JP6841168B2 - Voice arrival confirmation system and voice arrival confirmation method - Google Patents

Description

The present invention relates to a voice arrival confirmation system and a voice arrival confirmation method used for confirming the arrival status of voice output from a speaker.

When the dam is released, there is a discharge warning device that warns that the river will rise in order to evacuate people downstream of the dam. The discharge alarm device is equipped with a plurality of speakers, and warns that the river will rise by emitting a warning sound from each speaker. Therefore, it is necessary to install a plurality of speakers so that the sound reaches the entire area of the river. Conventionally, the speaker installed in the discharge alarm device was designed on the desk, and then it was confirmed whether the worker actually entered the river and reached the entire required range of voice.

As a related technique, conventionally, for example, the transmission of the alarm sound is normal depending on whether or not the master station that has transmitted the alarm sound has received the sounding information indicating the transmission of the alarm sound in the slave station installed at the most downstream. / There was a technique for displaying anomalies (see, for example, Patent Document 1 below). Further, conventionally, for example, there has been a technique of capturing the output sound of a siren and a speaker collected by a sound collecting microphone and detecting normality / abnormality by comparing with a specified value (for example, Patent Document 2 below). reference.).

Japanese Unexamined Patent Publication No. 2012-198618 Japanese Unexamined Patent Publication No. 2001-236587

However, in the above-mentioned conventional technique, in a wide range of river basins, it is necessary for a plurality of workers to move and check the arrival of voice and the arrival volume, so that the work time becomes long and many workers. There was a problem that was required. Further, in the above-mentioned conventional technique, since the worker needs to enter the river to work, it is required to ensure the safety of the worker.

In addition, since it is not easy to change the height and position of the speaker with the above-mentioned conventional technology, it is difficult to make fine adjustments when confirming the arrival of voice and the arrival volume at the site, and a small review is performed. In some cases, there was a problem that the work time became long.

In this invention, in order to solve the problems caused by the above-mentioned prior art, it is possible to secure the safety of the worker involved in the voice arrival confirmation work, shorten the work time, and reduce the number of workers. The purpose is to provide a system and a voice arrival confirmation method.

In order to solve the above-mentioned problems and achieve the object, the voice arrival confirmation system according to the present invention is equipped with a test speaker that outputs a test voice, and a planned installation position of an alarm speaker that outputs a discharge warning sound. The first unmanned aircraft that outputs the test voice and a microphone are mounted in the above, and the voice for the test is detected by the microphone in the voice arrival range determined for each planned installation position, and the voice is detected. It is characterized by being equipped with a second unmanned aircraft that outputs information on the detection result in the planned reach range.

Further, in the above invention, the voice arrival confirmation system according to the present invention determines the height of the microphone when the second unmanned aerial vehicle has a position where the voice for the test cannot be detected in the planned voice arrival range. The feature is that the detection is performed again after the change.

Further, in the voice arrival confirmation system according to the present invention, in the above invention, the first unmanned aerial vehicle detects the voice for the test in the planned voice arrival range based on the detection result of the voice for the test. If there is a position where the test speaker cannot be used, the height of the test speaker is changed, and the test sound is output again.

Further, in the above invention, the voice arrival confirmation system according to the present invention determines that the first unmanned aerial vehicle determines the next planned installation position based on the information output from the second unmanned aerial vehicle. It is a feature.

Further, in the voice arrival confirmation system according to the present invention, in the above invention, the second unmanned aerial vehicle determines the next planned installation position based on the detection result of the voice for the test, and is determined next. It is characterized by outputting information on the planned installation position of.

Further, the voice arrival confirmation system according to the present invention is described in the above invention at the next planned installation position determined by the first unmanned aerial vehicle based on the information output from the second unmanned aerial vehicle. The test voice is output, and the second unmanned aerial vehicle outputs information regarding the detection result of the test voice in the planned voice arrival range determined for each next planned installation position.

Further, in the voice arrival confirmation system according to the present invention, in the above invention, when the voice for the test detected by the second unmanned aerial vehicle in the planned voice arrival range does not reach a predetermined reference value. It is characterized by being equipped with a recording device for recording.

Further, the voice arrival confirmation method according to the present invention is for the test from a first unmanned aircraft equipped with a test speaker that outputs a test voice at a planned installation position of a warning speaker that outputs a discharge warning sound. A second unmanned aircraft equipped with a microphone outputs voice, detects the voice for the test by the microphone in the planned voice arrival range determined for each planned installation position, and detects the voice in the planned voice arrival range. Based on the information about the result, the next planned installation position is determined, and at the determined next planned installation position, the test voice is output from the first unmanned aircraft, and the second unmanned aircraft outputs the test voice. It is characterized in that the voice for the test is detected by the microphone in the planned voice arrival range determined for each of the following planned installation positions.

According to the voice arrival confirmation system and the voice arrival confirmation method according to the present invention, it is possible to ensure the safety of workers involved in the voice arrival confirmation work, shorten the work time, and reduce the number of workers. Play.

It is explanatory drawing which shows the system structure of the voice arrival confirmation system of embodiment which concerns on this invention. It is explanatory drawing which shows the hardware composition of an unmanned aerial vehicle. It is explanatory drawing which shows the functional structure of the voice arrival confirmation system. It is a flowchart which shows the processing procedure of a voice arrival confirmation system.

Hereinafter, preferred embodiments of the voice arrival confirmation system and the voice arrival confirmation method according to the present invention will be described in detail with reference to the accompanying drawings.

