JP2014053821A - Security system and security method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To flexibly take an image of a target object even when the target object moves or when it is difficult to install a permanent monitor camera.SOLUTION: A flying unit 10 mounted with a camera recognizes an indicator Y1 attached on an operator by image recognition and such, and flies following the indicator Y1 to take an image of the surroundings of the operator when the operator moves. An image taken by the flying unit 10 is sent to a base device 20 and relayed from the base device 20 to the monitoring center 40 at real time. Thereby, the movement or work content of the operator can be confirmed in the image at the monitoring center 40.

Description

  The present invention relates to a security system and a security method for imaging a security target.

  Conventionally, a security system that grasps the status of a security target by imaging the security target has been used. For example, the communication terminal device disclosed in Patent Document 1 activates an imaging device when an abnormality occurs, and communicates an image captured by the imaging device to the center device, so that the center device can check the state of the abnormality occurrence location. it can. In this way, by checking the state of the location where the abnormality has occurred in advance, it is possible to determine the possibility of erroneous detection and to grasp the situation until the guard arrives.

  In addition, when guarding a moving person, it is necessary to grasp the movement state of the person. As a technique for grasping the movement state of a person, the system disclosed in Patent Document 2 holds a communication history between an IC tag possessed by the target person and a ticket gate terminal and transmits the communication history to a management terminal according to a predetermined condition. This makes it possible to grasp the movement state of the person.

JP 2006-139356 A JP 2008-250707 A

  Even when guarding a moving person, it is possible to grasp the situation in more detail if the person is imaged by following the person. Was difficult.

  This point will be described in detail. When imaging is performed by following a moving person using conventional techniques, it is necessary to continuously capture the target person. A camera had to be installed, which was not realistic. In addition, there has been a problem that it is necessary to continue switching the image of the target person from the images of a large number of surveillance cameras. Furthermore, there is not always a place where a surveillance camera can be installed, and there is a case where it is impossible to follow the target person.

  For this reason, when it is necessary to follow a moving person and take an image, an imaging person who takes an image using a handy camera or the like is used, and there is a problem that personnel costs increase.

  Therefore, how to realize a security system that can capture images flexibly while suppressing human labor even when the security target moves or when it is difficult to install a permanent surveillance camera. Was an important issue.

  The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide a security system and a security method capable of flexibly imaging an object.

  In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a security system that images a security target, and a sign attached to the vicinity of the security target or the security target itself, Mounted on the flying unit, the sign identifying means for identifying the sign, and mounted on the flying unit, the imaging means mounted on the flying unit for imaging the vicinity of the sign using the identification result by the sign identifying means, and mounted on the flying unit And flight control means for performing flight control toward the sign using the identification result by the sign identifying means.

  According to a second aspect of the present invention, in the first aspect of the present invention, the marker identifying unit identifies the marker by image recognition of an image captured by the imaging unit.

  The invention according to claim 3 is the invention according to claim 1 or 2, wherein the imaging unit transmits the captured image to the monitoring terminal device in real time, and the monitoring terminal device receives the image from the imaging unit. The received image is displayed in real time.

  The invention according to claim 4 is the invention according to claim 3, further comprising a remote operation receiving means for receiving a remote operation from the monitoring terminal device.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, further comprising storage means for storing an image picked up by the image pickup means.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein it is determined whether or not a movement route of the sign is within a specified range, and the movement of the sign It further comprises route departure determination means for informing when the route is out of the prescribed range.

  The invention according to claim 7 manages the progress of movement of the mobile object when the sign is attached to the mobile object in the invention according to any one of claims 1 to 6. And a movement management means for notifying when a predetermined delay or more in movement occurs.

  The invention according to claim 8 is the invention according to any one of claims 1 to 7, wherein the mark is attached to a worker's hand, and the imaging means is configured to move the worker. The work performed by the worker is imaged.

  The invention according to claim 9 is the invention according to any one of claims 1 to 7, wherein the sign is attached to a guard object to be worked by an operator, and the flight control means Is characterized in that the position of the flying unit is controlled so that the sign falls within the imaging range.

