and the moving object is authenticated. When the authentication is completed, the defense device 1A captures the image of the visitor 38 with the object camera 109 in the sky above the visitor 38, and stores the captured image of the visitor 38 as described above. The information is stored in the unit 118 in association with the identification information.

  And 1A of defense apparatuses carry out the flight movement following the movement of the visitor 38. FIG. When the visitor 38 enters a building of another attraction or returns to the gate 41, the defense device 1A determines that the visitor 38 has entered an area where disturbance does not reach, and the base of the building 43 of the attraction B Returning to FIG. 3, the identification information and captured image stored in the object image storage unit 118 are deleted. And 1 A of defense apparatuses return to the standby state for providing the disturbance defense service with respect to the visitor who enters the building 43 next. Of course, the defense device 1 </ b> A may return to the base of the building 43 or the base of the gate 41 without returning to the base of the building 43. The visitor 38 returns the lent bracelet-type transmitting device 33 at the gate 41. Of course, the return may be performed not only at the gate 41 but also at each building.

  As described above, in the example of FIG. 11, the base of the defense device 1A is provided in the building of each attraction, and the relay device that relays the transmission signal from the bracelet-type transmission device 33 to the defense device 1A is provided. Thus, it is possible to provide a service for defending the visitors of the theme park by the defense device 1A against disturbances such as rain when moving from a building of various attractions to another building.

  In the second embodiment described above, the bracelet type transmission device 33 is used as the transmission device for the transmission signal. However, the transmission device 33 is not limited to the bracelet type, and is worn or carried by the user. Any form may be used as long as it can be used. For example, a hat type, a pouch type attached to a belt, a patch, a batch, a seal or a sticker may be used.

[Third Embodiment]
In the third embodiment, for example, in a large shopping center or a theme park, when a vehicle is returned to its own car parked in a parking lot, the protection device provides a service for protecting against disturbances such as rainfall by using a vending machine format. It is an example to receive in.

  FIG. 12 is a diagram for explaining an overview of the entire defense system using the defense device 1B of the third embodiment. As shown in FIG. 12, the defense system of the third embodiment includes a vending machine 61 and a base 62 of the defense device 1B. The vending machine 61 includes a coin slot 611, a bill slot 612, a display 613, and a camera 614, and transmits an activation signal and other signals to the defense device 1B waiting on the base 62 inside. The transmission part 615 which performs is provided.

  The defense device 1B in the third embodiment is omitted from the illustration, but instead of the communication unit 112A of the defense device 1A in the second embodiment shown in FIG. A communication unit for receiving a signal is provided. In addition, while the defense apparatus 1B in this 3rd Embodiment is each provided with apparatus ID, the transmission part 615 of the vending machine 61 waits in the base 62 for the transmission signal containing apparatus ID of the defense apparatus 1B. Is transmitted to the defense device 1B. When each of the defense devices 1B receives a signal from the transmission unit 615 of the vending machine 61, it determines the device ID included in the received signal and matches the device ID of its own device. Only, the received signal is captured as a signal addressed to its own device.

  The base position storage unit 1111 of the memory unit 111 of the defense device 1B stores the position information of the base 62, and the follow-up start position storage unit 1112 stores the position information of the position where the vending machine 61 is installed. Remembered. Further, in place of the identification information storage unit 1114, a captured image storage unit that stores a captured image of the user sent from the vending machine 61 is provided.

  In the third embodiment, the user 63 uses the vending machine 61 to input a predetermined fee through the coin insertion slot 611 and the bill insertion slot 612, and selects the defense device 1B on the display 613. Then, the vending machine 61 images the user 63 with the camera 614 and includes the captured image information and the device ID of the defense device 1B selected by the user in a transmission signal and transmits the transmission signal to the defense device 1B. . Furthermore, the vending machine 61 sends an activation signal including the device ID of the defense device 1B selected by the user to the defense device 1B.

  The defense device 1B of the selected device ID that has received the captured image information and the activation information from the transmission unit 615 of the vending machine 61 is activated, flies to the position of the vending machine 61 from the base 62, and is used. The user 63 is imaged by the object camera 109, and the object recognition unit compares the captured image with the received captured image to confirm authentication of the user 63. When the authentication is confirmed, the captured image of the user 63 captured by the target camera 109 is stored in the target image storage unit 118, and is set as a moving target to be followed.

