JP6594640B2 - Monitoring system - Google Patents

Description

  The present invention relates to a monitoring system using an autonomous mobile robot that moves to a position where an abnormality is detected when an abnormality of an intruding object or the like (for example, a suspicious vehicle or a suspicious person) is detected in the monitoring area, and performs shooting or the like. About.

  Conventionally, as a monitoring system using an unmanned air vehicle that flies on a predetermined flight route by autonomous control and captures a predetermined range from the air, there is one disclosed in Patent Document 1 below. In Patent Document 1, photographing is prohibited in consideration of privacy until an unmanned air vehicle arrives at a monitoring place from a standby place.

JP 2014-177162 A

By the way, in the monitoring system using the unmanned air vehicle disclosed in Patent Document 1 described above,
In order to provide the counselor, police, etc., the monitoring staff at the monitoring center records a scene where an intruder or the like is captured as a still image while watching a live video transmitted from an unmanned air vehicle. However, in Patent Document 1, the supervisor of the monitoring center confirms the video of the abnormality factor until the unmanned air vehicle arrives from the standby position to the vicinity of the abnormality detection point after receiving the notification of the abnormality detection in the monitoring area. Can not.
In addition, it is assumed that the unmanned air vehicle will take off from the waiting area and move to the vicinity of the location where the anomaly has been detected. This is not preferable from the viewpoint of battery consumption of the unmanned air vehicle.
Therefore, it is preferable to limit the shooting until the unmanned air vehicle takes off and reaches the destination after the abnormality is detected, but in this case, it is difficult to grasp the timing of the start of shooting by the unmanned air vehicle, there is a possibility.
It is conceivable for the monitor of the monitoring console to record the live video and reproduce the recorded image. It is a burden to check the recorded image simultaneously while monitoring the live video.

  The present invention is intended to solve the above-described problems, and by taking and storing a still image automatically when the flying robot moves to an abnormality detection location and starts photographing, an important scene is reduced. It is intended to prevent oversight.

In order to achieve the above-described object, a monitoring system according to the present invention includes an abnormality detection unit that detects an abnormality in a monitoring area, an autonomous mobile robot that includes an imaging unit, and wireless communication with the autonomous mobile robot. A control system that acquires state information of the autonomous mobile robot and transmits control instruction information to the autonomous mobile robot to control the autonomous mobile robot, the control device comprising: When the abnormality detection means detects an abnormality, the vicinity of the abnormality detection point is set as a destination, flight control means for instructing the autonomous mobile robot to move to the destination, and position information as status information from the autonomous mobile robot Get information,
When it is determined that the autonomous mobile robot has moved to the destination based on the position information, the control device is configured to permit imaging by the autonomous mobile robot, and the control device is configured to perform the autonomous control by the imaging control unit. When the reception of live video from the autonomous mobile robot is started after instructing the mobile robot to take a picture, a part immediately after the start of reception of the live video is automatically acquired as a still image.

According to the monitoring system of the present invention, the control device has a function of automatically transferring the acquired still image to a designated transmission destination.

  Further, according to the monitoring system of the present invention, the control device stores the state information acquired from the autonomous mobile robot or the detection information by the abnormality detection unit as incidental information of the still image.

  Furthermore, according to the monitoring system of the present invention, it is preferable that the autonomous mobile robot is a flying robot having a flying function.

  According to the monitoring system of the present invention, the flying robot includes altitude control means for controlling a flying altitude, and the imaging control means of the control device sets the flight altitude acquired as the position information from the flying robot. Control is performed to prohibit photographing by the photographing means when the altitude is higher.

According to the monitoring system of the present invention, when the abnormality detection means detects an abnormality in the monitoring area, the autonomous mobile robot that starts moving automatically captures a still image when it arrives in the vicinity of the abnormality detection point and starts shooting. get. This makes it clear when the autonomous mobile robot starts monitoring.
In addition, if the intruder detects the anomaly, the intruder's video can only be seen immediately after the start of shooting because the intruder may escape outside the field of view of the camera if he notices the approach of the unmanned air vehicle. Not expected. According to the monitoring system of the present invention, since a still image immediately after the start of photographing is automatically recorded, there is a high possibility that an intruder or the like is reflected in the still image, and it is provided to a cooperator, police, or the like. A suitable still image can be acquired.
In addition, by storing the position information of the autonomous mobile robot and the detection time of the abnormality detection means together with the current time when acquiring the still image, when and where the corresponding image was acquired, and how much time has passed since the abnormality was detected You can see if you are doing.
Further, by automatically storing the acquired still image in a data storage server that can be accessed from the outside, it is possible to quickly provide information to a staff member at the site.
In addition, by using a flying robot with a flying function as an autonomous mobile robot and prohibiting shooting while the flying robot is flying over a predetermined height, the flying robot has an altitude less than the predetermined height while considering privacy. The still image can be automatically acquired at the timing when it is possible to start shooting after descending.