(System configuration of voice arrival confirmation system)
First, the system configuration of the voice arrival confirmation system of the embodiment according to the present invention will be described. FIG. 1 is an explanatory diagram showing a system configuration of a voice arrival confirmation system according to an embodiment of the present invention.

In FIG. 1, the voice arrival confirmation system 100 of the embodiment according to the present invention is composed of a plurality of unmanned aerial vehicles 110. The unmanned aerial vehicle 110 can be realized by a so-called drone aircraft equipped with a plurality of propellers 111. Specifically, the unmanned aerial vehicle 110 can be realized by various multicopters such as a quadcopter equipped with four propellers 111, a hexacopter equipped with six propellers 111, and an octocopter equipped with eight propellers 111. it can.

Of the plurality of unmanned aerial vehicles 110, at least one is equipped with a test speaker 112 that outputs a test voice. In this embodiment, the unmanned aerial vehicle 110 equipped with the test speaker 112 realizes the first unmanned aerial vehicle according to the present invention.

The unmanned aerial vehicle 110 equipped with the test speaker 112 outputs the test voice from the planned installation position of the alarm speaker 101 during the voice arrival confirmation work. The voice for the test is different from the so-called discharge warning sound at the time of discharging the water stored in the dam reservoir 102 downstream, and specifically, the siren sound or the "test of the discharge warning now". It can be realized by guidance voice such as "inside".

A plurality of alarm speakers 101 need to be installed in the voice reach required range 103 or around the voice reach required range 103 so that the discharge warning sound reaches the entire area of the voice reach required range 103. Among the alarm speakers 101, the planned installation position of the alarm speaker 101a set on the most upstream side (dam side) is determined in advance by the design on the desk.

Among the alarm speakers 101, the planned installation position of the alarm speaker 101b other than the alarm speaker 101a can be determined by using the voice arrival confirmation system 100. The planned installation position of the alarm speaker 101b may be approximately determined in advance by the design on the desk.

Among the plurality of unmanned aerial vehicles 110, the unmanned aerial vehicle 110 different from the unmanned aerial vehicle 110 that realizes the first unmanned aerial vehicle is equipped with the microphone 113. In this embodiment, the unmanned aerial vehicle 110 equipped with the microphone 113 realizes the second unmanned aerial vehicle according to the present invention. The unmanned aerial vehicle 110 equipped with the microphone 113 flies in the preset voice arrival planned range 104 and detects the test voice in the voice arrival scheduled range 104 at the time of the voice arrival confirmation work.

The planned voice arrival range 104 is a range in which the voice output from the alarm speaker 101 is scheduled to arrive, and is determined by the installation position and the installation state (voice output direction) of the alarm speaker 101. The planned voice reach range 104 can be roughly located and widened by the design on the desk for each of the alarm speakers 101 installed in various places. The voice reachable range 104 extends in front of each alarm speaker 101.

When the discharge warning sounds are output from all the warning speakers 101, the plurality of warning speakers 101 may be installed so that the discharge warning sounds reach the entire area of the voice reach required range 103, and each of them may be installed. The voice arrival schedule range 104 may overlap with the adjacent voice arrival schedule range 104, for example.

Further, while the plurality of alarm speakers 101 need to be installed so as to reach the entire area of the required voice reach range 103, in order to avoid noise problems for residents in the basin of the river 105, the riverbed in the river 105 ( It is preferable to install so that the discharge warning reaches only a limited area such as a low water channel and a high water area). From such a background, the voice reach required range 103 is limited to a riverbed, a river area in which a bank is added to the riverbed, and the like. Therefore, each alarm speaker 101 needs to be installed so that each voice arrival planned range 104 does not deviate significantly from the outer shell of the voice reach required range 103.

In the voice arrival confirmation work, the range in which the unmanned aerial vehicle 110 that realizes the second unmanned aerial vehicle performs the voice arrival confirmation for the test may be a range that overlaps with the voice arrival scheduled range 104 required by the desk design. , It may overlap with the voice arrival schedule range 104 and be slightly wider than the voice arrival schedule range 104. By confirming the arrival of the test voice in a range slightly wider than the planned voice arrival range 104, in addition to the voice reaching, does the discharge warning sound deviate significantly from the outer shell of the voice arrival required range 103? Can be confirmed.

The microphone 113 is preferably provided at a position separated from the propeller 111 of the unmanned aerial vehicle 110 by a predetermined distance or more. Specifically, for example, by attaching a wire 113a or the like to the main body of the unmanned aerial vehicle 110 and suspending the microphone 113 by the wire 113a, the microphone 113 can be separated from the propeller 111 by a predetermined distance or more. As a result, when detecting the test voice, it is possible to prevent the microphone 113 from detecting noise such as wind noise due to the rotation of the propeller 111, and it is possible to detect the test voice with high accuracy.

The wire 113a may be configured to be attached to the main body of the unmanned aerial vehicle 110 via an electric reel or the like (not shown). As a result, the wire 113a can be wound up and the microphone 113 can be kept close to the main body of the unmanned aerial vehicle 110 while the unmanned aerial vehicle 110 moves to the site of the voice arrival confirmation work, and the wire 113a is caught in the surroundings during the movement and is unmanned. It is possible to prevent the aircraft 110 from being damaged.