  Then, in the same manner as described above, the user 63 flies and follows the movement of the user 63. When the user 63 confirms that the user 63 has entered an area where the disturbance does not reach by getting into the parking lot car, the defense device 1B returns to the base 62, and the captured image storage unit of the memory unit 111 Erase the stored contents and return to the standby state for the next use.

  FIG. 13 shows a flowchart of an example of the processing operation flow of the vending machine 61. That is, the vending machine 61 first determines whether or not a predetermined charge has been accepted (step S201). When it is determined that the predetermined charge has been accepted, the vending machine 61 stands by at the base 62 on the screen of the display 613. A list of defense devices 1B that are not in use is displayed (step S202). In this case, the defense device 1B being used may display that it is being used.

  Then, the vending machine 61 determines whether or not the selection of the defense device 1B by the user 63 has been accepted (step S203). When it is determined in this step S203 that the selection of the defense device 1B has not been accepted, the vending machine 61 determines whether or not a cancel operation has been performed by the user 63 (step S204), and the cancel operation has not been performed. When it is determined that there is not, the process returns to step S203 to wait for acceptance of selection of the defense device 1B. If it is determined in step S204 that the user 63 has performed a cancel operation, the vending machine 61 returns the input fee and ends the processing operation.

  When it is determined in step S203 that the selection of the defense device 1B has been accepted, the vending machine 61 captures the user 63 with the camera 614 (step S206), and the captured image information and the user 63 select it. The device ID of the defense device 1B is transmitted to the defense device 1B (step S207). Next, the vending machine 61 transmits the activation information including the device ID of the defense device 1B selected by the user 63 to the defense device 1B (step S208), and ends the processing operation.

  According to the third embodiment, the user 63 can receive a defense service against disturbances such as rainfall by the defense device 1B simply by charging a fee with the vending machine 61. Then, according to the third embodiment, there is no need to hold an umbrella or the like, such as when holding a baggage purchased at a shopping center or a souvenir from a theme park in both hands. It is very convenient because you can move to the car in the parking lot without getting wet in the rain.

  In the third embodiment described above, the vending machine 61 images the user 63 with the camera 614 and sends the captured image to the defense device 1B. However, the activation information is sent from the vending machine 61. The received defense device 1B jumps to the position of the vending machine 61, images the user 63 in front of the vending machine 61 with the object camera 109, and captures the captured image information in the object image storage unit 118. By memorizing, the user 63 may be recognized as a moving object to be followed.

[Fourth Embodiment]
The third embodiment is protection against disturbance in movement to a car parked in a parking lot when returning from a shopping center or a theme park. In contrast, in the fourth embodiment, when a disturbance such as rainfall occurs even when a car arrives at a shopping center or a theme park and a car is parked in the parking lot, the disturbance protection service is concerned. It is an example when it is possible to receive.

  FIG. 14 is a diagram illustrating a schematic configuration example of the entire defense system according to the fourth embodiment, and the example of FIG. 14 is an example of a shopping center.

  In the example of FIG. 14, a shopping center building 70 is provided with a base 71 of the defense device 1C and a communication device 72. And each parking space of a parking lot is provided with the parking sensor apparatus 73 which detects that the car was parked in each parking space. When the parking sensor device 73 detects that the vehicle is parked in the parking space monitored by the own device, the parking sensor device 73 transmits a parking detection signal including a device ID as identification information of the own device to the communication device 72.

  The communication device 72 stores table information indicating the correspondence between the position information of each parking space in the parking lot and the device ID of the parking sensor device 73 installed in each parking space. And if the communication apparatus 72 receives the parking detection signal containing the apparatus ID from the parking sensor apparatus 73, the positional information on the parking sensor apparatus 73 which has sent the parking detection signal with reference to the stored table information Is detected. Then, the communication device 72 transmits activation information including the detected position information as the position information of the follow-up start position by designating one of the defense devices 1C waiting on the base 71.