  Further, in the invention described in claim 10, in the invention described in claim 8 or 9, the imaging means transmits or stores a captured image when the worker is performing work, and When the work is completed, transmission or storage of the captured image is terminated.

  The invention according to claim 11 is the invention according to claim 8, 9 or 10, wherein the flight control means identifies an end sign displayed when the work by the worker is finished. Further, flight control is performed toward the end sign, and landing is made at the landing position indicated by the end sign.

  The invention according to claim 12 is the invention according to any one of claims 1 to 11, further comprising contact detection means mounted on the flight unit for detecting contact of an operator, wherein the flight The control means changes the position of the flight unit when the contact detection means detects contact with the worker.

  The invention according to claim 13 is the invention according to any one of claims 1 to 12, further comprising battery monitoring means for monitoring a remaining battery capacity of the flight unit, wherein the flight control means comprises: When the battery remaining amount falls below a threshold value, flight control is performed to a predetermined position.

  The invention according to claim 14 is a security method for imaging a security target, wherein a flight unit identifies a label attached to the vicinity of the security target or to the security target itself; and A flight control step in which a flight unit uses the identification result obtained in the sign identification step and performs flight control toward the sign, and an imaging in which the flight unit images the vicinity of the sign using the identification result obtained in the sign identification step. And a step.

  Since the sign is attached to the vicinity of the guard object or the guard object itself, the sign identifying means mounted on the flight unit identifies the sign, images the vicinity of the sign, and controls the flight toward the sign. Can be imaged flexibly.

FIG. 1 is an explanatory diagram for explaining a security system according to the embodiment. FIG. 2 is an internal configuration diagram showing an internal configuration of the flight unit shown in FIG. FIG. 3 is an internal configuration diagram showing an internal configuration of the base apparatus shown in FIG. FIG. 4 is a flowchart for explaining the operation of the security system shown in FIG. FIG. 5 is a flowchart for explaining the details of the flight control shown in FIG. FIG. 6 is an explanatory diagram for explaining image confirmation and remote operation by an operator. FIG. 7 is an explanatory diagram for explaining a case where signs are attached to the sleeves and gloves of the worker's clothes. FIG. 8 is an explanatory diagram for explaining a case where a marker is attached to a work target. FIG. 9 is an explanatory diagram for explaining a case where a contact sensor is provided in the flight unit.

  Exemplary embodiments of a security system and a security method according to the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is an explanatory diagram for explaining a security system according to the embodiment. As shown in FIG. 1, the security system according to the present embodiment includes a flight unit 10, a base device 20 mounted on a security vehicle 30, and a monitoring center 40. Also, the operator's hat or the like is provided with a label Y1, and the flight unit 10 is equipped with a camera.

  When the worker gets off the police car 30, the flight unit 10 is activated and takes off from the base device 20. The flying unit 10 that has taken off identifies the sign Y1 attached to the worker by image recognition or the like. Then, when the worker moves toward the cash dispenser 50, the flying unit 10 follows the sign Y1 and flies to image the vicinity of the worker.

  An image captured by the flying unit 10 is transmitted to the base device 20. The base device 20 is connected to the monitoring center 40 via a network, and transmits the image received from the flight unit 10 to the monitoring center 40.

  After reaching the cash dispenser 50, the worker performs operations such as depositing the cash dispenser 50 and returns to the security car 30. The flying unit 10 moves following the sign Y1 in each state of moving to the cash dispenser 50, working on the cash dispenser 50, and moving to the security car 30, and performs imaging. An image captured by the flight unit 10 is transmitted to the base device 20 and relayed from the base device 20 to the monitoring center 40 in real time. For this reason, the monitoring center 40 can confirm all the series of situations with images.

  The monitoring center 40 can remotely control the flight unit 10 via the base device 20. For this reason, the position of the flight unit 10 and the imaging range can be adjusted, and the operator can confirm the range of the blind spot and confirm whether the work is being performed appropriately.