The unmanned aerial vehicle 110 that realizes the second unmanned aerial vehicle outputs information regarding the detection result of the test voice in the planned voice reach range 104. The detection result of the test voice indicates, for example, whether or not the test voice having a magnitude equal to or larger than a predetermined reference value is detected in the entire area of the planned voice arrival range 104. The predetermined reference value is set to such a magnitude that the discharge warning sound can be recognized as a discharge warning when a human hears it.

Alternatively, the test voice detection result may indicate, for example, the detection position of the test voice and the loudness of the test voice detected at the detection position. The voice detection position for the test includes, for example, GNSS (Global Navigation Satellite System) data and sea level. GNSS data can be realized, for example, by GPS coordinates. GPS coordinates indicate latitude and longitude. Above sea level indicates the height relative to the average sea level (0 meters above sea level) at a port near the position specified by GPS coordinates.

Alternatively, the detection result of the test voice is, for example, at the detection position (GNSS data) in which the test voice having a size equal to or larger than the reference value could not be detected in the planned voice arrival range 104, and at the detection position. The loudness of the detected test voice may be indicated.

Each of the plurality of unmanned aerial vehicles 110 may be equipped with a test speaker 112 and a microphone 113. In this case, the first unmanned aerial vehicle is realized by the unmanned aerial vehicle 110 that outputs the test voice, and the second unmanned aerial vehicle is realized by the unmanned aerial vehicle 110 that detects the test voice. In this embodiment, an example in which each of the plurality of unmanned aerial vehicles 110 is equipped with the test speaker 112 and the microphone 113 will be described below.

The voice arrival confirmation system 100 includes a terminal device that communicates with the unmanned aerial vehicle 110 (see FIG. 3). The terminal device includes a communication means for communicating with the unmanned aerial vehicle 110, a display for displaying information based on the communication result by the communication means, an input means for receiving an input operation to the operation terminal, and the like. Specifically, the terminal device can be realized by, for example, a personal computer, a tablet terminal, a smartphone, or the like.

The terminal device may communicate with the unmanned aerial vehicle 110 via a network such as the Internet, or may directly communicate with the unmanned aerial vehicle 110. By communicating with the unmanned aerial vehicle 110, the terminal device outputs a control signal to the unmanned aerial vehicle 110 and receives various information output from the unmanned aerial vehicle 110.

(Hardware configuration of unmanned aerial vehicle 110)
Next, the hardware configuration of the unmanned aerial vehicle 110 will be described. FIG. 2 is an explanatory diagram showing a hardware configuration of the unmanned aerial vehicle 110. In FIG. 2, the unmanned aerial vehicle 110 is composed of a motor 211, a microphone 113, a test speaker 112, a GPS (Global Positioning System) receiver 212, a radio 213, and a control circuit 214.

The motor 211 is controlled by the control circuit 214 and rotates to rotate the propeller 111. Specifically, as the motor 211, for example, a brushless motor in which the rotor is a permanent magnet and the stator is a coil can be used.

When the unmanned aerial vehicle 110 includes an electric reel, the control circuit 214 also controls a motor that rotates the electric reel in the forward and reverse directions. For example, the electric reel rotates in the direction of feeding out the wire 113a when controlled to rotate in the forward direction, and rotates in the direction of winding up the wire 113a when controlled to rotate in the reverse direction.

The test speaker 112 outputs test audio by, for example, digitally / analog-converting digital-format test audio data and energizing a coil in the speaker cone based on the analog-format audio data.

The microphone 113 converts the voice input as analog data into an electric signal. Specifically, the microphone 113 performs analog / digital conversion of an analog audio signal input as analog data to generate audio data in a digital format.

The GPS receiver 212 includes a GPS antenna, an RF (Radio Frequency) unit, a baseband unit, and the like. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the unmanned aerial vehicle 110 based on the baseband signal demodulated by the RF unit.

The current position of the unmanned aerial vehicle 110 can be identified by positioning based on radio waves transmitted from a plurality of GPS satellites. The baseband unit calculates the distances to each of the four GPS satellites, and performs positioning by calculating the position where each distance intersects with one. Unmanned aircraft using satellite positioning systems such as Michibiki, GLONASS, and Galileo instead of GPS, which determines the geometrical position of GPS satellites and unmanned aircraft 110 based on radio waves received from GPS satellites. The current position of 110 may be specified.

The radio 213 includes an antenna, an RF unit, and a baseband unit. The antenna receives electromagnetic waves and converts them into electrical signals. Further, the antenna converts the electric signal output from the control circuit 214 into an electromagnetic wave. The RF section demodulates the unmodulated analog signal received by the antenna into a baseband signal. Further, the RF unit performs signal processing of the analog signal that is D / A converted and output from the baseband unit, and outputs the signal to the antenna.

The baseband section outputs the baseband signal demodulated by the RF section to the control circuit. Further, the baseband section outputs various information output from the control circuit to the RF section. The radio 213 may further include a filter for removing unnecessary components and an amplifier such as an LNA (Low Noise Amplifier) or a power amplifier PA (Power Amplifier).

The control circuit 214 is composed of a CPU, a memory, and the like, and drives and controls each part of the unmanned aerial vehicle 110. Specifically, the control circuit 214 includes, for example, a flight controller, an ESC (Electronic Speed Controller), and the like. The control circuit 214 may further include a BEC (Battery Elimination Circuit) or a UBEC (Universal BEC).

