WO2021245858A1 - Information processing device - Google Patents

Abstract

The present invention enables effective prevention in advance of crimes or accidents resulting from the entry of an object that should be captured, while preventing mistaken capture of an object that should not be captured.　A suspicious drone candidate detection unit 102 detects a foreign object candidate that enters the range of a protection zone. A first determination unit 106, a second determination unit 110, and the like determine whether the foreign object candidate is a foreign object to be captured on the basis of a prescribed determination method. A capture aid unit 111 executes processing for aiding the capture of the foreign object if it is determined that the foreign object candidate is the foreign object to be captured.

Description

Information processing equipment

The present invention relates to an information processing device.

Conventionally, small unmanned aerial vehicles that can be operated remotely (hereinafter referred to as "drones") have become widespread, making it easier to invade buildings and equipment from the sky. Therefore, in order to prevent crimes such as terrorism and accidents, a technology related to a system for capturing objects in the air such as a threatening drone (hereinafter referred to as "suspicious drone") has been proposed (for example, Patent Document 1). reference).

Japanese Unexamined Patent Publication No. 2017-218141

However, conventional techniques including the technique described in Patent Document 1 described above merely capture an object in the air such as a suspicious drone in a dark cloud, and for example, distinguish between an object to be captured and an object that is not preferable to be captured. It is not possible. Therefore, there is a possibility of accidentally capturing not only suspicious drones and other objects that should be captured, but also objects that should not be captured.

The present invention has been made in view of such a situation, and it is possible to effectively prevent crimes and accidents caused by the invasion of an object to be captured, and to erroneously capture an object that should not be captured. The purpose is to be able to prevent it.

In order to achieve the above object, the information processing apparatus according to one aspect of the present invention is
Candidate detection means for detecting candidates for foreign substances that invade the area to be protected,
A determination means for determining whether or not the foreign body candidate is a foreign body to be captured based on a predetermined determination method.
To prepare for.

The information processing apparatus of another aspect of the present invention is
When the candidate for the foreign body is determined by the determination means to be the foreign body to be captured, the capture support means for executing the process of supporting the capture of the foreign body and the capture support means.
To prepare for.

The information processing apparatus of yet another aspect of the present invention is
The candidate detecting means is
Information on the shape of each of one or more objects included in the protected range is sequentially acquired as object shape information, and the acquired object shape information is sequentially compared with the object shape information in a normal state, and is usually used. A part different from the state is detected as a candidate for a foreign body,
The determination means is
A first recognition means for recognizing a pattern of change after detection of a first physical quantity for a foreign body candidate, and a first recognition means.
Based on the pattern of change after detection of the first physical quantity of the foreign body candidate recognized by the first recognition means, the foreign body candidate may be the foreign body to be captured. The first determination means for making the first determination as to whether or not it is
When the first determination determines that the foreign body candidate may be the foreign body to be captured, the stimulus giving support for supporting the application of a predetermined stimulus to the foreign body candidate. Means and
A second recognition means for recognizing a pattern of change in the second physical quantity of the foreign body candidate after the stimulus is given, and
Based on the pattern of change after detection of the second physical quantity of the foreign body candidate recognized by the second recognition means, the foreign body candidate may be the foreign body to be captured. A second determination means for making a second determination as to whether or not it is present,
Have,
The capture support means
When the second determination determines that the candidate for the foreign body is likely to be the foreign body to be captured, the execution of a process for supporting the capture of the foreign body to be captured is permitted.
The second determination is that the candidate for the foreign body is unlikely to be the foreign body to be captured, or the first determination is that the candidate for the foreign body is the foreign body to be captured. If it is determined that there is no possibility of this, the execution of the process of supporting the capture of the foreign body to be captured is prohibited.

According to the present invention, it is possible to effectively prevent crimes and accidents caused by the intrusion of an object to be captured, and to prevent accidental capture of an object that should not be captured.

It is a figure regarding the outline of the drone capture system to which the information processing apparatus which concerns on one Embodiment of this invention is applied. It is a figure explaining the outline of an example of the method of capturing a drone applied to the drone capture system of FIG. It is a block diagram which shows an example of the structure of the drone capture system of FIG. 1 as an information processing system. It is a block diagram which shows the hardware configuration of the server in the information processing system of FIG. It is a functional block diagram which shows an example of the functional configuration of the server of FIG. It is a flowchart explaining the drone capture process executed by the server of FIG.

Prior to explaining the embodiment of the present invention, the outline of the drone capture system will be described as an example of the system to which the server according to the embodiment of the information processing apparatus of the present invention is applied by using FIGS. 1 and 2. ..
FIG. 1 is a diagram relating to an outline of a drone capture system to which a server according to an embodiment of the information processing apparatus of the present invention is applied.
The drone capture system is a system that captures suspicious drones that invade buildings and equipment exposed on the surface of the earth.

If the suspicious object that invades the building or equipment exposed on the surface of the earth is an object that invades from the ground or the surface of the water, such as a person, a car, a bicycle, or a ship, the part is somehow. By applying the method of shielding by the method, it is possible to prevent the invasion of these objects.
For example, by applying a method of shielding a part of a building or equipment by surrounding a fence or fence around the building or equipment, it is possible to prevent the intrusion of suspicious objects approaching from the ground or the surface of the water. be able to.
However, if the suspicious object that invades the building or equipment exposed on the surface of the earth is a drone, the drone approaches the building or equipment from the sky. For this reason, it is necessary to install a shield above the building or equipment, but this is not realistic due to the increased cost.
Therefore, the method of shielding the parts of buildings and equipment exposed on the ground surface in some way is inappropriate as a method of preventing the invasion of suspicious drones. However, if no measures are taken against the suspicious drone, the suspicious drone can easily be allowed to enter the inside of the building or equipment. Even if it is possible to prevent a suspicious drone from invading the inside of a building or equipment, there is a risk that a suspicious drone will drop a fallen object such as a bomb from the sky above the building or equipment.

In order to eliminate the threat caused by the intrusion of such a suspicious drone into a building or equipment, the technology of transmitting an interfering radio wave to such a drone to make the driving of the drone uncontrollable has been conventionally used. It exists from and is called "anti-drone technology". Products to which such anti-drone technology is applied are sold by overseas companies.
However, in Japan at the time of filing the application of this application, it is considered difficult for domestic private companies to adopt this anti-drone technology in terms of the influence on the law and surrounding areas.
In the first place, with conventional anti-drone technology, it is very difficult to distinguish and eliminate only suspicious drones from various objects.

On the other hand, the drone capture system shown in FIG. 1 can distinguish and capture only suspicious drones.
Specifically, for example, in the example of FIG. 1, facility B is a protection target, and the facility B invades within the range of a three-dimensional area (hereinafter, referred to as “protection target area W”) to protect the protection target. In addition to the suspicious drone D, there are wild bird P1 and manned airplane P2 as objects to come. The drone capture system shown in FIG. 1 can discriminate between a suspicious drone D and other objects (wild bird P1, manned airplane P2, etc.) and capture them.
As a result, it is possible to prevent crimes and accidents committed by the suspicious drone D.
Further, since the drone capture system shown in FIG. 1 can identify and capture only the suspicious drone D by the method shown in FIG. 2, there is no problem even if the Japanese law at the time of filing the application of the present application is applied. It does not occur and the influence on the surroundings of the facility B is very small.