  FIG. 2 is an internal configuration diagram showing an internal configuration of the flight unit 10 shown in FIG. As shown in FIG. 2, the flight unit 10 includes a drive unit 11, a battery 11a, a battery monitoring unit 11b, an ultrasonic sensor 12a, a position acquisition unit 12b, a wireless communication unit 13, a camera 14, an image processing unit 15, and a flight control unit. 16

  The drive unit 11 includes one or a plurality of propellers and the like, and is a unit for causing the flying unit 10 to float and move in an arbitrary direction. The drive unit 11 operates based on an instruction from the flight control unit 16, and uses the electric power stored in the battery 11a as a power source. The remaining power of the battery 11 a is monitored by the battery monitoring unit 11 b and output to the flight control unit 16.

  The ultrasonic sensor 12 a emits an ultrasonic wave below the flight unit 10, calculates the altitude of the flight unit 10 from the time required to receive the reflected wave of the ultrasonic wave, and outputs it to the flight control unit 16. To do. In the present embodiment, a case will be described in which the ultrasonic sensor 12a emits an ultrasonic wave downward to calculate an altitude based on the floor surface or the ground, but the movement range of the flight unit 10 is indoors. In this case, the ultrasonic sensor 12a may emit ultrasonic waves upward and calculate the distance to the ceiling to obtain a value corresponding to the altitude.

  The position acquisition unit 12 b receives signals from a plurality of GPS (Global Positioning System) satellites, calculates position information of the flight unit 10 based on the received signals, and outputs the calculated position information to the flight control unit 16. .

  The wireless communication unit 13 is a communication interface for performing wireless communication with the base device 20. The wireless communication unit 13 receives an activation instruction from the base device 20 and transmits an image captured by the camera 14 to the base device 20. Further, the wireless communication unit 13 acquires the flight state of the flight unit 10 including the position information from the flight control unit 16 and transmits it to the base device 20. Further, the wireless communication unit 13 receives a remote operation instruction from the base device 20.

  The camera 14 is an imaging unit that images the periphery of the flying unit 10. The camera 14 transmits the captured image to the base device 20 through the wireless communication unit 13 and outputs the image to the image processing unit 15.

  The image processing unit 15 is a processing unit that performs image processing on an image output from the camera 14, and includes a sign identification unit 15a, an arrival determination unit 15b, and an optical flow generation unit 15c.

  The sign identifying unit 15a performs a process of identifying the sign image from the image. The sign identifying unit 15a notifies the flight control unit 16 when the sign image is identified. By this notification, the flight control unit 16 can know the relative direction of the sign with respect to the flight unit 10.

  The arrival determination unit 15b determines the size of the sign image in the image, and determines that the flying unit 10 has arrived in the vicinity of the sign when the size of the sign image exceeds a predetermined value. Notification to the unit 16.

  The optical flow generation unit 15c calculates the relative moving direction of the flight unit 10 with respect to the sign by generating an optical flow using a plurality of images captured in time series by the camera 14, and outputs the calculated direction to the flight control unit 16. To do.

  The flight control unit 16 is a processing unit that controls the flight of the flight unit 10 using the outputs of the image processing unit 15, the ultrasonic sensor 12a, and the position acquisition unit 12b. When the wireless communication unit 13 receives the activation instruction, the flight control unit 16 starts driving the drive unit 11 and causes the flight unit 10 to float above the initial position.

  The flight control unit 16 performs an operation of searching for a sign after the flight unit 10 is lifted to a predetermined altitude. Specifically, if it is determined from the output of the ultrasonic sensor 12a that the predetermined altitude has been reached, the flight control unit 16 controls the drive unit 11 to rotate in the horizontal direction while maintaining the altitude. . If a sign is identified from the image captured by the camera 14 during the rotation, the flight control unit 16 controls the drive unit 11 to move toward the identified sign.

  By moving toward the identified sign, the image of the sign in the image becomes larger. The flight control unit 16 performs a hovering operation that stops in the air when the size of the sign image in the image exceeds a predetermined value and the arrival determination unit 15b determines that it has arrived near the sign. Moreover, if the flight control unit 16 receives a remote operation instruction from the base device 20, the flight control unit 16 controls flight and imaging based on the remote operation.