The flight controller performs calculations related to rotation control of the motor 211 and outputs a control signal. The ESC rotates and controls the motor 211 based on the control signal output from the flight controller. During the flight of the unmanned aerial vehicle 110, the flight controller detects the inclination of the unmanned aerial vehicle 110 and repeats the calculation, and recursively outputs the control signal to the motor 211.

The flight controller outputs a control signal for controlling the rotation direction and the rotation speed of the propeller 111 (motor 211 of the propeller 111) to the ESC. Specifically, for example, the rotation of the unmanned aerial vehicle 110 is prevented by outputting a control signal for controlling the adjacent propellers 111 to rotate in the reverse direction. Further, for example, the unmanned aerial vehicle 110 is advanced by controlling the front propeller 111 to rotate slower than the rear propeller 111. Further, for example, the unmanned aerial vehicle 110 is turned to the right by controlling the propeller 111 on the right side to rotate slower than the propeller 111 on the left side.

The unmanned aerial vehicle 110 periodically communicates with the terminal device. As a result, the worker who operates the terminal device to confirm the arrival status of the voice during the voice arrival confirmation work grasps the position of each unmanned aerial vehicle 110 even at a position away from the site where the river 105 is located, and each of them It can be confirmed that the unmanned aerial vehicle 110 is operating normally.

When the communication with the terminal device becomes impossible, the unmanned aerial vehicle 110 outputs a control signal so as to automatically return the aircraft to a predetermined reference point. The reference point is, for example, the position of the business establishment to which the worker belongs, and the information about the reference point is stored in, for example, a memory constituting the control circuit 214.

The unmanned aerial vehicle 110 that realizes the first unmanned aerial vehicle 110 is controlled by the flight controller during the voice arrival confirmation work, and first flies to the planned installation position of the alarm speaker 101a. Information regarding the planned installation position of the alarm speaker 101a is stored in advance in, for example, a memory constituting the control circuit 214 before performing the voice arrival confirmation work.

The unmanned aerial vehicle 110, which realizes the second unmanned aerial vehicle, is controlled by a flight controller and sequentially flies over the entire area of the planned voice reach range 104. The flight controller rotates the propeller 111 (motor of the propeller 111) with respect to the ESC so as to sequentially fly the entire area of the planned voice arrival range 104 according to a program preset in the memory constituting the control circuit 214. And outputs a control signal that controls the number of revolutions.

The control circuit 214 can store, that is, record the sound detected by the microphone 113 in the memory. Specifically, the control circuit 214 records when the voice detected by the microphone 113 in the voice arrival confirmation work does not reach a predetermined reference value. The reference value is set based on the loudness of a sound that can be heard by a general human being. The reference value can be arbitrarily set by, for example, the administrator of the voice arrival confirmation system 100. In this embodiment, the function of the recording device according to the present invention can be realized by the control circuit and the microphone 113.

(Functional configuration of voice arrival confirmation system 100)
Next, the functional configuration of the voice arrival confirmation system 100 will be described. FIG. 3 is an explanatory diagram showing a functional configuration of the voice arrival confirmation system 100. In FIG. 3, the functional configuration of the voice arrival confirmation system 100 is realized by the function realized by the first unmanned aerial vehicle 110A and the function realized by the second unmanned aerial vehicle 110B.

The first unmanned aerial vehicle 110A includes a position specifying unit 311, a storage unit 312, a test speaker 112, a motor 211, a communication unit 313, and a control unit 314. The position identification unit 311 identifies the current position of the first unmanned aerial vehicle 110A. Specifically, the function of the position specifying unit 311 can be realized by, for example, the GPS receiver 212 or the control circuit 214 included in the first unmanned aerial vehicle 110A (the unmanned aerial vehicle 110 that realizes the first unmanned aerial vehicle 110A). it can.

The storage unit 312 stores information regarding the planned installation position of the alarm speaker 101 that outputs a discharge alarm sound. The planned installation position of the alarm speaker 101 can be represented by, for example, latitude and longitude. The storage unit 312 stores at least the planned installation position of the alarm speaker 101a set on the most upstream side (dam side) of the planned installation positions of the alarm speaker 101 in advance before the start of the voice arrival confirmation work. It is stored in part 312.

In addition, the storage unit 312 stores information regarding a reference point for automatically returning the first unmanned aerial vehicle 110A. Specifically, the function of the storage unit 312 can be realized by, for example, a CPU or a memory constituting a control circuit.

The test speaker 112 is controlled by the control unit 314 to output the test voice. The test speaker 112 outputs the test sound at a preset predetermined volume. In the voice arrival confirmation system 100, when the volume output by one first unmanned aerial vehicle 110A does not reach a predetermined volume, the test voice is output from each of the plurality of first unmanned aerial vehicles 110A in advance. The test voice can be output at a set predetermined volume.

The motor 211 is controlled by the control unit 314 to rotate the propeller 111. The motor 211 rotates while controlling the rotation speed and the rotation direction of each propeller 111. As a result, it is possible to move to the planned installation position of the alarm speaker 101 and output the test voice while hovering at the planned installation position of the alarm speaker 101.

The communication unit 313 communicates with the second unmanned aerial vehicle 110B. Specifically, the communication unit 313 can be realized by, for example, a radio 213 or a control circuit 214 included in the unmanned aerial vehicle 110 that realizes the first unmanned aerial vehicle 110A. The communication unit 313 acquires, for example, a test voice detection result by communicating with the second unmanned aerial vehicle 110B.