It is an image figure which shows the outline | summary of the monitoring system which concerns on this invention. It is a mimetic diagram showing the whole surveillance system composition concerning the present invention. It is a block block diagram of the flying robot in the monitoring system which concerns on this invention. It is a block block diagram of the flight control apparatus in the monitoring system which concerns on this invention. It is explanatory drawing which shows the specific example of control of the flying robot in the monitoring system which concerns on this invention. It is a flowchart of the coping process which the flight control apparatus in the monitoring system which concerns on this invention performs. It is a flowchart which the center apparatus of the monitoring center in the monitoring system which concerns on this invention performs.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS. 1 to 7 of the accompanying drawings.

[Outline of the present invention]
When detecting an abnormality of an intruding object or the like (for example, a suspicious vehicle or a suspicious person) in the monitoring area, the present invention moves the autonomous mobile robot to the position where the abnormality is detected, and captures a target location in the monitoring area. More particularly, the present invention relates to a monitoring system using a flying robot having a flying function as an autonomous mobile robot.

When the flying robot in this monitoring system moves at the position where the abnormality is detected as the target position, it will fly up to the set altitude at a low speed and then fly toward the target position at a high speed. And take a picture. At this time, while the flying robot is flying above the set altitude, it is controlled to prohibit photographing in consideration of privacy. On the other hand, when the flying altitude of the flying robot becomes less than the set altitude, photographing is permitted, and distribution of live video to the monitoring center is started. In addition, still images are automatically saved when live video distribution starts. If necessary, the monitoring center can store a still image at an arbitrary timing and transmit it to a predetermined transmission destination by a manual operation of a monitoring person while monitoring a live video. Still images that are automatically stored at the start of live video reception can be transmitted to a predetermined transmission destination simultaneously with the storage. As a result, privacy can be ensured and still images at the start of live video distribution can be automatically acquired.

[Monitoring system configuration]
As shown in FIGS. 1 and 2, the monitoring system 1 of the present embodiment is constructed by an abnormality detection means 2, a robot port 3, a flying robot 4, a flight control device 5, and a monitoring center 6. In the monitoring system 1, as shown in FIG. 1, when the abnormality detection means 2 detects an abnormality that has occurred in the monitoring area E (for example, a suspicious vehicle M that has entered the monitoring area), this abnormality detection is detected as an abnormality. The flight control device 5 is notified from the means 2. The flight control device 5 gives a flight instruction to the flying robot 4 via the robot port 3 when there is a report of abnormality detection from the abnormality detection means 2. The flying robot 4 flies toward the monitoring area E in accordance with a flight instruction from the flight control device 5, and images a target location (for example, a peripheral area including the target M) set around the abnormality occurrence location in the monitoring area E. To do. The monitoring center 6 displays a captured image transmitted from the flying robot 4 via the flight control device 5 on a monitor (display device), and monitors the monitoring area E. Hereinafter, the structure of each part which comprises the monitoring system 1 is demonstrated. The flight route used in this example means a route on which the flying robot 4 flies, that is, a flight route.

[Configuration of abnormality detection means]
The abnormality detection means 2 outputs an abnormality detection signal when an abnormality of an intruding object or the like (suspicious vehicle or suspicious person) is detected in the monitoring area E, or when a fire, glass or the like is detected, and the flight control device 5 includes various sensors for reporting an abnormality in the monitoring area E. Specifically, for detecting an intruding object, the abnormality detecting means 2 can be configured by various object detecting sensors such as a laser sensor, a microwave sensor, an ultrasonic sensor, an image sensor, an infrared sensor, and the like, and other fires are detected. A fire detection sensor that detects glass breakage, a glass breakage detection sensor that detects glass breakage, and the like can be configured as the abnormality detection means 2. For example, when the abnormality detection means 2 is configured by a laser sensor, as shown in FIG. 1, the target object (intruding object) M that is an abnormality target is scanned with a laser beam at a predetermined period and enters the scanning range S indicated by diagonal lines. When an abnormality is detected, an abnormality detection signal is transmitted to the flight control device 5 via a LAN or the like, for example, to notify the abnormality in the monitoring area E.