  The defense device 1C that has received the activation information activates, extracts position information included in the activation information, and flies to the parking space of the position information. Then, hovering over the user who gets off from the car parked in the parking space, the user is imaged by the object camera 109, the captured image information is stored in the object image storage unit 118, Stored as captured image information of a moving object to be followed.

  Then, the defense device 1 </ b> C travels while following the movement of the user while defending against disturbances such as rain. When the user enters the building 70 of the shopping center and confirms that the disturbance has not entered, the defense device 1C returns to the base 71 and the captured image information stored in the object image storage unit 118. To return to the standby mode.

  In the configuration of the defense device 1C in the fourth embodiment, the tracking start position storage unit 1112 of the memory unit 111 stores the position information acquired from the communication device 72 as the position information of the tracking start position, and enters the standby state. When returning, the position information stored in the follow-up start position storage unit 1112 is erased. Other configurations are substantially the same as those of the defense device 1B of the example described as a modification in the third embodiment.

[Fifth Embodiment]
In the fourth embodiment, the defense device 1C is a device that flies and moves autonomously. However, the defense device is not a flight movement, but a device that moves along, for example, a rail suspended in the air. But you can. FIG. 15 is a diagram for explaining a configuration example of a defense system according to the fifth embodiment using the defense device 1D having such a configuration. In the example of FIG. 15, similarly to the defense system of the fourth embodiment shown in FIG. 14, a user of a car parked in a parking lot of a shopping center can use a defense device 1 </ b> D to protect against a disturbance such as rainfall. Is the case.

  FIG. 15A is a view of the parking lot seen from above, and FIG. 15B is a view of the parking lot seen from the horizontal direction. Further, FIG. 15C is a diagram for describing a driving method of the defense device 1D.

  As shown in FIGS. 15A and 15B, a rail 74 is disposed so as to cross each parking space of the parking lot from the vicinity of the building 70 of the shopping center. The rail 74 is supported by a support column 75 at an appropriate position. As shown in FIG. 15 (B), the defense device 1D is suspended from the rail 74 by a support arm 76, and an umbrella portion 6D and a sliding movement drive control unit 3D are provided below the support arm 76. Is provided.

  FIG. 15C is for explaining the cross section of the rail 74 and the sliding movement mechanism 77 provided at the tip of the support arm 76 housed in the rail 74. As shown in FIG. 15C, the rail 74 is a cylindrical body having a hollow inside and a substantially square cross section, and a slit in which the support arm 76 can move along the rail 74 below. 74a.

  The sliding movement mechanism portion 77 provided at the tip of the support arm 76 includes wheels 772 and 773 at both ends of the axle 771 and an axle rotation portion 774 provided at a connection portion between the support arm 76 and the axle 771. Is provided. In the axle rotating part 774, although not shown, the driving force of the sliding movement drive control unit 3D is transmitted to the sliding movement mechanism part 77 through a link mechanism provided inside the support arm 76, and this sliding movement is performed. The axle 771 is configured to be rotated in the forward direction and the reverse direction by the moving mechanism 77. Since the sliding movement mechanism unit 77 can be configured using a well-known technique, a detailed description thereof is omitted here.

  The sliding movement drive control unit 3D of the defense device 1D has a function of performing wireless transmission with the communication device 72 provided on the building 70 side of the shopping center, and receives activation information from the communication device 72. Then, autonomously moving forward (moving in the direction from the shopping center building 70 to the parking lot) and moving backward (moving in the direction from the parking lot to the shopping center building 70).

  The electrical configuration of the sliding movement drive control unit 3D of the defense device 1D of the fifth embodiment is different from that of the defense device 1C of the fourth embodiment described above, instead of the aerial flight mechanism unit 2 of the defense device 1C. In addition, since the sliding movement mechanism 77 is provided in the defense device 1D, the difference is that a sliding movement drive unit is provided instead of the aerial flight drive unit 102 of the defense device 1C. The other structures are almost the same except that the mechanism for controlling the angle and the inclination direction is different. In addition, since the mechanism which controls the inclination angle and inclination direction of umbrella part 6D can use a well-known mechanism, the description is abbreviate | omitted here.