Hereinafter, an example of a method for capturing a drone applied to the drone capture system of FIG. 1 will be described with reference to FIG.
FIG. 2 is a diagram illustrating an example of a method for capturing a drone applied to the drone capture system of FIG.
The method shown in FIG. 2 is a method including phases PH0 to PH5.

In Phase PH0, the system administrator prepares to capture the suspicious drone D.

As such a preparation, the system administrator first deploys each of the server 1, the reconnaissance device J, the capture device C, and the stimulator S to the monitoring facility K where the monitor A exists. In addition, the system administrator deploys the radar L around the center of the facility B to be protected.

The server 1 is managed by the system administrator and executes various processes in order to execute the overall control of the drone capture system shown in FIG.

The reconnaissance device J scouts the suspicious drone D by acquiring various information such as an image related to the suspicious drone D.
In the following example, for convenience, the reconnaissance device J is configured as a drone. The reconnaissance device J sets an appropriate flight path toward a suspicious drone D or the like to be reconnaissance, flies and approaches, and acquires various information about the suspicious drone D.

The capture device C captures the suspicious drone D.
In this example, for convenience, the capture device C is configured as a drone equipped with a capture net.
The method of capturing by the capture device C is not particularly limited to the method of mounting the net on the drone, and various other methods such as a method of mounting an electromagnet on the drone and a method of casting a net from the ground with a net gun or the like. Can be adopted.

The stimulator S gives a stimulus to the object by physically interfering with the object that has invaded the protected area W.
When an object to which the stimulus is applied in this way reacts in some way, the object is a living thing or the like and is not a suspicious drone D. That is, the stimulator S is a device used for determining whether or not the object that has invaded the protected area W is a suspicious drone D.
The method of stimulating an object with the stimulator S is not particularly limited, and various methods such as a method of radiating electromagnetic waves from an antenna, a method of radiating sound waves from a speaker or an explosive, and a method of radiating light with a lamp or the like are used. Various methods can be adopted.

Each of the above-mentioned server 1, reconnaissance device J, capture device C, and stimulator S, and observer A are deployed in the monitoring facility K. Here, the monitoring facility K is a facility for monitoring an object invading the protected area W.

The radar L emits an electromagnetic wave toward an object that has invaded the protected area W, and measures the reflected wave to measure the distance and direction to the object.
For example, since the observation range of the consumer laser radar (LIDAR) as of July 2019 is 1 km, the area within a radius of 1 km from the center of the position where the radar L is installed is set as the protection target area W. Radar.

Next, the system designer makes various initial settings in preparation for capturing the suspicious drone D.
Specifically, for example, according to the method of capturing a drone shown in FIG. 2, it is first determined whether or not an object invading the protected area W is abnormal (a candidate for a suspicious drone D) (phase described later). PH1). The initial setting for this determination is performed as follows.
That is, as a method of detecting a general abnormality, there is a method of detecting an abnormality that is out of the normal state based on the normal state. In the method of capturing the drone shown in FIG. 2, based on the method of detecting this general abnormality, based on the normal state of the protected area W, the one deviating from the normal state is detected as an abnormal state. The method is adopted. Therefore, the system designer needs to store the normal state of the protected area W in the server 1 as one of the initial settings.
Specifically, for example, the server 1 acquires the information obtained from the radar L in the normal state as the normal state when the suspicious drone candidate X does not exist in the protected area W as the normal object shape information. Then, it is stored in a storage unit (storage unit 18 in FIG. 4 described later).
Here, the object shape information refers to information on the shapes of buildings, facilities, plants, etc., and the shapes of the ground and water surface existing in the protected area W, including the facility B to be protected.

When such preparations are completed, the process shifts from Phase PH0 to Phase PH1 and the process for capturing the suspicious drone D is started.

The server 1 continues to sequentially acquire the information obtained from the radar L as the object shape information in the protection target area W.
The server 1 compares the sequentially acquired object shape information with the normal object shape information.
When the difference is recognized by the comparison, the server 1 recognizes the object specified by the recognized difference as the candidate X of the suspicious drone D (hereinafter referred to as "suspicious drone candidate X"), and the suspicious drone. Start tracking candidate X.
The method for tracking the suspicious drone candidate X is not particularly limited, but in the following example, it is assumed that a method for recording the spatial movement history of the suspicious drone candidate X is adopted. That is, the position of the suspicious drone candidate X specified by the information obtained by the radar L in the three-dimensional space (within the protection target area W) changes from moment to moment. The history of each position that changes from moment to moment is recorded as the spatial movement history of the suspicious drone candidate X. When the server 1 determines from the spatial movement history of the suspicious drone candidate X that the suspicious drone candidate X approaches the facility B, the server 1 makes a suspicious drone to the reconnaissance device J that exists at the closest distance to the suspicious drone candidate X. Instruct to get information about candidate X.
Upon receiving such an instruction, the reconnaissance device J approaches the suspicious drone candidate X and acquires various information such as an image related to the suspicious drone candidate X.
The various information is not particularly limited, and for example, here, it is assumed that at least the information of the image obtained as a result of being imaged by an optical camera (in combination with an infrared lamp at night) is acquired. Then, the reconnaissance device J wirelessly transfers the information regarding the suspicious drone candidate X acquired in this way to the server 1.

In the phase PH2, the server 1 collectively refers to various information such as the spatial movement history of the suspicious drone candidate X and the image transferred from the reconnaissance device J (the spatial movement history obtained here and various information such as the image. Recognize the pattern of "first physical quantity"). Here, the pattern is a general term for fixed behaviors and forms shown in all situations, although details will be described later. The server 1 determines the possibility that the suspicious drone candidate X is a suspicious drone D based on the pattern indicated by the first physical quantity.
How to do it according to this possibility is a design matter of the system designer, but in the method shown in FIG. 2, it is assumed that three stages of processing are executed as follows.
That is, in the method shown in FIG. 2, there is a first stage process when the possibility that the suspicious drone candidate X is a suspicious drone D is low (when it can be substantially determined that the suspicious drone candidate X is not the suspicious drone D). Further, there is a second stage process when the possibility that the suspicious drone candidate X is a suspicious drone D is moderate (when it cannot be determined whether or not the suspicious drone candidate X is a suspicious drone D). Further, there is a third stage process when there is a high possibility that the suspicious drone candidate X is a suspicious drone D (when it can be substantially determined that the suspicious drone candidate X is a suspicious drone D).

If the server 1 determines that the suspicious drone candidate X is unlikely to be a suspicious drone D, the server 1 continues monitoring the suspicious drone candidate X (continues phase PH1) or monitors as the first stage processing. To finish.
When the server 1 determines that the possibility that the suspicious drone candidate X is the suspicious drone D is moderate, the server 1 shifts from the phase PH2 to the phase PH3 and executes the phase PH3 process as the second stage process.
When the server 1 determines that the suspicious drone candidate X has a high possibility of being a suspicious drone D, the server 1 shifts from the phase PH2 to the phase PH4 and executes the phase PH4 process as the third stage process.