[Roboport configuration]
The roboport 3 is a standby place for the flying robot 4, and includes equipment for receiving an instruction from the flight control device 5 and for taking off and landing the flying robot 4. The robot port 3 includes a mechanism for accommodating the flying robot 4 in the port when the flying robot 4 is landed. When the flying robot 4 is accommodated in the port, the robot port 3 is brought into contact or non-contact with the flying robot 4. Has a function of supplying power.

[Configuration of flying robot]
The flying robot 4 stands by at the roboport 3 in a normal state where it has not received a flight instruction from the flight control device 5. When the abnormality detection means 2 detects an abnormality and notifies the flight control device 5, flight control is performed. In response to an instruction from the device 5, the aircraft flies toward a target position (destination) P while avoiding an obstacle at a speed corresponding to the flight altitude.

  As shown in FIG. 3, the flying robot 4 includes a rotor 11, a rotor driving unit 12, a flight state detecting unit 13, a position information receiving unit 14, an altitude sensor 15, an imaging unit 16, an illumination 17, an antenna 18, and a distance measuring sensor 19. , Illuminance sensor 20, storage unit 21, power supply 22, and robot control unit 23.

  The rotor 11 is composed of, for example, four rotating bodies, and is driven by the rotor driving unit 12 so as to fly the body of the flying robot 4 such as ascending, descending, changing direction, and moving forward.

  The rotor drive unit 12 drives each rotating body of the rotor 11 under the control of the rotor control means 33b described later in order to fly the aircraft of the flying robot 4 such as ascending, descending, changing direction, and moving forward.

  The flight state detection unit 13 detects the flight state of the flying robot 4. For example, the flight state detection unit 13 detects various directions such as an orientation sensor that detects the orientation of the flying robot 4, an acceleration sensor that detects the attitude and acceleration of the flying robot 4, and a gyro sensor. Consists of sensors. The detection results of these various sensors are input to the attitude control means 33 described later as flight state information of the flying robot 4.

  The position information receiving unit 14 detects the current position of the flying robot 4 by using a satellite positioning system such as a global navigation satellite system (GNSS). The current position of the flying robot 4 detected by the position information receiving unit 14 is input as position information (GNSS signal) of the flying robot 4 to the self-position positioning means 33a described later.

  The altitude sensor 15 measures the current altitude of the flying robot 4 based on the barometric pressure value of the barometric sensor or a laser beam projected and received vertically from the body of the flying robot 4 under the control of the robot controller 23. The current altitude of the flying robot 4 measured by the altitude sensor 15 is input to the self-position positioning means 33a described later as altitude information.

  The imaging unit 16 is configured by, for example, a camera using an image sensor, and captures the surroundings of the flying robot 4 (for example, the front and the bottom) with a color moving image. The photographing unit 16 controls photographing permission (prohibition cancellation) / prohibition, photographing angle, and the like by photographing control means 34 described later. A moving image shot by the shooting unit 16 is input to a shooting control unit 34 described later.

  The illumination 17 is composed of an illumination device such as an LED illumination that assists photographing by the photographing unit 16, and is turned on / off by illumination control means 35 described later. The illumination 17 is turned on when the surroundings of the flying robot 4 in flight are dark and become below the set illuminance.

  The antenna 18 is provided in the robot main body, and performs wireless communication with the flight control device 5 by using a low-power radio, Wi-Fi, or the like.

  The distance measuring sensor 19 projects and receives electromagnetic waves, visible rays, sound waves, etc. in the horizontal direction or vertically downward of the flying robot 4 under the control of the robot controller 23, and measures the distance between the flying robot 4 and its surroundings. To do. As the distance measuring sensor 19, for example, a laser sensor, a microwave sensor, an infrared sensor, an ultrasonic sensor, or the like can be used. The measurement result by the distance measuring sensor 19 is input to the obstacle detection means 32 described later as the surrounding information of the flying robot 4.

  The illuminance sensor 20 is provided as necessary, and detects the brightness around the flying robot 4. The detection result of the illuminance sensor 20 is input to the illumination control means 35 described later as illuminance information.