The test voice detection result is, for example, information indicating whether or not a test voice having a size equal to or larger than a predetermined reference value can be detected in the entire area of the planned voice arrival range 104 as described above. It may be information indicating the detection position of the test voice in the entire area of the planned voice arrival range 104 and the loudness of the test voice detected at the detection position.

The control unit 314 raises the height of the test speaker 112 when there is a position where the test voice cannot be detected in the voice arrival range 104 determined for each planned installation position based on the test voice detection result. And output the test audio again. The control unit 314 changes the height of the test speaker 112 so that, for example, the height of the test speaker 112 is higher than that at the time of the previous output of the test audio. The height of the test speaker 112 can be adjusted, for example, by adjusting the flight altitude of the first unmanned aerial vehicle 110A.

The test voice detection result is output from, for example, the second unmanned aerial vehicle 110B. Alternatively, the test voice detection result may be, for example, output from the terminal device 301 that has received the information output from the second unmanned aerial vehicle 110B.

The control unit 314 may determine the next planned installation position based on the information output from the second unmanned aerial vehicle 110B. The second unmanned aerial vehicle 110B moves in the entire area of the planned voice arrival range 104, and confirms whether or not the test voice can be detected in the entire area of the planned voice arrival range 104. Therefore, by determining the next planned installation position by the first unmanned aerial vehicle 110A, the processing load on the second unmanned aerial vehicle 110B can be reduced.

Further, the control unit 314 controls the test speaker 112 and the motor 211 so as to output the test sound at the next planned installation position based on the determined next planned installation position. Specifically, the information regarding the destination in the storage unit 312 is updated so that the second unmanned aerial vehicle 110B moves to the position specified by the GPS coordinates indicating the next planned installation position.

The second unmanned aerial vehicle 110B includes a position specifying unit 321, a storage unit 322, a microphone 113, a motor 211, a communication unit 323, and a control unit 324. The position specifying unit 321 identifies the current position of the second unmanned aerial vehicle 110B, similarly to the position specifying unit 311 included in the first unmanned aerial vehicle 110A. Specifically, the function of the position specifying unit 321 can be realized by, for example, the GPS receiver 212 or the control circuit 214 included in the second unmanned aerial vehicle 110B (the unmanned aerial vehicle 110 that realizes the second unmanned aerial vehicle 110B). it can.

The microphone 113 converts the test voice input as analog data into an electric signal. The motor 211 is controlled by the control unit 324 to rotate the propeller 111. Further, when the unmanned aerial vehicle 110 that realizes the second unmanned aerial vehicle 110B includes an electric reel, it also includes a motor that is controlled by the control unit 324 to rotate the electric reel in the forward and reverse directions.

The control unit 324 detects the test voice while shifting the latitude and longitude by a predetermined amount, for example, so that the movement trajectory of the second unmanned aerial vehicle 110B covers the entire area of each voice arrival planned range 104. The second unmanned aerial vehicle 110B is moved so as to meander or reciprocate within the target voice arrival range 104.

By transmitting information regarding the GPS coordinates moved by the second unmanned aerial vehicle 110B to the terminal device 301, the movement locus of the second unmanned aerial vehicle 110B may be displayed on the display of the terminal device 301. In this case, the worker who confirms the arrival status of the voice, for example, visually observes that the movement locus of the second unmanned aerial vehicle 110B overlaps with the entire area of the required voice arrival range 103, so that the second unmanned aircraft 110B is unmanned. It can be confirmed that the aircraft 110B has detected the voice for the test in the entire area of the voice reach required range 103.

When there is a position in the planned voice arrival range 104 where the test voice cannot be detected, the control unit 324 changes the height of the microphone 113 and performs the detection again. The height of the microphone 113 may be adjusted only when the height of the test speaker 112 is not adjusted in the first unmanned aerial vehicle 110A, and is combined with the height adjustment of the test speaker 112 in the first unmanned aerial vehicle 110A. You may do it.

The height of the microphone 113 can be adjusted by adjusting the flight altitude of the second unmanned aerial vehicle 110B. Alternatively, if the unmanned aerial vehicle 110 includes an electric reel, the height of the microphone 113 may be adjusted by adjusting the length of the payout wire 113a.

The control unit 324 determines the next planned installation position based on the detection result of the test voice, and outputs information regarding the determined next planned installation position. When the first unmanned aerial vehicle 110A determines the next planned installation position, the second unmanned aerial vehicle 110B does not have to determine the next planned installation position. In this case, when the test voice is output from the next planned installation position, the control unit 324 controls the communication unit 323 to perform the test in the voice arrival planned range 104 determined for each next planned installation position. Outputs information about the detection result of the voice for.

Further, the control unit 324 may record information about the test voice when the test voice detected in the voice arrival range 104 does not reach the reference value. The recorded test voice information is, for example, controlled by the communication unit 323 and transmitted to the terminal device 301.

As a result, the worker who operates the terminal device 301 can hear and confirm the voice of the site by himself / herself even when he / she is in a remote place of the site such as a business office. Specifically, the function of the control unit 324 can be realized by, for example, the control circuit 214 included in the second unmanned aerial vehicle 110B (the unmanned aerial vehicle 110 that realizes the second unmanned aerial vehicle 110B).

(Processing procedure of voice arrival confirmation system 100)
Next, the processing procedure of the voice arrival confirmation system 100 will be described. FIG. 4 is a flowchart showing a processing procedure of the voice arrival confirmation system 100. FIG. 4 shows the processing procedures of the first unmanned aerial vehicle 110A and the second unmanned aerial vehicle 110B constituting the voice arrival confirmation system 100, and the relationship between the processing procedures.