In the phase PH3, the server 1 instructs the stimulator S to give a stimulus to the suspicious drone candidate X for the purpose of determining in detail whether or not the suspicious drone candidate X is the suspicious drone D. Here, for convenience of explanation, the stimulus given to the suspicious drone candidate X is a plosive sound. That is, here, the stimulator S gives a stimulus to the suspicious drone candidate X by outputting a plosive sound to the suspicious drone candidate X from a speaker or the like.
As a response to the stimulus to the suspicious drone candidate X, the server 1 has a pattern of various information such as a pattern of the spatial movement history of the suspicious drone candidate X after the burst sound is output and an image transferred from the reconnaissance device J ( The spatial movement history obtained here and various information such as images are referred to as "second physical quantities"). The server 1 determines the possibility that the suspicious drone candidate X is a suspicious drone D based on the pattern indicated by the second physical quantity.
For example, when the suspicious drone candidate X is a wild animal, the suspicious drone candidate X should be surprised at the stimulus given by the stimulator S and show some biological reaction. Some biological reactions here are, for example, the behavior of escaping, the phenomenon of fainting and falling, the behavior of being excited and attacking toward a stimulus, the reaction of being excited and raising the body temperature, and the phenomenon of being excited and alert. There is a reaction to be emitted. The second physical quantity should be different depending on whether or not these biological reactions occur. That is, the server 1 can determine whether or not there is a biological reaction based on the second physical quantity, and can determine the possibility of a suspicious drone D based on the determination result.
Here, what to do according to the possibility of suspicious drone D is a design matter of the system designer, but in the method shown in FIG. 2, two-step processing is executed as follows. And.
That is, in the method shown in FIG. 2, when it is unlikely that the suspicious drone candidate X is a suspicious drone D (when it can be substantially determined that the suspicious drone candidate X is not a suspicious drone D), the first stage. There is a process. Further, there is a second stage process when there is a high possibility that the suspicious drone candidate X is a suspicious drone D (when it can be substantially determined that the suspicious drone candidate X is a suspicious drone D).
When the server 1 determines that the possibility of the suspicious drone D is low, the server 1 continues the monitoring of the suspicious drone candidate X (returns to the phase PH2) or ends the monitoring as the first stage processing.
When the server 1 determines that the suspicious drone candidate X has a high possibility of being a suspicious drone D, the server 1 shifts from the phase PH3 to the phase PH4 and executes the phase PH4 process as the second stage process.

When the suspicious drone candidate X is determined to have a high possibility of being a suspicious drone D, the server 1 issues a capture instruction to the capture device C for the purpose of capturing the suspicious drone D as a process of the phase PH4. .. Then, the capture device C, which has received the capture instruction, flies toward and approaches the suspicious drone D, and captures the suspicious drone D by casting net.

In Phase PH5, the capture device C stores the captured suspicious drone D in a safe place where, for example, the explosive mounted on the suspicious drone D does not affect the surroundings even if it explodes.

As described above, in the phase PH0, the server 1 acquires the information obtained from the radar L in the state where the suspicious drone candidate X does not exist in the protected area W as the normal object shape information.
In the phase PH1, the server 1 continues to sequentially acquire the information obtained from the radar L as the object shape information in the protection target area W. The server 1 compares the sequentially acquired object shape information with the normal object shape information, recognizes the object specified by the recognized difference as the suspicious drone candidate X, and tracks the suspicious drone candidate X. To start.
In the phase PH2, the server 1 acquires various information such as a spatial movement history, which is the first physical quantity of the suspicious drone candidate X, and an image. Then, the server 1 determines the possibility that the suspicious drone candidate X is the suspicious drone D based on the pattern indicated by the first physical quantity.
In the phase PH3, the server 1 instructs the stimulator S to give a stimulus to the suspicious drone candidate X. Then, the server 1 acquires various information such as a spatial movement history, which is a second physical quantity of the suspicious drone candidate X, and an image. Then, the server 1 determines the possibility that the suspicious drone candidate X is the suspicious drone D based on the pattern indicated by the second physical quantity.
In the phase PH4, the server 1 gives a capture instruction to the capture device C for the purpose of capturing the suspicious drone D.
As a result, it is possible to prevent crimes and accidents caused by suspicious drones by discriminating and capturing only suspicious drones that should be captured from the objects that invade facility B.

The outline of the drone capture system has been described above with reference to FIGS. 1 and 2 as an example of a system to which the server according to the embodiment of the information processing apparatus of the present invention is applied.
Next, an embodiment of the present invention will be described with reference to FIGS. 3 and later.

FIG. 3 is a block diagram showing an example of the configuration of the drone capture system of FIG. 1 as an information processing system.

In order to enable the above-mentioned drone capture system, the information processing system including the server 1 according to the embodiment of the information processing apparatus of the present invention includes the server 1, the capture device C, the reconnaissance device J, and the radar as shown in FIG. It is configured to include L and a stimulator S.
The server 1, the capture device C, the reconnaissance device J, the radar L, and the stimulator S are connected to each other via a predetermined network.

FIG. 4 is a block diagram showing a hardware configuration of a server among the information processing devices of FIG.

The server 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a bus 14, an input / output interface 15, an output unit 16, and an input unit 17. , A storage unit 18, a communication unit 19, and a drive 20.

The CPU 11 executes various processes according to various programs recorded in the ROM 12 or various programs loaded from the storage unit 18 into the RAM 13.
Data and the like necessary for the CPU 11 to execute various processes are also appropriately stored in the RAM 13.

The CPU 11, ROM 12 and RAM 13 are connected to each other via the bus 14. An input / output interface 15 is also connected to the bus 14. An output unit 16, an input unit 17, a storage unit 18, a communication unit 19, and a drive 20 are connected to the input / output interface 15.

The output unit 16 is composed of various liquid crystal displays and the like, and outputs various information.
The input unit 17 is composed of various hardware and the like, and inputs various information.
The storage unit 18 is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various data.
The communication unit 19 controls communication with other devices (capture device C, reconnaissance device J, radar L, and stimulator S in FIG. 4) via a network N including the Internet.

The drive 20 is provided as needed. A removable media 21 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately mounted on the drive 20. The program read from the removable media 21 by the drive 20 is installed in the storage unit 18 as needed. Further, the removable media 21 can also store various data stored in the storage unit 18 in the same manner as the storage unit 18.

Next, with reference to FIG. 5, the functional configuration of the server 1 shown in FIG. 4 will be described.
FIG. 5 is a functional block diagram showing an example of the functional configuration of the server 1 of FIG.

In the CPU 11 of the server 1 of FIG. 5, the object shape information acquisition unit 101, the suspicious drone candidate detection unit 102, the notification unit 103, the first physical quantity acquisition instruction unit 104, the first physical quantity pattern recognition unit 105, and the first 1 determination unit 106, stimulus application support unit 107, second physical quantity acquisition instruction unit 108, second physical quantity pattern recognition unit 109, second determination unit 110, capture support unit 111, and first physical quantity acquisition unit 201. And the second physical quantity acquisition unit 202 function.

The object shape information acquisition unit 101 acquires the information regarding the object shape received by the radar L as the object shape information.