  The storage unit 21 sequentially stores moving images captured by the imaging unit 16 when the flying robot 4 is flying.

  The power source 22 is composed of a rechargeable battery such as a lithium polymer battery, for example, and supplies necessary power to each part of the flying robot 4.

  The robot controller 23 controls the entire flying robot 4 as a whole. As shown in FIG. 3, the robot controller 23 includes a communication control unit 31, an obstacle detection unit 32, an attitude control unit 33, an imaging control unit 34, and an illumination control unit. 35.

  The communication control unit 31 performs wireless communication with the flight control device 5 via the antenna 18 and performs various information (a flight route instruction from the flight control device 5 to the flying robot 4, a target position P and speed instruction, a take-off instruction, a feedback) Instructions, flight state information, position information, altitude information, etc. from the flying robot 4 to the flight control device 5 are transmitted and received. In addition, the communication control unit 31 transmits the live video captured by the imaging unit 16 to the flight control device 5 by wireless communication.

  The obstacle detection means 32 determines the presence or absence of an obstacle around the flying robot 4 based on the surrounding information of the flying robot 4 detected by the distance measuring sensor 19.

  The attitude control means 33 controls the attitude of the flying robot 4 in flight based on various detection signals from the flight state detector 13, position information from the position information receiver 14, and altitude information from the altitude sensor 15. Yes, it includes self-positioning means 33a and rotor control means 33b.

  The self-positioning means 33a calculates the self-position (latitude, longitude, altitude) using the position information (GNSS signal) received by the position information receiving unit 14 and the altitude information measured by the altitude sensor 15.

  The rotor control means 33b is instructed by the flight control device 5 to control the rotor drive unit 12 while avoiding obstacles according to the presence or absence of obstacles by the obstacle detection means 32 and to control the altitude and speed of the flying robot 4. Control to achieve the target value.

  The shooting control unit 34 starts and ends shooting of the shooting unit 16, controls the shooting angle of the shooting unit 16, acquires a moving image shot by the shooting unit 16, and transmits a live video from the communication control unit 31 to the flight control device 5. Perform processing such as. In addition, the imaging control unit 34 controls the imaging angle (permission cancellation / prohibition) and the imaging angle in accordance with instructions from the flight control device 5.

  The illumination control means 35 transmits the brightness information of the captured image or the illuminance information of the illuminance sensor 20 provided as necessary to the flight control device 5 and follows the instructions from the flight control device 5 accompanying this transmission. Control on / off.

  The illumination control unit 35 determines whether or not the illuminance around the flying robot 4 is less than or equal to the set illuminance from the luminance information of the captured image or the illuminance information of the illuminance sensor 20 and transmits the determination result to the flight control device 5. You can also

[Configuration of flight control device]
The flight control device 5 is installed, for example, in a predetermined location in the monitoring area E or in the vicinity of the monitoring area E. The flight control device 5 is connected to the abnormality detection unit 2 via, for example, a LAN and receives an abnormality detection signal from the abnormality detection unit 2 when an abnormality occurs in the monitoring area E. The flight control device 5 wirelessly communicates with the flying robot 4 when receiving an abnormality detection signal from the abnormality detection means 2, and controls the flying robot 4 based on various information transmitted from the flying robot 4. The function of the monitoring device which performs is provided. The flight control device 5 gives various control instructions to the flying robot 4 when receiving various instructions such as a shooting instruction by the flying robot 4 and a flight instruction to a predetermined position from the monitoring center 6.

  The flight control device 5 controls the flight of the flying robot 4 and includes a communication unit 41, a storage unit 42, and a control unit 43 as shown in FIG.

  The communication unit 41 performs wireless communication such as low-power wireless and Wi-Fi communication with the flying robot 4, and information such as the position (latitude, longitude, altitude) and speed as flight state information from the flying robot 4. And various control signals corresponding to the received information are transmitted to the flying robot 4. When the communication unit 41 receives instruction information such as a flight instruction from the center device 6 a of the monitoring center 6 to the flying robot 4, the communication unit 41 transmits various control signals according to the flight instruction information to the flying robot 4. Further, the communication unit 41 transmits the live video captured by the imaging unit 16 of the flying robot 4 to the center device 6a of the monitoring center 6 via a virtual dedicated network (VPN) constructed on a wide area network (WAN) such as the Internet. Send.