  In the example of FIG. 15, as shown in FIGS. 15A and 15B, when the user's vehicle is parked in any of the parking spaces, the parking sensor device 73 in the parking space Detects that the vehicle is parked in the parking space monitored, and transmits a parking detection signal including a device ID as identification information of the device itself to the communication device 72.

  When the communication device 72 receives a parking detection signal including the device ID from the parking sensor device 73, the communication device 72 refers to the stored table information and detects the position information of the parking sensor device 73 that has sent the parking detection signal. To do. And the communication apparatus 72 attaches the starting information which contains the detected positional information as the positional information on a follow-up start position to one of the defense apparatuses 1D which are mounted on the rail 74 arranged in the parking space and are on standby. Specify and send.

  The defense device 1 </ b> D that has received the activation information is activated, extracts position information included in the activation information, and slides along the rail 74 in the parking space of the position information. And it waits in the sky of the user who gets off from the car parked in the parking space, images the user with the object camera 109, and the captured image information is stored in the object image storage unit 118. Stored as captured image information of a moving object to be followed.

  Then, the defense device 1D slides while following the movement of the user while protecting against disturbances such as rain. At this time, the defense device 1D controls the position and posture of the umbrella portion 6D in the same manner as described above so that the protection of the disturbance to the moving object is appropriate. When the user enters the building 70 of the shopping center and confirms that the user has entered an area where disturbance does not reach, the defense device 1D returns to a predetermined base position and captures the image stored in the object image storage unit 118. Delete the image information and return to standby mode. Then, the defense device 1D deletes the position information of the parking space acquired from the communication device 72 stored in the follow-up start position storage unit 1112 of the memory unit 111.

  In the example of FIG. 15, the rail 74 is laid and the defense device 1D is autonomously moved along the rail 74. However, in order to autonomously move the defense device, Alternatively, it may be configured to move forward and backward by pulling with a rope or the like. In that case, the communication control device sends a drive control signal to the rope traction drive device that pulls the rope suspended on the defense device. Then, the rope traction drive device is configured to acquire imaging information from the object camera 109 from the defense device, and to drive and control the defense device while monitoring the imaging information. In this example, the defense device itself may be provided with a mechanism for controlling the position and posture of the umbrella.

[Sixth Embodiment]
In the embodiment described above, rain or snow is assumed as the disturbance. However, as described above, the disturbance to be protected by the defense device may be sunlight, ultraviolet rays, or the like. The sixth embodiment to be described below is an example of a defense device for protecting a user from sunlight and ultraviolet rays on a poolside or a beach sandy beach.

  FIG. 16 is a diagram illustrating a configuration example of the defense system according to the sixth embodiment. This example is a case where the defense device 1E according to the embodiment is used as a sunshade parasol provided on the poolside.

  That is, as shown in FIG. 16, in the sixth embodiment, a plurality of deck chairs 82 are installed on the pool side around the pool 81. And the base 83 of the defense apparatus 1E is provided accompanying each deck chair 82. FIG. The base 83 has a configuration in which a landing base 832 made of a flat plate of a size that allows the defense device 1E to land on the support 831.

  The defense device 1E has the same configuration as that shown in FIG. 10, and is activated by receiving activation information. However, in the sixth embodiment, the base position storage unit 1111 of the memory unit 111 stores the position information of the position of the base 83 of each defense device 1E, and the follow-up start position storage unit 1112 stores the position information. The position information of each base 83 is stored. And the umbrella part 6E of the defense apparatus 1E is comprised by the magnitude | size which can protect the whole user 84 who sits on each deck chair 82 or lies down from solar radiation and an ultraviolet-ray. And the position and orientation control signal generation part 116 of the defense apparatus 1E is equipped with the attitude | position control function which can carry out change control of the inclination direction and inclination angle of the umbrella part 6E according to the position of the sun, and at the time of rain etc. Has a function of controlling the position and posture so as to be appropriate for preventing the rain. As a mechanism for attitude control of the umbrella 6E, the fifth embodiment described above is performed in a state where the umbrella 6E is positioned at the base 83, instead of performing attitude control in the flight state as in the first embodiment. Similarly to the embodiment, it may be configured such that the attitude control of the umbrella portion 6E can be performed.