Specifically, for example, first, the object shape information acquisition unit 101 acquires the object shape information in a state where the suspicious drone candidate X does not exist as the normal time object shape information, and stores it in the storage unit 18.
Here, changes in objects, that is, expansion / renovation of buildings and facilities, demolition, changes in equipment near facilities, growth and death of plants, etc. may occur. In this case, the object shape information at normal times should also be changed. Therefore, the normal object shape information is reacquired at any time and stored (overwritten) in the storage unit 18.
After acquiring the object shape information at normal times, the object shape information acquisition unit 101 sequentially acquires the object shape information.
Here, for example, assuming that the object shape information is acquired at predetermined intervals (each of time t1 to tun) within the time T, the object shape information is acquired at the time tk (k is an integer value of any of 0 to n). The object shape information is particularly referred to as "object shape information L (tk)". Here, the normal time object shape information is acquired at time t0. Therefore, the normal object shape information is particularly referred to as "normal time object shape information L (t0)".

The suspicious drone candidate detection unit 102 compares the object shape information L (tk) with the normal object shape information L (t0), and if a difference is obtained as a result of the comparison, the difference is used as the suspicious drone candidate X (. Detect as information).

The notification unit 103 controls to notify the observer A of information about the suspicious drone candidate X detected by the suspicious drone candidate detection unit 102. Although not shown here, the notification unit 103 further controls to acquire a response from the observer A.

The first physical quantity acquisition instruction unit 104 instructs the radar L and the reconnaissance device J to acquire object shape information, image information, etc., which are the first physical quantities related to the suspicious drone candidate X.

The first physical quantity acquisition unit 201 communicates the object shape information which is the first physical quantity regarding the suspicious drone candidate X obtained from the radar L, the image information which is the first physical quantity regarding the suspicious drone candidate X obtained from the reconnaissance device J, and the like. Obtained via unit 19. Here, the image information and the like are image data captured by an optical camera, and for example, information that makes it possible to recognize the size, equipment, specifications that can be estimated from the appearance, etc. by information processing (image processing). Is.

The first physical quantity pattern recognition unit 105 is a spatial movement history pattern or image of the suspicious drone candidate X based on the object shape information or image information which is the first physical quantity related to the suspicious drone candidate X acquired by the first physical quantity acquisition unit 201. Recognize pattern information such as information. Hereinafter, the information of the pattern such as the spatial movement history pattern of the suspicious drone candidate X and the image information is appropriately referred to as "pattern information".

The first determination unit 106 determines the possibility that the suspicious drone candidate X is a suspicious drone D based on the pattern information recognized by the first physical quantity pattern recognition unit 105.

For example, if the spatial movement history pattern of the suspicious drone candidate X is a pattern in which the ground surface or the water surface continues to move, the suspicious drone candidate X may be a pedestrian, a car, a ship, an animal having no flight ability, a bicycle, a radio-controlled car, or the like. Is likely to be. That is, the suspicious drone candidate X is unlikely to be a suspicious drone.
Further, for example, when the spatial movement history pattern of the suspicious drone candidate X rises from the ground surface, the water surface, or the vicinity of the sea surface and disappears within a few seconds, the suspicious drone candidate X is unlikely to be a suspicious drone. In the case of these patterns, the suspicious drone candidate X is likely to be a short-term flight of birds, a flying fish such as a flying fish or a dolphin, or a whale squirting or a flying squirrel. Is.
Further, for example, when the spatial movement history pattern of the suspicious drone candidate X is a pattern of falling from the sky and the falling speed is high, the suspicious drone candidate X may be a suspicious drone. Is low. This is because the suspicious drone candidate X is a meteorite or a fragment of an aircraft that cannot be captured because the falling speed is too fast.

On the other hand, when the spatial movement history pattern of the suspicious drone candidate X is a pattern that takes a turning trajectory in the sky above the place where the updraft is generated, the suspicious drone candidate X is likely to be a bird of prey. However, if this suspicious drone candidate X comes toward the facility B, the suspicious drone candidate X may be a suspicious drone D.
Also, if the spatial movement history pattern of the suspicious drone candidate X is a pattern that rises in a place where an updraft is generated, the suspicious drone candidate X can be a balloon, a plastic bag, or a bird that sails. Highly sex. However, if the suspicious drone candidate X comes toward the facility B, the suspicious drone candidate X may be a suspicious drone D.
Further, when the spatial movement history pattern of the suspicious drone candidate X is a pattern of flying on the wind, the suspicious drone candidate X is likely to be a balloon, a plastic bag, or the like. However, even in this case, the suspicious drone candidate X may be a suspicious drone.

Further, when the spatial movement history pattern of the suspicious drone candidate X is a pattern of flying linearly without riding the wind or a pattern of stopping in the space without riding the wind, the suspicious drone candidate X is determined. There is a high possibility of a suspicious drone.
In addition, the suspicious drone candidate X, which shows the history of space movement during wavy flight, is highly likely to be a bird. However, if the suspicious drone candidate X comes toward the facility B, the suspicious drone candidate X may be a suspicious drone.
Further, when the spatial movement history pattern of the suspicious drone candidate X follows a flight path that seems to be random at first glance, the suspicious drone candidate X is likely to be a bat. However, if the suspicious drone candidate X comes toward the facility B, the suspicious drone candidate X may be a suspicious drone D.

As described above, various examples of the determination of the first determination unit 106 when the spatial movement history pattern of the suspicious drone candidate X is adopted as the pattern information have been described, but this is an example.
The first determination unit 106 can also adopt a pattern such as image information of the suspicious drone candidate X as the pattern information to determine the possibility that the suspicious drone candidate X is a suspicious drone D.
For example, if the pattern such as the image information of the suspicious drone candidate X is recognized as the pattern of the suspicious drone candidate X such as a known drone, balloon, or plastic bag, the suspicious drone candidate X may be a suspicious drone D. It is determined that there is no sex.

Further, the first determination unit 106 may refer to the spatial movement history pattern representing the movement peculiar to the drone in determining the possibility that the suspicious drone candidate X is the suspicious drone D.
That is, when the suspicious drone candidate X is a multicopter type drone, the suspicious drone candidate X moves while tilting the traveling direction in a direction corrected by the wind direction, and performs inertial movement due to its own weight. For this reason, turning is generally slow.
When the suspicious drone candidate X is a fixed-wing drone, the suspicious drone candidate X generally has the wing oriented so as not to obstruct the air in the traveling direction, and also performs inertial movement due to its own weight, and the wing is fixed. Therefore, the minimum radius of direction change is considerably large. In response to these drone-specific movements, birds are light in weight and have movable wings, allowing them to make sharp turns.

If the first determination unit 106 determines that the suspicious drone candidate X is unlikely to be a suspicious drone D, the monitoring of the suspicious drone candidate X may be continued as the first stage processing. That is, the first physical quantity acquisition instruction unit 104 may instruct the radar L and the reconnaissance device J to acquire the first physical quantity, that is, the object shape information, the image information, and the like regarding the suspicious drone candidate X.
Alternatively, if the first determination unit 106 determines that the suspicious drone candidate X is unlikely to be a suspicious drone D, the first determination unit 106 may perform an operation to end the monitoring.
When the first determination unit 106 determines that the suspicious drone candidate X has a moderate possibility of being a suspicious drone D, as a second stage process, the stimulus application support unit 107 passes through the communication unit 19. Then, the stimulator S is supported to give a stimulus to the suspicious drone candidate X.
When the first determination unit 106 determines that the suspicious drone candidate X is likely to be a suspicious drone D, as a third stage process, the capture support unit 111 transfers the capture device via the communication unit 19. Support C to capture the suspicious drone D.