  The storage unit 42 is composed of, for example, a ROM, a RAM, and the like, and includes a flight area map that represents the area in which the flying robot 4 flies in three dimensions of latitude, longitude, and altitude, and monitoring area information that is various information related to the monitoring area E. Data for communicating with the flying robot 4, various parameters for controlling the flight of the flying robot 4, position information (latitude and longitude information) of the robot port 3, the type of the abnormality detection means 2 in the monitoring area E, and the abnormality In addition to the installation position information (latitude and longitude information) of the detection means 2, various programs for realizing the functions of the flight control device 5 are stored.

  The control unit 43 reads the software module from the storage unit 42, performs each process with a CPU or the like, and performs overall control of each unit, and includes a flight control unit 43a, an imaging control unit 43b, and a state confirmation unit 43c.

  The flight control means 43a acquires flight state information, position information, and altitude information from the flying robot 4 via the communication unit 41, and provides control signals related to the flight of the flying robot 4 such as the target position P and speed of the flying robot 4. It transmits to the flying robot 4 via the communication unit 41 and controls the flight of the flying robot 4. For example, if the flying altitude of the flying robot 4 is equal to or higher than the set altitude H1, the speed is controlled so that the flying robot 4 flies at a high speed (for example, 5 to 15 m / s). Further, if the flying altitude of the flying robot 4 is less than the set altitude H1, the flying robot 4 flies at a low speed (for example, 2 to 3 m / s: a speed that can be avoided when an obstacle is detected) below the reference speed. To control the speed.

  The imaging control means 43 b controls imaging by the imaging unit 16 of the flying robot 4, and an imaging permission signal (imaging prohibition release signal) based on altitude information at the current position acquired from the flying robot 4 via the communication unit 41. Alternatively, a photographing prohibition signal is transmitted to the flying robot 4 via the communication unit 41. Further, the imaging control means 43b transmits an instruction signal for starting shooting, stopping shooting, and ending shooting to the flying robot 4 at an arbitrary timing based on instruction information from the center device 6a of the monitoring center 6. For example, when the altitude information of the flying robot 4 at the current position becomes equal to or higher than the set altitude H1, a shooting prohibiting signal for prohibiting shooting by the shooting unit 16 is transmitted to the flying robot 4 via the communication unit 41. As long as the altitude information of the flying robot 4 is equal to or higher than the set altitude H1, transmission of a shooting permission signal (shooting prohibition release signal) to the flying robot 4 is prohibited.

In this case, for example, even when an imaging start instruction is received from the center device 6a of the monitoring center 6, transmission of the imaging start signal to the flying robot 4 is similarly prohibited. On the other hand, when the altitude information of the flying robot 4 at the current position is less than the set altitude H1, a shooting permission signal (shooting prohibition release signal) that permits shooting by the shooting unit 16 is sent to the flying robot 4 via the communication unit 41. Send. As a result, shooting by the shooting unit 16 of the flying robot 4 becomes possible until the shooting prohibition signal is transmitted to the flying robot 4 again when the altitude information of the flying robot 4 is higher than the set altitude H1. Live video can be transmitted to the center device 6a.

  The state confirmation unit 43c is for confirming the state of the flying robot 4, and periodically confirms whether or not the function of the flying robot 4 is normal when the flying robot 4 is waiting at the robot port 3.

[About monitoring center configuration]
As shown in FIG. 2, the monitoring center 6 includes at least a center device 6a, a display device 6b, and a data storage server 6c.
The center device 6a receives the live video captured by the flying robot 4 via the flight control device 5, and displays it on a display device 6b such as a monitor. The center device 6a also gives instructions (such as a flight route instruction, a target position P and speed instruction, a take-off instruction, a return instruction, and a lift instruction) to the flight control apparatus 5 when the supervisor sees the display device 6b. Send.

Further, the center device 6a performs control so that the still image automatically acquired from the live video in a state where the flying robot 4 reaches the monitoring region E and can be photographed is automatically transferred and stored in the data storage server 6c.
Further, the center device 6a controls to transfer a live video displayed on the display device 6b and a still image taken by the monitor at an arbitrary timing on the live video to a predetermined transmission destination such as the data storage server 6c.
The data storage server 6c stores the live image transmitted from the flying robot 4 as described above, and also stores the still image cut out from the live image.
The data storage server 6c does not need to be placed in the monitoring center, and may be placed in a data center or the like where further security is ensured. The live video and still images transferred to and stored in the data storage server 6c under the control of the center device 6a are accessed from a further upstream monitoring center to provide information to the police, etc. By making it accessible by predetermined authentication from a terminal or the like, it is possible to quickly grasp the field situation.