In FIG. 4, the first unmanned aerial vehicle 110A drives the motor 211 and waits until it moves to the planned installation position (step S411: No). As described above, among the planned installation positions of the first unmanned aerial vehicle 110A, at least the planned installation position of the alarm speaker 101 set on the most upstream side is stored in the storage unit in advance. In step S411, it is determined whether or not the alarm speaker 101a set on the most upstream side has been moved to the planned installation position.

When the vehicle has moved to the planned installation position in step S411 (step S411: Yes), the test sound is output from the test speaker 112 at the planned installation position (step S412). When the test audio is output using the plurality of test speakers 112, in step S412, the corresponding first unmanned aerial vehicles 110A communicate with each other to adjust the output timing of the test audio.

Next, based on the information on the detection result output from the second unmanned aerial vehicle 110B, the planned installation position where the test voice was output in step S412 is the last (most downstream side) in the preset alarm range. ) Is determined to be the planned installation position (step S413).

Whether or not it is the final planned installation position can be determined, for example, by whether or not the reachable range of the alarm sound output by the alarm speaker 101 includes the position on the most downstream side of the alarm range. .. The warning range is set based on the River Act or the like, for example, the land outside the embankment for a predetermined distance in the river 105 that continues downstream of the dam.

In step S413, if it is not the last planned installation position (step S413: No), the next planned installation position is determined (step S414). The next planned installation position can be determined based on the reachable range of the alarm sound output by the alarm speaker 101, the condition of the river area, and the like. Then, the second unmanned aerial vehicle 110B is notified of the next planned installation position determined in step S414 (step S415), and the process proceeds to step S411.

On the other hand, in step S413, when it is the final planned installation position (step S413: Yes), a return command is output to the second unmanned aerial vehicle 110B (step S416). Further, the return control of the own machine is performed (step S417), and a series of processes is completed. In step S417, each part of the own machine is driven and controlled so as to return to the reference point based on the information about the reference point stored in advance.

In FIG. 4, the second unmanned aerial vehicle 110B starts moving together with the first unmanned aerial vehicle 110A that moves to the planned installation position in step S411: Yes, and the voice arrival range 104 or the voice arrival corresponding to the planned installation position. Wait near the planned range 104. Then, it is determined whether or not the test voice output in step S412 is detected (step S421).

In step S421, when the test voice is output from the first unmanned aerial vehicle 110A in step S412 but the test voice is not detected (step S421: No), the position is stored. (Step S422), the process proceeds to step S423. In step S422, when the loudness of the test voice is not equal to or greater than a predetermined reference value, the position is stored.

On the other hand, when the test voice output in step S412 is detected from the first unmanned aerial vehicle 110A in step S421 (step S421: Yes), it is determined whether or not the entire area of the voice arrival planned range 104 has been confirmed. (Step S423). In step S423, for example, based on the current position of the second unmanned aerial vehicle 110B, it is determined whether or not the range moved by the unmanned aerial vehicle 110 overlaps with all the areas of the corresponding voice arrival range 104. This makes it possible to determine whether or not the entire area of the voice arrival planned range 104 has been confirmed.

If the entire area of the planned voice arrival range 104 has not been confirmed in step S423 (step S423: No), the process proceeds to step S421 to continue detecting the voice for the test. On the other hand, when the entire area of the planned voice arrival range 104 is confirmed in step S423 (step S423: Yes), the test voice is input in the planned voice arrival range 104 based on the information stored in the memory. It is determined whether or not there is a position that cannot be detected (step S424).

In step S424, if there is a position in the planned voice reach range 104 where the test voice cannot be detected (step S424: Yes), the flight altitude of the own aircraft is changed (step S425), and the process proceeds to step S421. .. In step S425, for example, the flight altitude of the own aircraft can be changed by increasing the rotation speed of the motor 211 so that the flight altitude becomes higher.

In step S424, if there is no position in the planned voice reach range 104 where the test voice cannot be detected (step S424: No), the detection result is notified to the first unmanned aerial vehicle 110A (step S426). In S426, the detection result is notified by outputting information about the detection result detected by the processing of steps S421 to S425.

Then, it is determined whether or not there is the next planned installation position (step S427). In step S427, for example, based on the communication result with the first unmanned aerial vehicle 110A, it is determined whether or not there is the next planned installation position. If there is a next planned installation position (step S427: Yes), the process proceeds to step S421.

On the other hand, if there is no next planned installation position in step S427 (step S427: No), the process waits until the feedback command output in step S416 is received (step S428: No). Then, in step S428, when the return command output from the first unmanned aerial vehicle 110A is received (step S428: Yes), the return control of the own aircraft is performed (step S429), and the series of processes is completed. In step S429, each part of the own machine is driven and controlled so as to return to the reference point based on the information about the reference point stored in advance.

In this way, the voice arrival confirmation system 100 flies the first unmanned aerial vehicle 110A equipped with the test speaker 112 to the planned installation position of the warning speaker 101, and flies the second unmanned aerial vehicle 110B in the basin of the river 105. By sequentially checking the voice arrival status while doing so, it is possible to confirm that the voice has arrived in the entire required range.

Further, when the voice arrival confirmation system 100 cannot confirm the voice arrival by the second unmanned aerial vehicle 110B, the voice arrival confirmation system 100 can correct the position and height of the microphone 113 and then confirm the voice arrival status again. ..