The second physical quantity acquisition instruction unit 108 instructs the radar L and the reconnaissance device J to acquire the object shape information, the image information, etc., which are the second physical quantities related to the suspicious drone candidate X.

The second physical quantity acquisition unit 202 communicates the object shape information of the suspicious drone candidate X obtained from the radar L, the image information of the second physical quantity of the suspicious drone candidate X obtained from the reconnaissance device J, and the like. Obtained via unit 19.

The second physical quantity pattern recognition unit 109 has the spatial movement history pattern and image information of the suspicious drone candidate X based on the object shape information and the image information which are the second physical quantities related to the suspicious drone candidate X acquired by the second physical quantity acquisition unit 202. Recognize pattern information such as.

The second determination unit 110 determines the possibility that the suspicious drone candidate X is a suspicious drone D based on the pattern information recognized by the second physical quantity pattern recognition unit 109.

For example, if the spatial movement history pattern of the suspicious drone candidate X does not show a change suggesting a biological reaction, the suspicious drone candidate X is likely to be a suspicious drone D.
In this case, the capture support unit 111 supports the capture device C to capture the suspicious drone via the communication unit 19.

Here, the capture device C shown in the present embodiment is configured as a drone equipped with a capture net, and this capture drone has a flight plan that balances its speed, sailing time, and takeoff load. It is necessary to stand up and use it. Further, since there is a risk that the drone itself or parts of the drone may fall during the capture operation, the server 1 may specify the area to be captured.
Further, in order to increase the possibility of capturing the suspicious drone D, a plurality of capture drones may be coordinated. When capturing multiple capture drones in coordination, a drone that drives in a suspicious drone D, a drone that takes control of a suspicious drone D, a drone that captures a suspicious drone D, and commands and observes it. Each capture drone may have a role, such as a drone to do. At this time, the plurality of capture drones may be in contact with each other by wire or wirelessly.
Also, since general drones are optimized to generate thrust in the ascending direction for the copter type and in the horizontal direction for the fixed-wing type, the drone can suddenly increase the thrust by being turned over or tilted. Lost to, and control is lost. That is, the capture support unit 111 may control the movement of the capture drone so that the capture drone turns over or tilts the suspicious drone.

The functional configuration of the server 1 has been described above with reference to FIG.

Next, with reference to FIG. 6, the flow of processing executed by the server 1, the capture device C, the reconnaissance device J, the radar L, and the stimulator S, which have the functional configuration of FIG. 5, will be described.
FIG. 6 is a flowchart illustrating a drone capture process executed by the server of FIG.

As described above, the object shape information acquisition unit 101 normally acquires the object shape information L (t0) prior to the processing.

In step S101, the object shape information acquisition unit 101 acquires the object shape information L (tk) at the time tk.

In step S102, the suspicious drone candidate detection unit 102 compares the object shape information L (tk) with the normal object shape information L (t0), and indicates the existence of the suspicious drone candidate X based on the result of the comparison. Determine if there is a difference.
If it is determined in step S102 that there is no difference indicating the existence of the suspicious drone candidate X, the process ends.
On the other hand, if it is determined in step S102 that there is a difference indicating the existence of the suspicious drone candidate X, the process proceeds to step S103.

In step S103, the notification unit 103 notifies the observer A of information regarding the detection of the suspicious drone candidate X. The reason why the notification unit 103 immediately notifies the observer A is to provide information as soon as possible to a person who has an extremely slow processing speed compared to the processing speed of the server 1 and the moving speed of the suspicious drone D. , To ask for judgment.

In step S104, the notification unit 103 confirms whether or not there is a response from the observer A.
If there is no response from the observer A in step S104, the process proceeds to step S107. The processing after step S107 will be described later.
On the other hand, if there is a response from the observer A in step S104, the process proceeds to step S105.

In step S105, the notification unit 103 confirms whether or not there is an instruction to capture the suspicious drone candidate X from the observer A.
If the observer A gives an instruction to capture the suspicious drone candidate X in step S105, the process proceeds to step S115. The processing after step 115 will be described later.
On the other hand, if there is no instruction to capture the suspicious drone candidate X from the observer A in step S105, the process proceeds to step S106.

In step S106, the notification unit 103 confirms whether or not there is an instruction from the observer A to ignore the suspicious drone candidate X.
If the observer A instructs to ignore in step S106, the process ends.
On the other hand, if there is no instruction from the observer A to ignore in step S106, the process proceeds to step S107.

In step S107, the object shape information acquisition unit 101 of the server 1 measures the size of the suspicious drone candidate X (difference between the object shape information L (tk) and the normal object shape information L (t0)) in real space. do. Then, the object shape information acquisition unit 101 determines whether or not the suspicious drone candidate X is larger than the preset catchable range based on the measurement result.
If it is determined in step S107 that the suspicious drone candidate X is larger than the preset catchable range, the process ends.
On the other hand, if it is determined in step S107 that the suspicious drone candidate X is not larger than the preset catchable range, the process proceeds to step S108.

In step S108, the first physical quantity acquisition unit 201 acquires the spatial movement history of the suspicious drone candidate X, the image information obtained from the reconnaissance device J, and the like as the first physical quantity.
In step S109, the first physical quantity pattern recognition unit 105 recognizes the pattern information of the first physical quantity.

In step S110, the first determination unit 106 determines the possibility that the suspicious drone candidate X is a suspicious drone D, that is, the possibility that it is a capture target, based on the pattern information recognized by the first physical quantity pattern recognition unit 105. Judgment, the first judgment is performed.
If the first determination unit 106 determines in step S110 that the suspicious drone candidate X is not a capture target, the process ends.
If the first determination unit 106 does not determine in step S110 that the suspicious drone candidate X is not a capture target, the process proceeds to step S111.
In step S111, the stimulus application support unit 107 instructs the stimulus device S to apply a stimulus to the suspicious drone candidate X.
In step S112, the second physical quantity acquisition unit 202 receives the reaction of the suspicious drone candidate X to the stimulus given by the stimulus device S, that is, the spatial movement history of the suspicious drone candidate X, the image information obtained from the reconnaissance device J, and the like. Is acquired as the second physical quantity.
In step S113, the second physical quantity pattern recognition unit 109 recognizes the pattern information of the second physical quantity.
In step S114, the second determination unit 110 determines the possibility that the suspicious drone candidate X is a suspicious drone, that is, the possibility that it is a capture target, based on the pattern information recognized by the second physical quantity pattern recognition unit 109. The second determination is made.
If the second determination unit 110 determines in step S114 that the suspicious drone candidate X is not a capture target, the process ends.
If the second determination unit 110 determines in step S114 that the suspicious drone candidate X is a capture target, the process proceeds to step S115.
That is, if it is determined in step S114 that the suspicious drone candidate X is the capture target, or if there is a capture instruction from a human in step S105, the process proceeds to step S115. Here, the fact that the suspicious drone candidate X is determined to be the capture target means that the suspicious drone candidate X is determined to be the suspicious drone D.
In step S115, the capture support unit 111 instructs the capture device C to capture the suspicious drone D.
Here, the capture device C instructed to capture the suspicious drone D is a capture drone for convenience in the present embodiment, and captures the suspicious drone D by casting net. The capture drone moves and transports the captured suspicious drone D to a safe place. At this time, the suspicious drone D may be put in a shield case or the like by the capture drone, or may be put in the shield case or the like together with the capture drone.
In step S110, the first determination unit 106 has described that if the suspicious drone candidate X is determined to be the capture target, the process proceeds to step S111. However, as described above, the suspicious drone candidate X is here. If it is particularly determined that the target is likely to be captured, the process may proceed to step S115.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications and improvements within the range in which the object of the present invention can be achieved are included in the present invention.