  Although the flight control unit 16 has surfaced based on an instruction from the base device 20, when a predetermined time has passed without being able to recognize the sign, the flight control unit 16 can land at the initial position and identify the sign to the base device 20. Notify that there was no flight and end flight control. Further, the flight control unit 16 identifies the sign, starts the approach to the sign, and then controls the position of the flight unit 10 so that the angle with respect to the sign changes when the sign is lost, and searches for the sign. .

  Further, when the remaining amount of power output from the battery monitoring unit 11b falls below the threshold value, the flight control unit 16 performs control to move the flight unit 10 to the initial position and land at the initial position. Further, even when the flight control unit 16 receives a return instruction from the base device 20, the flight control unit 16 performs control to move the flight unit 10 to the initial position and land at the initial position.

  Next, the internal configuration of the base apparatus 20 shown in FIG. 1 will be described. FIG. 3 is an internal configuration diagram showing an internal configuration of the base apparatus 20 shown in FIG. As illustrated in FIG. 3, the base device 20 includes a wireless communication unit 22, a control unit 23, and a storage unit 24.

  The wireless communication unit 22 is a communication interface for performing wireless communication with the flight unit 10 and the monitoring center 40. The storage unit 24 is a storage device such as a hard disk device or a nonvolatile memory, and stores imaging data 24a, a scheduled route 24b, and a movement history 24c.

  The imaging data 24 a is an image received from the flight unit 10. The scheduled route 24b is data indicating the route on which the worker is scheduled to travel and the required time. The movement history 24 c is data indicating the movement history of the flight unit 10.

  The control unit 23 is a control unit that totally controls the base device 20, and includes a flight instruction unit 23b, a center notification unit 23c, an image transmission unit 23d, a remote operation relay unit 23e, a route management unit 23f, a departure determination unit 23g, and a progress management. Part 23h.

  The flight instruction unit 23 b is a processing unit that transmits an activation instruction to the flight unit 10 when a predetermined operation by an operator is received or when a guard start instruction is received from the monitoring center 40.

  The center notification unit 23c is a processing unit that notifies the monitoring center 40 of the state of the flight unit 10 and the like. The image transmission unit 23d is a processing unit that stores an image received from the flight unit 10 in the storage unit 24 as imaging data 24a and transmits it to the monitoring center as needed. When receiving a remote operation instruction for the flight unit 10 from the monitoring center 40, the remote operation relay unit 23e performs processing for transferring the received remote operation instruction to the flight unit 10.

  The route management unit 23f performs a process of storing the route that the worker is scheduled to move in the storage unit 24 as the planned route 24b and a process of storing the movement history of the flying unit 10 in the storage unit 24 as the movement history 24c. Part. As for the movement history 24c, after the flight unit 10 is activated, position information is periodically received from the flight unit 10 and stored in association with the reception time.

  The departure determination unit 23g is a processing unit that compares the movement history 24c with the planned route 24b and determines whether the flight unit 10 has deviated from the planned route. The departure determination unit 23g notifies the monitoring center 40 when it determines that the flight unit 10 has deviated from the planned route.

  The progress management unit 23h is a processing unit that compares the movement history 24c with the planned route 24b and determines whether or not the progress of the flight unit 10 is delayed by a predetermined time or more from the plan. The progress management unit 23h notifies the monitoring center 40 when it determines that the progress of the flight unit 10 is delayed by a predetermined time or more.

  Next, the operation of the security system shown in FIG. 1 will be described. FIG. 4 is a flowchart for explaining the operation of the security system shown in FIG. As shown in FIG. 4, the base apparatus 20 determines whether or not the start condition is satisfied (step S101). If the start condition is not satisfied (step S101; No), the base device 20 determines again that the start condition is satisfied. A standby operation is performed.

  The base device 20 determines that the start condition is satisfied when a predetermined operation by the worker or a guard start instruction is received from the monitoring center 40 (step S101; Yes), and the flight instruction unit 23b sends the flight unit 10 to the flight unit 10. An activation instruction is transmitted to the server (step S102).

  After transmitting the activation instruction to the flying unit 10, the base device 20 performs a process of relaying communication between the flying unit 10 and the monitoring center 40 (step S103). Specifically, the image transmission unit 23d transmits an image received from the flight unit 10 to the monitoring center 40 as needed, and the remote operation relay unit 23e issues a remote operation instruction to the flight unit 10 received from the monitoring center. Forward to.