[Action processing]
Next, a countermeasure process executed by the flight control device 5 of the monitoring system 1 when an abnormality occurs in the monitoring area E will be described with reference to FIGS.

  If there is an intruding object (such as a suspicious vehicle or a suspicious person) in the monitoring area E as an abnormality in the monitoring area E, the abnormality detecting means 2 detects this intruding object as the target M. Then, the abnormality detection means 2 transmits an abnormality detection signal based on the target M to the flight control device 5 to notify the flight control device 5 that an abnormality has occurred in the monitoring area E.

  In the coping process of FIG. 6, first, it is determined whether or not the abnormality detection means 2 has detected an abnormality based on the presence or absence of an abnormality detection signal from the abnormality detection means 2 (ST1).

  When the flight control device 5 receives an abnormality detection signal from the abnormality detection means 2 and determines that the abnormality detection means 2 has detected an abnormality, the flight control device 5 notifies the center device 6a of the monitoring center 6 (ST2).

  Then, the flight control device 5 calculates and sets the target position P to be directed to the flying robot 4 and the flight route, and transmits a flight route instruction to the target position P to the flying robot 4 via the roboport 3 (ST3). ). Subsequently, the flight control device 5 transmits a take-off instruction to the flying robot 4 via the roboport 3 (ST4). When the flight robot 4 receives the flight route instruction and take-off instruction from the flight control device 5 to the target position P via the roboport 3, the rotor control unit 33b controls the rotor drive unit 12 to drive each rotor 11. It takes off from Roboport 3 and flies according to the flight route and moves toward the target position P.

  Next, the flight control device 5 determines whether or not the flying altitude of the flying robot 4 flying toward the target position P is equal to or higher than the set altitude H1 (ST5). When the flight control device 5 determines that the flight altitude of the flying robot 4 is equal to or higher than the set altitude H1, the flight control device 5 transmits a shooting prohibition signal to the flying robot 4 as a shooting prohibition command to prohibit shooting by the shooting unit 16 of the flying robot 4. (ST6).

  Here, the reason why the flying robot 4 taking off from the robot port 3 is raised to the set altitude H1 or more is that there are few obstacles at a high altitude, it can move at a high speed, and can arrive at the target position P early. . On the other hand, when the flying altitude of the flying robot 4 is high, a wide range of photographing can be performed by the photographing unit 16 and there is a possibility that a region other than the monitoring region E is reflected in the image. For this reason, the flight control device 5 performs control so as to prohibit photographing by the photographing unit 16 at a set altitude H1 or higher in consideration of privacy.

  The “prohibition of shooting” here refers to a case where image storage is prohibited in the storage unit 21 of the flying robot 4 main body, but transmission of live video to the flight control device 5 is permitted, or both are prohibited. In any case. Further, as a photographing prohibition method, any of control by the flying robot 4 main body control unit, activation prohibition control of the camera itself as the photographing unit 16, and instruction signal transmission control by the flight control device 5 may be used.

  In this example, as shown in FIG. 5, the flying robot 4 is prohibited from flying (except during takeoff and landing) at altitudes from the ground surface H0 to the lower flight altitude H2 (for example, 5 m). Further, at the altitude from the lower flight altitude H2 to the set altitude H1 (for example, 10 m), photographing by the photographing unit 16 is permitted, and the flying speed of the flying robot 4 is limited to a low speed equal to or lower than the reference speed. Further, at the altitude of the set altitude H1 or higher, shooting by the shooting unit 16 is prohibited and the flying robot 4 can fly at high speed. Even when the flying altitude of the flying robot 4 is less than the set altitude H1, if the flying altitude is less than the lower flying altitude H2, the photographing by the photographing unit 16 is prohibited. This is to prevent improper shooting of an object due to an unexpected situation, for example, when the flying robot 4 unexpectedly arrives unexpectedly. In addition, the flight upper limit altitude of the flying robot 4 is set to a flight limit altitude (for example, 50 m). Moreover, the speed at the time of takeoff and landing is set to a low speed (for example, 1 m / sec).