In the above-described embodiment, the object to be captured is described as a suspicious drone D, but the object to be captured is not limited to the suspicious drone D. According to the present invention, it is possible to distinguish a foreign body that poses a threat to the protected target as a capture target from among the candidates for the foreign body that invades the protected target.

Here, in the case of determining (distinguishing) whether or not the foreign body candidate (for example, suspicious drone candidate X) is the foreign body to be captured (for example, suspicious drone D) based on a predetermined determination method. The predetermined determination method is not limited to the method of the above-described embodiment, and may be arbitrary.
In other words, in the above-described embodiment, the following method is adopted as a method for distinguishing the foreign body to be captured. That is, according to the method of the above-described embodiment, the pattern of the first physical quantity such as the object movement history and the image information indicated by the suspicious drone candidate X was recognized. Then, for the stimulus given to the suspicious drone candidate X, the pattern recognition of the second physical quantity such as the object movement history and the image information indicated by the suspicious drone candidate X was performed.
In this way, the suspicious drone candidate X is suspicious by combining the so-called passive observation of the pattern recognition of the first physical quantity and the so-called active observation of the pattern recognition of the second physical quantity obtained as a result of active stimulation. The method of distinguishing whether or not it is a drone D (capture target) has been adopted as the method of the above-described embodiment. However, the method for distinguishing is not particularly limited to this method.

That is, it may be possible to distinguish whether or not the suspicious drone candidate X is the suspicious drone D only by the above-mentioned passive observation.
Specifically, in addition to the object movement history and image information shown in the above-described embodiment, information on the temperature of the suspicious drone candidate X, information on electromagnetic waves, and suspicious drone candidate X are emitted as passive observations. It may be determined whether or not the suspicious drone candidate X is a suspicious drone D by obtaining information on a chemical substance or the like.

Here, when acquiring information on the electromagnetic wave of the suspicious drone candidate X, the frequency of the acquired electromagnetic wave and the like are referred to. Living organisms emit almost no electromagnetic waves with frequencies below far infrared rays. In contrast, drones generally emit electromagnetic waves with frequencies below far infrared rays due to the current flowing through the coil for driving the motor, or electromagnetic waves and electrons with frequencies below far infrared rays for communication with the operator. It emits electromagnetic waves from the circuit. Therefore, if an electromagnetic wave of a specific frequency can be observed, it is almost certain that the suspicious drone candidate X is determined to be a drone.
Further, when acquiring information about the sound of the suspicious drone candidate X, the type of the acquired sound is referred to. If the motor sound and the wind noise of the rotor can be observed from the suspicious drone candidate X, it is almost certain that the suspicious drone candidate X is determined to be a drone.

When acquiring information on the chemical substances released by the suspicious drone candidate X, the chemical substances released by the chemical substance sensor are detected. For example, if the machine oil applied to the bearing of the motor is detected, it is almost certain that the suspicious drone candidate X is determined to be a drone. Further, for example, when a suspicious drone uses a motor with a brush, there is a high possibility that ozone is generated by the spark generated in the brush portion reacting with oxygen in the air. If ozone is detected, the suspicious drone candidate X is almost certainly determined to be a suspicious drone.

As another specific example of passive observation, whether or not the suspicious drone candidate X is loaded with a dangerous substance such as an explosive by performing mass spectrometry of the suspicious drone candidate X with an ultra-small mass spectrometer or the like. May be determined.
Furthermore, by receiving the suspicious drone and the radio wave exchanged between the suspicious drone operators passively, information for identifying the suspicious drone, such as the manufacturer and model of the suspicious drone candidate X, can be obtained. You may be able to do it.

Further, in the present embodiment, a drone is used as the reconnaissance device J as a means of passive observation, but in addition to this, a drone for meteorological observation, an ocean buoy, a sonde, or the like may be used. Alternatively, information on the suspicious drone candidate X may be acquired with the reconnaissance device J installed in the monitoring facility K. Further, in order to improve the accuracy of information collection, for example, a plurality of drones may be coordinated to collect information.

As described above, by passively observing various physical quantities emitted by the suspicious drone candidate X, it is possible to distinguish whether the suspicious drone candidate X is a suspicious drone.

In addition, active observation may be used to determine whether the suspicious drone candidate X is a suspicious drone.
As a stimulus given to the suspicious drone candidate X, a bursting sound was used in this embodiment, but in addition to this, a warning sound of other birds and a warning message in a form that can be understood by humans and suspicious drones are read aloud. It may be an example sound, a flash light, a warning message in a form that can be understood by humans or suspicious drones, a visible light such as a mirror, or an unpleasant odor.
It may also be a visual stimulus, that is, a stimulus by a rapidly expanding umbrella-shaped object, a stimulus by a shape that expands like a catching net, a stimulus by a drone for reconnaissance, a drone for catching, or a stimulus by the approach of a protrusion such as a stick. Furthermore, it may be stimulated by a strong electromagnetic pulse, an electromagnetic wave for jamming, or an invasive warning means such as a water gun or a blower that is less harmful to the living body.
Here, if a human is on board the suspicious drone candidate X, or if the operator of the suspicious drone candidate X is in communication, it should respond to the reading and posting of the warning text and evacuate if it intends to obey. be. Further, if the suspicious drone candidate X has a function that can understand the warning, it should be evacuated in response to the warning.

Further, as another specific example of the stimulus given to the suspicious drone candidate X, the suspicious drone candidate X may be irradiated with an electromagnetic wave, a magnetic field may be generated, or the electromagnetic wave may be shielded. If the suspicious drone candidate X is an object equipped with an electronic device such as a drone, the following reactions (1) to (3) can be seen in response to the operation of electromagnetic waves or magnetic fields below far infrared rays. On the other hand, since the living body has extremely low sensitivity to electromagnetic waves lower than far infrared rays and sensitivity to magnetic fields, it is highly possible that the living body does not react to electromagnetic waves lower than far infrared rays. However, since the shielding of electromagnetic waves less than far infrared rays is often accompanied by the shielding of visible light and sound, there is a possibility of reacting to this.
(1) The suspicious drone candidate X may cause an operation abnormality due to an abnormal current flowing through the internal electronic circuit due to a strong electromagnetic pulse. In addition, the metal inside may generate heat due to induction heating by electromagnetic waves less than the emitted far infrared rays, which may cause an operation abnormality. Further, due to a strong magnetic field, even if an induced current flows in the internal electronic circuit of the suspicious drone candidate X or the ferromagnet causes magnetic saturation, an operation abnormality may occur. In this case, the suspicious drone candidate X stalls and falls. When such a reaction is shown, it can be determined that the suspicious drone candidate X is likely to be a suspicious drone.
(2) The strong magnetic field may attract the ferromagnetic material inside the suspicious drone candidate X. In this case, the suspicious drone candidate X may be captured by this magnetic field.
(3) Due to jamming of communication by electromagnetic waves and shielding of electromagnetic waves, the communication link between the suspicious drone candidate X and the operator of the suspicious drone candidate X may be disconnected, or GNSS information such as GPS may not be obtained. there is a possibility. In this case, if the suspicious drone candidate X is a drone, it shows a reaction of returning to the home position set in advance for the drone. If the suspicious drone candidate X does not respond to return to the home position, the suspicious drone candidate X may be a living body, so monitoring is continued.
Here, if the suspicious drone candidate X takes an escape action, the system administrator can guide the target out of the monitoring range by continuing active observation. And as a result, the monitoring range can be made safe.