  The flying unit 10 determines whether or not an activation instruction has been received from the base device 20 (step S201), and if it has not received an activation instruction (step S201; No), it again determines whether to receive the activation instruction. Is doing. And when a starting instruction | indication is received (step S201; Yes), flight control by the flight control part 16 is performed (step S202).

  Details of this flight control (step S202) will be further described with reference to FIG. FIG. 5 is a flowchart for explaining the details of the flight control shown in FIG. As shown in FIG. 5, the flight control unit 16 first starts driving the drive unit 11 and imaging by the camera 14 (step S301), and causes the flight unit 10 to float above the initial position (step S302).

  The flight control unit 16 controls the drive unit 11 to rotate in the horizontal direction after the flight unit 10 has been lifted to a predetermined altitude (step S303), and whether or not the sign has been identified from the image captured by the camera 14 Is determined (step S304).

  If no sign is identified (step S304; No), the flight control unit 16 continues to rotate the flight unit 10 (step S303). If the sign is identified (step S304; Yes), the flight control unit 16 controls the drive unit 11 to move toward the identified sign (step S305).

  The flight control unit 16 continues moving in the direction of the sign (step S305) until it is determined by the arrival determination unit 15b that it has arrived near the sign (step S306; No). When it is determined by the arrival determination unit 15b that the vehicle has arrived in the vicinity of the sign (step S306; Yes), a hovering operation to stop at that position is performed (step S307).

  After step S307, the flight control unit 16 determines whether or not the return flight condition is satisfied (step S308). Specifically, it is determined that the return condition is satisfied when a return instruction is received from the base device 20 or when the remaining power output from the battery monitoring unit 11b falls below a threshold value.

  If return conditions are not satisfied (step S308; No), the flight control unit 16 determines whether or not the sign has moved (step S309). The movement of the sign can be detected by a change in the size of the sign image in the image or an optical flow generated by the optical flow generation unit 15c.

  If the sign is not moving (step S309; No), the flight control unit 16 continues the hovering operation (step S307). If the sign is moved (step S309; Yes), the flight control unit 16 moves in the sign direction. (Step S305) is performed.

  If the return flight condition is satisfied (step S308; Yes), the flight control unit 16 moves to a predetermined position of the base device 20 and landes (step S310), and the process is terminated. It should be noted that a return sign that is a target at the time of return throwing is attached to a predetermined position of the base device 20, and it is possible to land at an appropriate position by moving toward the return sign.

  In addition to the flight control shown in FIG. 5, if a remote operation instruction is received from the base device 20, the flight control unit 16 prioritizes the remote operation and controls the flight. In addition, after the ascent of step S302, the flight control unit 16 landes at the initial position as it is when the sign cannot be recognized, and notifies the base apparatus 20 that the sign cannot be identified. To finish the flight control. In addition, the flight control unit 16 identifies the sign and starts approaching the sign (step S305), and if the sign is lost, the flight control unit 16 controls the position of the flight unit 10 so that the angle with respect to the sign changes. Search for.

  Further, the flight control unit 16 transmits the image captured by the camera 14 and the position information acquired by the position acquisition unit 12b to the base device 20 as needed during the flight control shown in FIG. The base device 20 transmits the received image to the monitoring center 40, generates the movement history 24c based on the received position information, and performs deviation determination and delay determination from the schedule.

  In the description so far, the case where the monitoring center 40 performs the confirmation of the image captured by the flying unit 10 and the remote operation with respect to the flying unit 10 has been described. However, the operator himself checks the image and performs the remote operation. You may be able to.

  FIG. 6 is an explanatory diagram for explaining image confirmation and remote operation by an operator. FIG. 6 shows a state where the worker carries the terminal device 60. The terminal device 60 includes a display, a wireless communication unit, and an input interface.

  The terminal device 60 wirelessly communicates with the flying unit 10 to acquire an image captured by the camera 14 of the flying unit 10 and display it on the display. The worker can confirm the state of the blind spot such as the back of the worker by the image displayed on the display. Further, it is possible to adjust the position and imaging range of the flight unit 10 by operating the input interface. That is, the flying unit 10 transmits an image similar to the image transmitted to the base device 20 to the terminal device 60, and accepts the remote operation from the terminal device 60 in the same manner as the remote operation from the base device 20.