  In the sixth embodiment, each of the deck chairs 82 is provided with an activation information transmission device 85 for the defense device 1E. The transmitting device 85 is connected to a sensor that detects that the user 84 is sitting or lying on the deck chair 82, and the user 84 is sitting or lying on the deck chair 82 with the sensor. When this is detected, activation information for the defense device 1E is transmitted. In this example, a sensor that detects the pressure applied to the deck chair 82 is used as the sensor connected to the transmission device 85. However, since the sensor connected to the transmission device 85 only needs to be able to detect the user 84 using the deck chair 82, it may be a human sensor.

  The defense device 1E receives the activation information from the transmission device 85, activates it, images the user 84 with the object camera 109, and follows the captured image information of the moving object to be moved. The captured image information is stored in the object image storage unit 118.

  Therefore, as shown in FIG. 16, when the user 84 moves away from the deck chair 82, the defense device 1E moves in flight following the movement. Then, when the defense device 1E detects a state in which the user 84 enters the room and the sunlight as a disturbance does not reach the user 84, the defense device 1E returns to the base 83 of the own device and stores it in the object image storage unit 118. The user's captured image information is deleted.

In the case of this example, when the user 84 is swimming in the pool 81, the defense device 1E operates to cover the sky and block the sun. However, when the user 84 enters the pool 81, it may be configured to return to the base 83 because it is not necessary to defend.
[Other Embodiments or Modifications]
The defense devices of the first to fourth embodiments and the sixth embodiment described above are configured to include the aerial flight mechanism unit 2 having a structure in which an umbrella portion is attached to a so-called quadcopter. Is not limited to the configuration of a quadcopter, and any mechanism may be used as long as it has an umbrella and can hover or fly over a moving object.

  Further, although the moving object is a person in the above-described embodiment, the moving object is not limited to a person, but may be an animal. For example, a baggage that is moved on a carriage that is moved by wireless remote operation. The defense device and defense system of the present invention can also be applied in the case of defense.

  In the above-described embodiment, rain, snow, sunlight, ultraviolet rays, and the like have been described as disturbances. However, any disturbance can be used as long as it can be protected by an umbrella. For example, as described above, rain, snow, hail, hail, hail, sunlight, ultraviolet rays, and dust, dust, smoke, exhaust gas, volcanic ash, pollen, and the like can be used as disturbances to be protected.

  In the first embodiment to the third embodiment, the trigger for generating the activation information of the defense device has been described as an example in which a user or a staff member performs a button operation. Activation information may be transmitted in response to an operation or a gesture operation.

  Further, in the above-described embodiment, when it is detected that the disturbance has not been reached or the building has been entered, the defense device determines that the follow-up movement has ended. However, the present invention is not limited thereto, and the rain sensor detects rain, snow, hail. It may be determined that the follow-up movement has ended by detecting that there is no disturbance for a predetermined time or more with a disturbance detection sensor, such as detecting that 霙, 霙 has stopped. In addition, as a disturbance detection sensor, if the disturbance is sunlight, it is an optical sensor, if it is ultraviolet, it is an ultraviolet sensor, if it is dust or dust, it is a dust sensor, if it is smoke, it is a smoke sensor, if it is exhaust gas, it is a gas sensor, if it is volcanic ash A particle sensor for volcanic ash is used. In the case of pollen, a pollen sensor is used.

DESCRIPTION OF SYMBOLS 1,1A-1E ... Defense apparatus, 2 ... Aerial flight mechanism part, 3 ... Drive control unit, 5A-5D ... Propeller mechanism, 6, 6D, 6E ... Umbrella part, 10 ... Drive control apparatus part

Claims (25)