When making active observations here, attention should be paid to the intensity of the stimulus. Even electromagnetic waves less than far-infrared rays may cause harm to the living body by dielectric heating, or metal parts such as wires, collars, collars, and identification tags swallowed inside the body may generate heat due to induction heating.
When the suspicious drone candidate X is an animal, if the stimulus given is too strong, it faints and falls, and in the worst case, it causes the death of the animal. Since this is not desired, the stimulus given may be gradually increased from weak to strong. And if the object moves away from the facility to be protected, the stimulus does not need to be unnecessarily strong.

As described above, by observing the physical quantity emitted by the suspicious drone candidate X by giving various stimuli not limited to the above to the suspicious drone candidate X, it is possible to determine whether the suspicious drone candidate X is a suspicious drone. You may. Further, since the suspicious drone candidate X may be a living body here, the strength of the stimulus to be given may be adjusted.

As described above, in the information processing apparatus to which the present invention is applied, a foreign body candidate (for example, suspicious drone candidate X) is a foreign body to be captured (for example, a suspicious drone) based on various judgment methods. It is possible to determine (distinguish) whether or not it is D).
Further, the information processing apparatus to which the present invention is applied can execute a process of supporting the capture of the foreign body when it is determined that the candidate for the foreign body is the foreign body to be captured.
The capture method in this case is not limited to the method of the above-described embodiment, and may be arbitrary.

That is, in the above-described embodiment, the server 1 provides the observer A with information on the suspicious drone candidate X, and the observer A determines whether or not the suspicious drone candidate X is a foreign body to be captured. However, the method of capture is not limited to this.
That is, the observer A may perform all operations from collecting information on the suspicious drone candidate X to determining whether or not the suspicious drone candidate X is a foreign body to be captured. That is, the observer A may monitor the protected area W, and the observer A may discover the suspicious drone candidate X by visual inspection or the like. Then, the observer A may determine whether or not the found suspicious drone candidate X should be captured, and the observer A may capture the suspicious drone candidate X.
This means that the observer A can identify the object to be captured by his / her sensory organ without using a computer. In this way, by having the observer A perform all the processing, it is possible to prevent false detections by the computer, and to take measures according to the surrounding situation, such as determining the priority, which cannot be done by the computer. Can be done.

Further, in the present embodiment, the observer A provided with the information regarding the suspicious drone candidate X from the server 1 determines whether or not the suspicious drone candidate X is a foreign body to be captured based on the provided information. .. In this way, the suspicious drone D may be captured by assisting the computer with a human.
In this way, by using the method of capturing a suspicious drone by assisting the computer with the observer A, the computer and the observer A can complement each other's roles. That is, when it is difficult for the observer A to handle nighttime, long-time monitoring, long-distance monitoring, etc., it is possible to reduce the human load by automating with a computer. In addition, even when a mechanical and patterned response is required, efficient processing can be achieved by using a computer. Further, at this time, the timing at which the computer provides the observer A with the information regarding the suspicious drone candidate X is not limited, and the information can be provided at any time.

Further, the suspicious drone D that the computer should originally capture may be automatically identified without human intervention. That is, the computer discovers the suspicious drone candidate X by constantly monitoring the protected area W with the radar L or the like, automatically distinguishes whether or not the suspicious drone candidate X is a foreign body to be captured, and captures the suspicious drone candidate X. You may go.
At this time, the computer automatically determines whether or not the suspicious drone candidate X is a foreign body to be captured based on the information obtained by the monitoring, and at the same time, the monitor A is notified of the suspicious drone candidate X. Information may be provided. When the observer A gives an instruction to capture the suspicious drone candidate X, the observer A automatically determines whether or not the suspicious drone candidate X is a foreign body to be captured. You may capture the suspicious drone candidate X according to the instructions given by. Further, if a human does not give an instruction to capture the suspicious drone candidate X, the suspicious drone candidate X may be captured.
Furthermore, the computer may continue to ask the observer A whether or not to continuously capture the suspicious drone D after capturing the suspicious drone D. When the observer A instructs to release the suspicious drone X, the computer may be configured to release the suspicious drone D. Furthermore, the computer may isolate the suspicious drone X in a safe place after capturing the suspicious drone X. Then, the observer A may be continuously instructed as to whether or not to continuously capture the suspicious drone X. When the observer A instructs to release the suspicious drone, the computer may be configured to release the suspicious drone D.
In this way, without human intervention, the computer automatically identifies the suspicious drone D that should be captured, so that it can detect foreign body candidates, determine whether it is a foreign body to be captured, and capture it. Will be able to be processed quickly.

As mentioned above, in order to identify the suspicious drone D that should be captured and to perform the processing up to the capture of the suspicious drone D more quickly and efficiently, a huge amount of data is managed and the above processing is performed in real time. It is necessary to do it in. For this purpose, for example, machine learning by a computer may be used by utilizing the huge accumulated data. That is, the computer is made to machine-learn by accumulating data on a series of responses including detection of a candidate for a foreign body, determination of whether or not the foreign body is a foreign body to be captured, and a series of responses including capture processing. .. As a result, it becomes possible to more accurately and efficiently distinguish whether or not the candidate for the foreign body is the foreign body to be captured, and to perform the capture process.

Further, in the present embodiment, the radar L is installed around the center of the facility B to be protected, and the area within a radius of 1 km from the center of the installed position is set as the protected area W, but the present invention is limited to this. Not done. By arranging a plurality of radars L, a monitoring network capable of monitoring a wide range may be created.
That is, the longer the time from when the suspicious drone D invades the protected area W to when it reaches the protected facility B, the better so as to secure the time to deal with the suspicious drone D. .. However, in general, the monitoring distance by the radar L and the operating range of the capture device C and the reconnaissance device J cannot be unnecessarily expanded due to legal reasons and cost reasons. Therefore, by creating a monitoring network capable of monitoring a wide area, it becomes possible to secure a series of response times including the above-mentioned detection of foreign body candidates and capture processing.

Further, the object shape information acquisition unit 101 acquires the information obtained from the radar L in the normal state as the normal state when the suspicious drone candidate X does not exist in the protection target area W as the normal time object shape information. At this time, the ignore area may be set.
The neglected area is an area that is not included in the detection target because it is known that the shape of the object changes frequently. For example, this includes passages where people and cars can normally come and go, and places where splashes are detected at any time on the shoreline. Further, the object shape information acquisition unit 101 may obtain information such as weather information, traffic information, and aircraft operation information at any time, and may add, expand, or reduce the ignored area. For example, the average position of the sea surface and the height of the wave may be determined by the tide information and the wave information, and the height below the height at which the sea surface rises may be set as the neglected region. Further, if the position and time at which the aircraft flies are known in advance, that area may be set as the neglected area. Further, the object shape information acquisition unit 101 may obtain the movement of the wind within the observation range by an appropriate method. Wind movement may be monitored, for example, by a sonde, buoy, or hovering meteorological drone.
In this way, by setting an ignoring area for the normal object shape information, it can be confirmed in advance that the building or equipment itself, fixed objects, plants, trees, grass, non-flying objects and non-floating objects are not threatening. It is possible to reduce the possibility of accidentally capturing meteorological solids such as drones, flying or floating objects, leopards, and tornado-wound fish.