Further, in the voice arrival confirmation system 100, after the planned installation position of the first alarm speaker 101 is determined, the second unmanned aircraft 110B flies to the planned installation position of the second alarm speaker 101, and 1 Similar to the first warning speaker 101, it is possible to confirm the arrival of the warning sound output from the second warning speaker 101 in the basin of the river 105, which is a virtual test sound.

Then, as described above, the voice arrival confirmation system 100 autonomously repeats the first unmanned aerial vehicle 110A and the second unmanned aerial vehicle 110B while communicating wirelessly with each other, and the entire range in which the warning voice needs to be reached. By confirming that the test voice arrives at, it is possible to determine the planned installation location of multiple warning speakers.

This eliminates the need for the voice arrival confirmation work performed by the worker entering the river 105, and eliminates the danger of the worker in the voice arrival confirmation work. In addition, since the work performed by the workers on site is not required, it is not necessary to secure the workers to perform the work, and the first unmanned aerial vehicle 110A and the like are not required to be operated by the workers. Work can proceed automatically by mutual wireless communication with the second unmanned aerial vehicle 110B. As a result, the work cost and the work time can be significantly reduced.

The unmanned aerial vehicle 110 can repeatedly arbitrarily set a new movement destination by rewriting GNSS data such as GPS coordinates in the memory constituting the control circuit 214. As a result, the voice arrival confirmation system 100 used for the voice arrival confirmation work in a certain river 105 can be reused.

The voice arrival confirmation system 100 is not used only for confirmation work before installation of a fixed speaker such as the alarm speaker 101, that is, for investigating the installation location of the alarm speaker 101, but after installation. It can also be used for voice arrival confirmation work during maintenance. Since the alarm speaker 101 has already been installed, when using it for voice arrival confirmation work during maintenance after installation, use an unmanned aerial vehicle 110 equipped with only a microphone 113 without installing the test speaker 112. Can also perform voice arrival confirmation work.

As described above, the voice arrival confirmation system 100 of the embodiment according to the present invention is equipped with the test speaker 112 that outputs the test voice, and the planned installation position of the alarm speaker 101 that outputs the discharge warning sound. The first unmanned aircraft 110A that outputs the test voice and the microphone 113 are mounted, and the test voice is detected by the microphone 113 in the voice arrival range 104 determined for each planned installation position. It is characterized by including a second unmanned aircraft 110B that outputs information on a detection result in a voice arrival scheduled range 104.

According to the voice arrival confirmation system 100 of the embodiment according to the present invention, is the test voice output from the first unmanned aerial vehicle 110A detected in the voice arrival schedule range 104 determined for each planned installation position? Since it can be determined based on the information output from the second unmanned aerial vehicle 110B, it is possible for the operator to confirm the voice arrival without moving to the site of the voice arrival confirmation work.

As a result, it is possible to eliminate the need for the worker to enter the river 105 at the site, and the safety of the worker can be ensured. Further, by eliminating the need for on-site work such as entering the river 105, the work time required for the voice arrival confirmation work can be shortened, and the work related to the voice arrival confirmation work such as the worker involved in the work can be shortened. The number of people can be reduced.

As described above, according to the voice arrival confirmation system 100 of the embodiment according to the present invention, the safety of the workers involved in the voice arrival confirmation work is ensured, the work time is shortened, and the number of workers is reduced. Can be done.

Further, according to the voice arrival confirmation system 100 of the embodiment according to the present invention, the arrival confirmation of the test voice and the loudness of the reached voice are detected at all the positions included in the planned voice arrival range 104. Can be done. In addition, the position and height of the test speaker 112 can be easily adjusted.

Therefore, it is possible to easily finely adjust the volume and direction of the sound output from the alarm speaker 101. As a result, it is possible to make the discharge alarm reach the entire area of the voice reach required range 103, and adjust the reach range of the discharge warning so that the discharge warning does not reach the outside of the voice reach required range 103 as much as possible. As a result, it is possible to avoid noise problems for residents in the river basin and to ensure the safety of people in the vicinity of the river 105, which is flooded by the discharge, without making the residents in the river basin uncomfortable. it can.

Further, the voice arrival confirmation system 100 of the embodiment according to the present invention changes the height of the microphone 113 when the second unmanned aerial vehicle 110B has a position in the planned voice arrival range 104 where the voice for testing cannot be detected. Then, the detection is performed again.

Alternatively, if the first unmanned aerial vehicle 110A has a position where the test voice cannot be detected in the planned voice reach range 104 based on the test voice detection result, the height of the test speaker 112 is changed. , The test voice may be output again.

According to the voice arrival confirmation system 100 of the embodiment according to the present invention, when there is a position in the planned voice arrival range 104 where the test voice cannot be detected, the height of the microphone 113 or the height of the test speaker 112 is set. By changing and detecting again, for example, the sound of water in the river 105 or the sound of the test can be detected by trees or rocks located between the first unmanned aerial vehicle 110A and the second unmanned aerial vehicle 110B. Detection can be redone at these unaffected heights, such as when blocked. As a result, it is possible to easily make fine adjustments in the voice arrival confirmation work without imposing a burden on the operator.