A defense device that flies in the air following the moving object so as to protect the moving object from a predetermined disturbance, a sensor device that detects that the moving object has arrived at a defense start position, and the defense device A defense system comprising a communication device for transmitting activation information to
The sensor device includes:
When it is detected that the moving object has arrived at the defense start position, a detection signal is transmitted to the communication device,
The communication device
When the detection signal is received from the sensor device, the position information of the defense start position detected by the sensor device is acquired based on the detection signal, and the position information of the acquired defense start position is included. Sending the activation information to the defense device;
The defense device is:
An umbrella for protecting the moving object from the predetermined disturbance by covering the sky of the moving object;
An air moving mechanism for moving the umbrella part in the air;
An aerial movement drive unit for driving the aerial movement mechanism to autonomously move the umbrella part in the air;
A communication unit that receives the activation information from the communication device;
An imaging unit for imaging the moving object;
A control unit;
With
The controller is
Means for activating the device itself by receiving the activation information from the communication device;
Extracting means for extracting the position information included in the received activation information;
Means for controlling the air movement drive unit to move the device to the defense start position corresponding to the position information extracted by the extraction means by the air movement mechanism;
Means for storing captured image information obtained by imaging the moving object by the imaging unit at the defense start position as stored image information of the moving object;
By controlling the aerial movement drive unit to follow the movement of the moving object based on the stored image information of the moving object and the imaged image information obtained by imaging the moving object by the imaging unit. Follow-up movement means for controlling the object to be protected from the predetermined disturbance even during movement of the moving object by the umbrella unit;
A defense system characterized by comprising. When the sensor device detects that the moving object has arrived at the defense start position, the sensor device transmits a detection signal including identification information of the device itself to the communication device,
The communication device stores the identification information of the sensor device in association with position information of the defense start position detected by the sensor device, and when the detection signal is received from the sensor device, The defense system according to claim 1, wherein the position information stored in correspondence with the identification information included in the detection signal is acquired as position information of the defense start position detected by the sensor device. . The said defense start position of the said moving target object is provided with two or more, The said sensor apparatus is provided in each of the said some said defense start position. The claim 1 or Claim 2 characterized by the above-mentioned. Defense system. The defense system according to any one of claims 1 to 3, wherein the defense device waits at a predetermined base and monitors reception of activation information from the communication device. The control unit of the defense device includes:
When it is detected that the moving object enters an area where the disturbance does not reach based on a captured image of the imaging unit, control is performed so as to end the follow-up movement of the moving object. The defense system in any one of Claims 1-4. The control unit of the defense device includes:
The control is performed so as to return to the base when it is detected that the moving object has entered an area where the disturbance does not reach based on a captured image of the imaging unit. A defense system according to any of the above. The control unit of the defense device includes:
The stored image information of the moving object is erased when it is detected that the moving object has entered an area where the disturbance does not reach based on a captured image of the imaging unit. The defense system according to claim 6. Comprising one or more disturbance detection sensors for detecting disturbances;
The control unit of the defense device includes:
Control is performed so as to end the follow-up movement of the moving object when it is detected that the presence of the disturbance does not exist for a predetermined time or more based on detection outputs of the one or more disturbance detection sensors. The defense system in any one of Claims 1-4. Comprising one or more disturbance detection sensors for detecting disturbances;
The control unit of the defense device includes:
The control is performed so as to return to the base when it is detected that the presence of the disturbance does not exist for a predetermined time or longer based on detection outputs of the one or more disturbance detection sensors. A defense system according to any of claims 3, 4 or 8. Comprising one or more disturbance detection sensors for detecting disturbances;
The control unit of the defense device includes:
The stored image information of the moving object is erased when it is detected that the presence of the disturbance does not exist for a predetermined time or more based on the detection output of the one or more disturbance detection sensors. The defense system according to claim 2, claim 3, claim 4, claim 8, or claim 9. The disturbance detection sensor is