Further, the suspicious drone candidate detection unit 102 detects the difference between the object shape information L (tk) and the normal object shape information L (t0) in the area excluding the above-mentioned ignored area, but if necessary, a noise filter is used. You may use it. This is because it can be determined that an object smaller than a general suspicious drone will not be captured because it is more likely to be an insect rather than a suspicious drone.

The object shape information acquisition unit 101 measures the size of the suspicious drone candidate X in the real space, and here, the range of the size of the suspicious drone candidate X that can be captured by the capture device C may be input in advance. ..

In this embodiment, the law of Japan at the time of filing of the present application is applied, but the present invention is not limited to this. In each country, for the fair use of radio waves, strict regulations are imposed on the transmission of disturbing radio waves, even for legitimate defense purposes. Therefore, in foreign countries, foreign law may be applied.

Summarizing the above, the information processing apparatus to which the present invention is applied suffices to have the following configuration, and various embodiments can be taken.
That is, the information processing apparatus to which the present invention is applied is
Candidate detection means (for example, FIG. 5) for detecting a candidate for a foreign body (for example, suspicious drone candidate X in FIGS. 1 and 2) that invades the range of the protection target (for example, the protection target area W in FIGS. 1 and 2). Suspicious drone candidate detection unit 102) and
A determination means for determining whether or not the foreign body candidate is a foreign body to be captured (for example, the first determination unit 106 or the second determination unit 110 in FIG. 5) based on a predetermined determination method.
To prepare for.
This makes it possible to appropriately determine whether or not the candidate for a foreign body that invades the range of the protected object is a foreign body to be captured.

Further, the information processing apparatus to which the present invention is applied is
When the candidate for the foreign body is determined by the determination means to be the foreign body to be captured, the capture support means (for example, the capture support unit 111 in FIG. 5) that executes a process of supporting the capture of the foreign body. ,
Can be provided.
This makes it possible to properly capture the foreign body to be captured.

Specifically, for example, the information processing apparatus to which the present invention is applied is
The candidate detecting means is
Information on the shape of each of one or more objects included in the protected range is sequentially acquired as object shape information, and the acquired object shape information is sequentially compared with the object shape information in a normal state, and is usually used. A part different from the state is detected as a candidate for a foreign body,
The determination means is
A first recognition means (for example, the first physical quantity pattern recognition unit 105 in FIG. 5) for recognizing a pattern of change after detection of the first physical quantity for the foreign body candidate, and
Based on the pattern of change after detection of the first physical quantity of the foreign body candidate recognized by the first recognition means, the foreign body candidate may be the foreign body to be captured. A first determination means (for example, the first determination unit 106 in FIG. 5) for first determining whether or not to use
When the first determination determines that the foreign body candidate may be the foreign body to be captured, the stimulus giving support for supporting the application of a predetermined stimulus to the foreign body candidate. Means (for example, the stimulus applying support unit 107 in FIG. 5) and
A second recognition means (for example, the second physical quantity pattern recognition unit 109 in FIG. 5) for recognizing a pattern of change in the second physical quantity of the foreign body candidate after the stimulus is applied.
Based on the pattern of change after detection of the second physical quantity of the foreign body candidate recognized by the second recognition means, the foreign body candidate may be the foreign body to be captured. A second determination means (for example, the second determination unit 110 in FIG. 5) that makes a second determination as to whether or not the condition is present.
Have,
The capture support means
When the second determination determines that the candidate for the foreign body is likely to be the foreign body to be captured, the execution of a process for supporting the capture of the foreign body to be captured is permitted.
The second determination is that the candidate for the foreign body is unlikely to be the foreign body to be captured, or the first determination is that the candidate for the foreign body is the foreign body to be captured. If it is determined that there is no possibility of this, the execution of processing to support the capture of the foreign body to be captured is prohibited.
be able to.
As a result, the foreign body to be captured can be appropriately identified from the candidates for the foreign body invading the range of the protected target, and can be captured as needed. As a result, crimes and accidents caused by the invasion of foreign objects to be captured can be effectively prevented, and objects that should not be captured (for example, life forms such as birds) can be prevented from being accidentally captured.

1 ... Server, C ... Capture device, L ... Radar, S ... Stimulator S, J ... Reconnaissance device, 101 ... Object shape information acquisition unit, 102 ... Suspicious drone Candidate detection unit, 103 ... Notification unit, 104 ... First physical quantity acquisition instruction unit, 105 ... First physical quantity pattern recognition unit, 106 ... First determination unit, 107 ... Stimulation application support unit , 108 ... second physical quantity acquisition instruction unit, 109 ... second physical quantity pattern recognition unit, 110 ... second determination unit, 111 ... capture support unit, 201 ... first physical quantity acquisition unit, 202 ... Second physical quantity acquisition unit

Claims (3)

1. Candidate detection means for detecting candidates for foreign substances that invade the area to be protected,
   A determination means for determining whether or not the foreign body candidate is a foreign body to be captured based on a predetermined determination method.
   Information processing device equipped with.
2. When the candidate for the foreign body is determined by the determination means to be the foreign body to be captured, the capture support means for executing the process of supporting the capture of the foreign body and the capture support means.
   The information processing apparatus according to claim 1.
3. The candidate detecting means is
   Information on the shape of each of one or more objects included in the protected range is sequentially acquired as object shape information, and the acquired object shape information is sequentially compared with the object shape information in a normal state, and is usually used. A part different from the state is detected as a candidate for a foreign body,
   The determination means is
   A first recognition means for recognizing a pattern of change after detection of a first physical quantity for a foreign body candidate, and a first recognition means.
   Based on the pattern of change after detection of the first physical quantity of the foreign body candidate recognized by the first recognition means, the foreign body candidate may be the foreign body to be captured. The first determination means for making the first determination as to whether or not it is
   When the first determination determines that the foreign body candidate may be the foreign body to be captured, the stimulus giving support for supporting the application of a predetermined stimulus to the foreign body candidate. Means and
   A second recognition means for recognizing a pattern of change in the second physical quantity of the foreign body candidate after the stimulus is given, and
   Based on the pattern of change after detection of the second physical quantity of the foreign body candidate recognized by the second recognition means, the foreign body candidate may be the foreign body to be captured. A second determination means for making a second determination as to whether or not it is present,
   Have,
   The capture support means
   When the second determination determines that the candidate for the foreign body is likely to be the foreign body to be captured, the execution of a process for supporting the capture of the foreign body to be captured is permitted.
   The second determination is that the candidate for the foreign body is unlikely to be the foreign body to be captured, or the first determination is that the candidate for the foreign body is the foreign body to be captured. If it is determined that there is no possibility of this, the execution of processing to support the capture of the foreign body to be captured is prohibited.
   The information processing apparatus according to claim 2.

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