Further, in the voice arrival confirmation system 100 of the embodiment according to the present invention, the first unmanned aerial vehicle 110A determines the next planned installation position based on the information output from the second unmanned aerial vehicle 110B. It is a feature. Alternatively, in the voice arrival confirmation system 100 of the embodiment according to the present invention, the second unmanned aerial vehicle 110B determines the next planned installation position based on the detection result of the voice for the test, and the next determined position is determined. Information on the planned installation position may be output.

According to the voice arrival confirmation system 100 of the embodiment according to the present invention, the next planned installation position is sequentially determined by the unmanned aerial vehicle 110 without the intervention of the operator's work, and each of the determined next planned installation positions is determined. It is possible to sequentially confirm the test voice within the planned voice arrival range 104 determined in.

As a result, it is possible to reduce the burden on the workers involved in the voice arrival confirmation work, ensure the safety of the workers involved in the voice arrival confirmation work, shorten the work time, and reduce the number of workers.

Further, in the voice arrival confirmation system 100 of the embodiment according to the present invention, the first unmanned aerial vehicle 110A is tested at the next planned installation position determined based on the information output from the second unmanned aerial vehicle 110B. The second unmanned aerial vehicle 110B is characterized in that it outputs information regarding the detection result of the test voice in the planned voice arrival range 104 determined for each next planned installation position. There is.

According to the voice arrival confirmation system 100 of the embodiment according to the present invention, every time the next planned installation position is determined, a test voice is output from the determined next planned installation position, and the next planned installation position is output. The work of confirming the arrival status of the test voice in the voice arrival schedule range 104 determined for each can be repeated using the same first unmanned aerial vehicle 110A and the second unmanned aerial vehicle 110B. As a result, the number of unmanned aerial vehicles 110 used for the voice arrival confirmation work can be suppressed to a small number, and the cost required for the work can be reduced.

Further, the voice arrival confirmation system 100 of the embodiment according to the present invention records information about the voice for the test when the voice for the test detected in the planned voice arrival range 104 does not reach the reference value. It is characterized by the fact that it was made.

According to the voice arrival confirmation system 100 of the embodiment according to the present invention, when it is difficult to make a uniform judgment, such as when a situation cannot be determined by the unmanned aerial vehicle 110, the judgment of the operator is intervened. Can be done. As a result, the planned installation position can be determined according to the actual use, and it is possible to contribute to ensuring the safety in the river 105 basin.

The voice arrival confirmation method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is executed by being recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, SSD, and read from the recording medium by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

As described above, the voice arrival confirmation system and the voice arrival confirmation method according to the present invention are useful for the voice arrival confirmation system and the voice arrival confirmation method used for confirming the arrival status of the voice output from the speaker, and are particularly useful for rivers. It is suitable for the voice arrival confirmation system and the voice arrival confirmation method used for confirming the arrival status of the voice output from the coast in the river.

100 Voice arrival confirmation system 101, 101a, 101b Alarm speaker 102 Dam Reservoir 103 Voice arrival required range 104 Voice arrival planned range 105 River 110 Unmanned aerial vehicle 110A First unmanned aerial vehicle 110B Second unmanned aerial vehicle 112 Test speaker 113 Microphone

Claims (8)

A first unmanned aerial vehicle equipped with a test speaker that outputs test sound and outputs the test sound at the planned installation position of the alarm speaker that outputs a discharge warning sound.
A second unmanned aerial vehicle equipped with a microphone, which detects the voice for the test by the microphone in the voice reachable range determined for each planned installation position, and outputs information on the detection result in the voice reachable range. When,
A voice arrival confirmation system characterized by being equipped with. The second unmanned aerial vehicle is characterized in that, when there is a position in the planned voice arrival range where the voice for the test cannot be detected, the height of the microphone is changed and the detection is performed again. The voice arrival confirmation system according to 1. Based on the detection result of the test voice, the first unmanned aerial vehicle changes the height of the test speaker when there is a position where the test voice cannot be detected in the planned voice reach range. The voice arrival confirmation system according to claim 1, wherein the voice for the test is output again. The voice according to any one of claims 1 to 3, wherein the first unmanned aerial vehicle determines the next planned installation position based on the information output from the second unmanned aerial vehicle. Arrival confirmation system. The second unmanned aerial vehicle is characterized in that the next planned installation position is determined based on the detection result of the voice for the test, and the information regarding the determined next planned installation position is output. The voice arrival confirmation system according to any one of ~ 3. The first unmanned aerial vehicle outputs the test voice at the next planned installation position determined based on the information output from the second unmanned aerial vehicle.
The voice according to claim 4 or 5, wherein the second unmanned aerial vehicle outputs information regarding the detection result of the voice for the test in the voice arrival range determined for each next planned installation position. Arrival confirmation system. The second unmanned aerial vehicle is characterized in that the second unmanned aerial vehicle is provided with a recording device for recording when the test voice detected in the planned voice arrival range does not reach a predetermined reference value. The voice arrival confirmation system according to any one of 6. At the planned installation position of the alarm speaker that outputs the discharge alarm sound, the test sound is output from the first unmanned aerial vehicle equipped with the test speaker that outputs the test sound.
A second unmanned aerial vehicle equipped with a microphone detects the test voice by the microphone in the planned voice arrival range determined for each planned installation position, and is based on the information on the detection result in the planned voice arrival range. Then, decide the next planned installation position,
At the determined next planned installation position, the test voice is output from the first unmanned aerial vehicle.
The second unmanned aerial vehicle detects the voice for the test by the microphone in the planned voice arrival range determined for each of the next planned installation positions.
A voice arrival confirmation method characterized by that.

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