Rain sensor that makes rain, snow, hail, hail, hail disturbance, light sensor that makes sunlight disturbance, ultraviolet sensor that makes ultraviolet light disturbance, dust sensor that makes dust and dust disturbance, smoke sensor that makes smoke disturbance, The defense according to any one of claims 8 to 10, wherein the exhaust gas is a gas sensor having a disturbance, a volcanic ash particle sensor having a volcanic ash disturbance, and / or a pollen sensor having a pollen disturbance. system. The air moving mechanism comprises a flying body mechanism that follows the moving object and flies in the air so as to protect the moving object from the predetermined disturbance. A defense system according to any one of the above. The aerial moving mechanism includes a moving body mechanism that follows a moving object and moves using a predetermined rail or rope so as to protect the moving object from the predetermined disturbance. The defense system in any one of Claims 1-11. The control unit controls the position and / or posture of the umbrella unit in the sky according to the amount, strength, and / or direction of the disturbance reaching the moving object. It has a control means. The defense system in any one of Claims 1-13 characterized by the above-mentioned. The moving object is a person who gets off the parked car,
The defense start position is a parking space of the automobile,
The sensor device detects that the moving object has arrived at the defense start position by detecting that the automobile is parked in the parking space. The protection system described in Crab. A defense device that flies in the air following the moving object so as to protect the moving object from a predetermined disturbance, a sensor device that detects that the moving object has arrived at a defense start position, and the defense device The sensor device transmits a detection signal to the communication device when the sensor device detects that the moving object has arrived at the defense start position, and the communication device When the detection signal is received from the sensor device, the position information of the defense start position detected by the sensor device is acquired based on the detection signal, and the position information of the acquired defense start position is obtained. The defense device in a defense system that transmits the activation information including the defense information to the defense device,
An umbrella for protecting the moving object from the predetermined disturbance by covering the sky of the moving object;
An air moving mechanism for moving the umbrella part in the air;
An aerial movement drive unit for driving the aerial movement mechanism to autonomously move the umbrella part in the air;
A communication unit that receives the activation information from the communication device;
An imaging unit for imaging the moving object;
A control unit;
With
The controller is
Means for activating the device itself by receiving the activation information from the communication device;
Extracting means for extracting the position information included in the received activation information;
Means for controlling the air movement drive unit to move the device to the defense start position corresponding to the position information extracted by the extraction means by the air movement mechanism;
Means for storing captured image information obtained by imaging the moving object by the imaging unit at the defense start position as stored image information of the moving object;
By controlling the aerial movement drive unit to follow the movement of the moving object based on the stored image information of the moving object and the imaged image information obtained by imaging the moving object by the imaging unit. Follow-up movement means for controlling the object to be protected from the predetermined disturbance even during movement of the moving object by the umbrella unit;
A defense apparatus comprising: The defense device according to claim 16, wherein the defense device waits for a predetermined base and monitors reception of activation information from the communication device. The controller is
When it is detected that the moving object enters an area where the disturbance does not reach based on a captured image of the imaging unit, control is performed so as to end the follow-up movement of the moving object. Item 18. The defense device according to item 16 or claim 17. The controller is
The control is performed so as to return to the base when it is detected that the moving object has entered an area where the disturbance does not reach based on a captured image of the imaging unit. The defense apparatus in any one of. The controller is
The stored image information of the moving object is erased when it is detected that the moving object enters an area where the disturbance does not reach based on a captured image of the imaging unit. The defense device according to claim 19. Comprising one or more disturbance detection sensors for detecting disturbances;
The controller is
Control is performed so as to end the follow-up movement of the moving object when it is detected that the presence of the disturbance does not exist for a predetermined time or more based on detection outputs of the one or more disturbance detection sensors. Item 18. The defense device according to item 16 or claim 17. The disturbance detection sensor is
Rain sensor that makes rain, snow, hail, hail, hail disturbance, light sensor that makes sunlight disturbance, ultraviolet sensor that makes ultraviolet light disturbance, dust sensor that makes dust and dust disturbance, smoke sensor that makes smoke disturbance, The defense device according to claim 21, wherein the defense device is a gas sensor using disturbance of exhaust gas, a particle sensor for volcanic ash using disturbance of volcanic ash, and / or a pollen sensor using disturbance of pollen. The airborne mechanism comprises an aircraft mechanism that follows the moving object and flies in the air so as to protect the moving object from the predetermined disturbance. The defense apparatus in any one. The aerial moving mechanism includes a moving body mechanism that follows a moving object and moves using a predetermined rail or rope so as to protect the moving object from the predetermined disturbance. Item 23. The defense device according to any one of items 16 to 22. The control unit controls the position and / or posture of the umbrella unit in the sky according to the amount, strength, and / or direction of the disturbance reaching the moving object. It has a control means. The defense apparatus in any one of Claims 16-24 characterized by the above-mentioned.

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