  The set altitude H1 is appropriately set as a fixed value for each site according to the height of a structure, a structure such as a power pole, a tree, etc. existing on the flight route on which the flying robot 4 flies. Thereby, it is possible to control the flying robot 4 to reach the target position P earlier while reducing the risk of damage to the flying robot 4 and ensuring safety.

  Next, the flight control device 5 determines whether or not the flying robot 4 has flew to the vicinity of the target position P (ST7). If the flight control device 5 determines that the flying robot 4 has not moved to the vicinity of the target position P, the flight control device 5 returns to the process of ST5. When it is determined that the flying robot 4 has moved to the vicinity of the target position P, the flight control device 5 transmits a descent instruction to the flying robot 4 (ST8). When the flying robot 4 receives the lowering instruction from the flight control device 5, the rotor control unit 33b controls the rotor driving unit 12 to drive each rotor 11 and lower the airframe.

  Next, the flight control device 5 determines whether or not the flying robot 4 descends and the flight altitude is equal to or lower than the set altitude H1 (ST9). When the flight control device 5 determines that the flying altitude of the flying robot 4 is equal to or lower than the set altitude H1, the flight control device 5 transmits a shooting prohibition release signal to the flying robot 4 as a shooting prohibition release command (shooting permission command) (ST10). When the flying robot 4 receives the shooting prohibition release signal from the flight control device 5, the shooting control unit 43 b cancels shooting of the shooting unit 16, and shooting of the surrounding area including the target M in the monitoring area E is started.

  In this way, the flying robot 4 takes off from the roboport 3 and rises, and when the flying altitude of the flying robot 4 becomes equal to or higher than the set altitude H1, the flight control device 5 controls the shooting unit 16 to prohibit shooting. Then, when the flying robot 4 flies to the vicinity of the target position P and moves while the photographing of the photographing unit 16 is prohibited, the flying robot 4 descends, and the flying altitude of the flying robot 4 becomes less than the set altitude H1, and is photographed from the flight control device 5. When the prohibition release signal is issued, the photographing prohibition of the photographing unit 16 is canceled and the periphery including the target (for example, the car) M is photographed by the photographing unit 16.

The flight control device 5 cancels the shooting prohibition of the flying robot 4 and determines whether or not the reception of the live video is started (ST11). When the flight control device 5 starts receiving live video from the flying robot 4, the flight control device 5 starts transmitting the received live video to the center device 6a of the monitoring center 6 (ST12).
Next, the flight control device 5 determines whether or not the shooting by the shooting unit 16 of the flying robot 4 is completed (ST13). When the flight control device 5 determines that the shooting by the shooting unit 16 of the flying robot 4 has ended, the processing for handling an abnormality is ended.

  When the flight control device 5 determines that shooting by the shooting unit 16 of the flying robot 4 has been completed in the above-described handling process, the flight control device 5 transmits a return instruction to the flying robot 4 as necessary, and causes the flying robot 4 to The robot can be returned to the robot port 3 (ST14).

Next, the operation in the coping process of the center device 6a of the monitoring center 6 will be described using the flowchart of FIG.
When the center device 6a receives the abnormality report from the flight control device 5 (ST31), the center device 6a stands by until a live video is transmitted from the flying robot 4 via the flight control device 5 (ST32).
When the flying robot 4 moves to the destination and shooting can be started and a live image is transmitted, a still image is automatically acquired, transferred to the data storage server 6c, and stored.

At this time, the acquired still image is an image immediately after the start of the transmitted live video. Immediately after the start, the first one of the transmitted live video or a plurality of set images are acquired. Alternatively, since the video may not be stable immediately after the start of reception of the live video, one or more still images may be acquired after a set time (for example, after 5 seconds) after the live video is acquired. You may make it acquire a still image, when the stability of an image | video is evaluated and the set stability conditions are satisfy | filled. This makes it easier for the observer to grasp the timing when the flying robot 4 arrives at the abnormality detection site after the abnormality is detected, and it is necessary for the observer to operate the still image immediately after the start of shooting, which is likely to include the abnormality detection factor. You can get without.

Further, it is also possible to store the position information of the flying robot 4 acquired from the flight control device 5 as supplementary information in the acquired still image. As supplementary information, the detection time of the abnormality detection means 2, the shooting time of a still image, and the like can also be stored.
The center device 6a acquires a still image and also acquires a live video from the flight control device 5 and displays it on the display device 6b. At this time, it is also possible to display a still image along with the live image on the display device 6b.
As a result, when the supervisor of the monitoring center 6 sends a coping person or the like to the site, it is possible to easily convey the shooting position information of the flying robot, the abnormality detection time, and the shooting time together with the still image of the site. Become.