  Moreover, although FIG. 1 shows the case where the sign Y1 is attached to the worker's hat, the sign may be attached to the sleeve, gloves, etc. of the worker's clothes. FIG. 7 is an explanatory diagram for explaining a case where a label Y2 is attached to a sleeve, a glove, and the like of an operator's clothes.

  As shown in FIG. 7, when the label Y2 is attached to the sleeve and gloves of the worker's clothes, the flying unit 10 always moves so that the operator's hand is within the photographing range. For this reason, it is possible to record all the contents of work performed on the work target 70 by the worker.

  In addition, a label may be attached to the work target. FIG. 8 is an explanatory diagram for explaining a case where a marker is attached to a work target. As shown in FIG. 8, when the marker Y3 is attached to the work object 70, the flying unit 10 always moves so that the work object falls within the imaging range. For this reason, it is possible to record all the contents of work performed on the work target 70 by the worker.

  In addition, when providing the label | marker Y3 to a work object, in order to track and image the state until an operator arrives at the position of a work object, you may attach | subject a label | marker also to a worker. In this case, it is preferable to use another mark for the tracking of the mark attached to the worker and for the work record of the mark attached to the work target 70. By separating the signs, it is possible to identify the tracking sign while the worker is moving and eliminate the blind spot, and to identify the work recording sign and record the work contents during the work.

  Further, a contact sensor that detects contact with the operator may be provided for the flying unit 10 so that the position of the flying unit 10 can be adjusted. FIG. 9 is an explanatory diagram for explaining a case where the flight unit 10 is provided with a contact sensor.

  The flight unit 10 shown in FIG. 9 is provided with an operating device 17 that is a contact sensor that detects contact with an operator. The operation device 17 extends downward from the flight unit 10, and the lower end reaches the vicinity of the operator's head or trunk. The flying unit 10 is in a stationary state when the sign is stopped, but moves in the direction of the force when the operating device 17 is pulled or compressed.

  For this reason, the flight unit 10 can automatically adjust the positional relationship with the operator. In addition, the operator can intentionally adjust the position of the flying unit 10 by touching the operation unit 17.

  As described above, the security system according to the present embodiment attaches a sign to the worker or work target, and the flight unit 10 equipped with the camera captures an image while recognizing and following the sign. Even when the object to be guarded moves or when it is difficult to install a permanent surveillance camera, imaging can be performed flexibly.

  In addition, although the present Example demonstrated the structure which transmits the image imaged by the flight unit 10 to the base apparatus 20 as it is, you may provide the memory | storage part which memorize | stores the image imaged in the flight unit 10. FIG.

  Moreover, the imaging by the flying unit 10 may be one that continuously captures still images or may be configured to capture moving images. In the present embodiment, the case where the base device 20 determines the deviation of the route and the delay of the travel has been described. However, the flight unit 10 may be configured to make these determinations. Further, the flight unit 10 may be configured to perform a notification process to an operator or a well-known person when a departure from a route, a delay in progress, or the like occurs.

  Further, any sign can be used as long as image processing is possible. Specifically, a plurality of light emitting diodes arranged in a predetermined shape (for example, a square) can be used as a marker. Since such a sign can be switched on and off, it can be used as a work recording sign that is effective only during work by attaching it to the work target. Moreover, you may use the logo mark of the uniform which an operator wears as a label | marker. In addition, when the work recording mark is used, the image may be transmitted or stored only when the work recording mark is being identified.

  Moreover, you may use the completion | finish label | marker which shows that the work was completed as a label | marker. When an end sign is used, an operator may be able to switch between a work record sign and an end sign. Further, when the flying unit 10 identifies the end sign, the flight unit 10 may land toward the end sign. In this way, when the flying unit 10 lands toward the end sign, the work end sign may be provided at the place where the flying unit 10 should land or in the vicinity thereof, such as the base device 20.