While a live video is being displayed, if a monitor or the like requests acquisition of a still image at an arbitrary position in the live video (ST35), the still image is acquired. The acquired still image can be transmitted to the data storage server 6c or a designated transmission destination or can be discarded according to an arbitrary selection by the monitor. The processes of ST34 to ST36 are repeated until the transmission of the live video from the flight control device 5 is completed (ST37).

  As mentioned above, although the form containing the flying robot 4 which has a flight function was demonstrated about the monitoring system which concerns on this invention, it is not limited to this. The robot applied to the monitoring system according to the present invention may be a ground traveling type, a ceiling traveling type, or an underwater navigation type as long as the robot has an autonomous moving function. After detection, it can be applied to a monitoring system that arrives at a predetermined destination from a standby location and sends a still image when a live video can be acquired.

  The center device 6a acquires a still image from a live image transmitted from the flight control device 5. However, when the flying robot 4 is ready for photographing, the flight control device 5 acquires the still image. May be transmitted to the center device 6a.

  Further, the function of the flight control device 5 is integrated with the center device 6 a of the monitoring center 6 so that the monitoring center 6 receives the abnormality detection signal from the abnormality detecting means 2 and controls the flying robot 4. Good.

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

DESCRIPTION OF SYMBOLS 1 Monitoring system 2 Abnormality detection means 3 Roboport 4 Flight robot 5 Flight control apparatus 6 Monitoring center 6a Center apparatus 6b Display apparatus 6c Data storage server 11 Rotor 12 Rotor drive part 13 Flight state detection part 14 GNSS reception part 15 Altitude sensor 16 Imaging part DESCRIPTION OF SYMBOLS 17 Illumination 18 Antenna 19 Distance sensor 20 Illuminance sensor 21 Memory | storage part 22 Power supply 23 Robo control part 31 Communication control means 32 Obstacle detection means 33 Attitude control means 33a Self-position positioning means 33b Rotor control means 34 Imaging | photography control means 35 Illumination control means 41 communication unit 42 storage unit 43 control unit 43a flight control unit 43b imaging control unit 43c state confirmation unit

E Monitoring area H0 Ground surface H1 Set altitude H2 Lower flight altitude M Target P Target position S Scanning range

Claims (5)

An anomaly detection means for detecting an anomaly in the monitoring area;
An autonomous mobile robot with imaging means;
A control system comprising: a control device that wirelessly communicates with the autonomous mobile robot to acquire state information of the autonomous mobile robot, and transmits control instruction information to the autonomous mobile robot to control the autonomous mobile robot Because
The controller is
When the abnormality detection means detects an abnormality, the vicinity of the abnormality detection point is set as a destination, and flight control means for instructing the autonomous mobile robot to move to the destination;
Obtaining position information as the state information from the autonomous mobile robot;
Based on the position information, when it is determined that the autonomous mobile robot has reached the destination, shooting control means for permitting shooting by the autonomous mobile robot;
Equipped with a,
After instructing photographing permission to the autonomous mobile robot by the photographing control means, when reception of live video from the autonomous mobile robot is started, the live video is displayed on a display unit, and the autonomous mobile robot A monitoring system , wherein a part of the live video immediately after reaching a destination and starting shooting is automatically acquired as a still image. 2. The monitoring according to claim 1, wherein the control device manually acquires the live video as a still image when requested to acquire a still image by a manual operation of a monitor while displaying the live video on the display unit. system. Wherein the control device, monitoring system according to claim 1 or 2, characterized in that it comprises a function for automatic transfer to the destinations specified the still image acquired. The said control apparatus memorize | stores the status information acquired from the said autonomous mobile robot, or the detection information by the said abnormality detection means as incidental information of the said still image, The Claim 1 thru | or 3 characterized by the above-mentioned. Monitoring system. The autonomous mobile robot is a flight robot having a flight function,
The flying robot includes an altitude control means for controlling a flight altitude,
The photographing control means of the control device, according to claim 1, wherein the controller controls so as to prohibit the photography by the imaging means when the altitude acquired flight from flying robots as the position information is advanced or set The monitoring system according to any one of the above.