  Further, in this embodiment, the case where the worker performs a depositing operation on the cash dispenser has been described as an example, but it goes without saying that the present invention can be applied to any operation. The present invention can also be applied as a security system for watching a child or the like who is out.

  Moreover, about the starting conditions and return conditions of the flight unit 10, arbitrary conditions other than the conditions illustrated in the embodiment can be used. Specifically, it is possible to output an activation instruction or a return instruction of the flying unit 10 on the condition that the subject has passed a specific place. The passage of this specific place may be determined using GPS, or may be determined by communication between a gate terminal provided at a station or the like and an IC tag. Further, the return condition may be satisfied after a predetermined time has elapsed since the start.

  As described above, the security system and the security method according to the present invention are suitable for improving the efficiency of security by imaging a target flexibly.

DESCRIPTION OF SYMBOLS 10 Flight unit 11 Drive part 11a Battery 11b Battery monitoring part 12a Ultrasonic sensor 12b Position acquisition part 13 Wireless communication part 14 Camera 15 Image processing part 15a Mark identification part 15b Arrival determination part 15c Optical flow generation part 16 Flight control part 17 Operator 20 base device 22 wireless communication unit 23 control unit 23b flight instruction unit 23c center notification unit 23d image transmission unit 23e remote control relay unit 23f route management unit 23g departure determination unit 23h progress management unit 24 storage unit 24a imaging data 24b scheduled route 24c movement History 30 Police car 40 Monitoring center 50 Cash dispenser 60 Terminal device 70 Work target Y1-Y3 Sign

Claims (14)

A security system for imaging a security target,
A sign attached to the vicinity of the security target or the security target itself;
A sign identifying means mounted on the flight unit for identifying the sign;
An imaging unit mounted on the flight unit and using the identification result of the marker identification unit to image the vicinity of the marker;
A security system, comprising: a flight control unit mounted on the flight unit and performing flight control toward the sign using the identification result of the sign identifying means.   The security system according to claim 1, wherein the sign identifying unit identifies the sign by image recognition with respect to an image captured by the imaging unit. The imaging means transmits the captured image to the monitoring terminal device in real time,
The security system according to claim 1, wherein the monitoring terminal device displays an image received from the imaging unit in real time.   The security system according to claim 3, further comprising remote operation receiving means for receiving a remote operation from the monitoring terminal device.   The security system according to claim 1, further comprising a storage unit that stores an image captured by the imaging unit.   A route deviation determination means for determining whether or not the movement route of the sign is within a specified range and notifying when the movement route of the sign deviates from the specified range is further provided. Item 6. The security system according to any one of Items 1 to 5.   When the sign is attached to the mobile body, the mobile body further includes a movement management means for managing the progress of movement of the mobile body and notifying when a predetermined delay or more occurs in the movement. The security system according to any one of claims 1 to 6.   The said sign is attached to a worker's hand, and the imaging means images the movement of the worker and the work performed by the worker. Security system.   2. The sign is attached to a security target object to be worked by an operator, and the flight control unit controls the position of the flight unit so that the sign falls within an imaging range. The security system according to any one of? 7.   The imaging means transmits or stores a captured image when work by the operator is performed, and ends transmission or storage of the captured image when the work ends. The security system according to claim 8 or 9.   The flight control means, when identifying an end sign displayed when the work by the operator is completed, performs flight control toward the end sign and landing at the landing position indicated by the end sign The security system according to claim 8, 9 or 10.   The flight control unit further includes a contact detection unit that is mounted on the flight unit and detects a worker's contact, and the flight control unit determines the position of the flight unit when the contact detection unit detects contact with the worker. It changes, The security system as described in any one of Claims 1-11 characterized by the above-mentioned. Battery monitoring means for monitoring the remaining battery level of the flight unit;
The security system according to any one of claims 1 to 12, wherein the flight control unit performs flight control to a predetermined position when the remaining battery level falls below a threshold value. A security method for imaging a security target,
A sign identifying step in which the flying unit identifies a sign attached to the vicinity of the guard object or to the guard object itself;
A flight control step in which the flight unit controls flight toward the sign using the identification result of the sign identification step;
A security method, comprising: an imaging step in which the flying unit images the vicinity of the sign using the identification result of the sign identifying step.

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