JP6422090B2 - Warning method and warning device - Google Patents

Description

  The present invention relates to a warning method and a warning device.

  Patent Document 1 describes animal protection for preventing animals such as birds and beasts from approaching fields and houses. This animal protection includes a main body having a permanent magnet and an annular body formed in a ring shape by a steel wire having magnetism and projecting from the main body. Further, the annular body is rotatably supported so as to be adjustable in angle with respect to the main body. Further, a plurality of annular bodies are provided.

JP 2011-030458 A

  In the above-mentioned animal protection, an annular body formed in an annular shape from a magnetized steel wire rod projects from a main body having a permanent magnet. Thus, a magnetic field is formed not only around the main body having the permanent magnets but also around the annular body, thereby forming an artificial magnetic field in a wide range. This animal abatement is considered to be installed at a predetermined location and wait for a pest to approach the predetermined location. However, the damage caused by harmful beasts / birds has become serious, and it is desirable not only to wait, but to actively warn moving bodies such as harmful animals / birds.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a warning method and a warning device capable of positively warning a moving body.

  A warning method according to the present invention is a warning method for warning a moving body that enters a target area, and acquires a plurality of images by shooting the target area multiple times at different shooting times. One step, a second step of creating a plurality of orthographic projection images of a target region to which geographic coordinates are assigned based on a plurality of images, and determining the presence or absence of a moving body according to the difference between the orthographic projection images A third step of performing, a fourth step of specifying the position of the moving body based on the orthographic projection image when it is determined that there is a moving body in the third step, and a fifth step of giving a warning toward the position. And comprising.

  The warning device according to the present invention is a warning device for giving a warning to a moving body to a target area, and obtains a plurality of images by shooting the target area a plurality of times at different shooting times. An orthographic projection image creating unit that creates a plurality of orthographic projection images of the target area to which geographic coordinates are assigned based on the plurality of images, and the target area according to the difference between the orthographic projection images A determination unit that determines the presence or absence of a moving object, a determination unit that specifies the position of the moving object based on an orthographic projection image, and a warning for the position when the determination unit determines that there is a moving object A warning unit.

  In this warning method and warning device, a plurality of images are acquired by photographing a target region a plurality of times at different times. A plurality of orthographic projection images are created based on the plurality of images. Therefore, the presence / absence of a moving body that has entered the target region can be determined according to the difference between the orthogonal projection images at different imaging times (for example, two orthogonal projection images with adjacent imaging times). Further, geographic coordinates are given to the orthographic projection image. Therefore, when there is a moving body, the geographical position of the moving body can be specified from the orthographic projection image. Therefore, the moving body can be moved out of the target region by giving a warning toward the specified position. As described above, according to the warning method and the warning device, it is possible to positively warn the moving body, and it is possible to reliably suppress damage caused by the moving body.

  In the warning method according to the present invention, in the fifth step, the unmanned aircraft may fly toward the position as a warning. Thus, by operating an unmanned aerial vehicle, it is possible to warn the moving body more positively and reliably move the moving body out of the target area.

  In the warning method according to the present invention, in the fifth step, directional sound may be transmitted to the position as a warning. Thus, by using directional sound, it is possible to positively warn the moving body while suppressing the influence on the surroundings.

  In the warning method according to the present invention, in the first step, the first image and the second image from different directions are obtained as images by capturing the target areas from different directions, and in the second step, As the orthographic projection images, a plurality of sets of first orthographic projection images and second orthographic projection images having different altitudes are created based on the first image and the second image, respectively. The height of the moving body may be further specified based on the first orthographic projection image and the second orthographic projection image. In this case, for example, even when the moving body is a flying body such as a harmful bird, an appropriate warning can be given.

  The warning method according to the present invention further includes, before the fifth step, a sixth step of specifying the intrusion route of the moving body by accumulating the position of the moving body specified in the fourth step, and in the fifth step A warning may be issued from the opposite side of the intrusion route. In this case, the moving body can be moved away from the entry position via the entry path.

  In the warning method according to the present invention, in the fifth step, the map of the target area and the orthographic projection image are overlapped, and the warning is performed so as to guide the moving body in a direction different from the direction from the position toward the house. Good. In the warning method according to the present invention, in the fifth step, the map of the target area and the orthographic projection image are overlapped, and the warning may be performed so as to guide the moving body in the direction from the position toward the forest. . In this case, it is possible to avoid the moving body that has moved away from the target area heading to a house or the like.

  The warning method according to the present invention may further include a seventh step of determining the type of the moving body when it is determined that the moving body is present in the third step before the fifth step. In this case, it is possible to give an appropriate warning according to the type of the moving body.

  An object of the present invention is to provide a warning method and a warning device capable of positively warning a moving body.

It is a typical block diagram which shows the warning device which concerns on this embodiment. It is a schematic diagram which shows an example of a mode that the warning device shown by FIG. 1 was installed. It is a schematic diagram which shows another example of a mode that the warning device shown by FIG. 1 was installed. It is a flowchart which shows an example of the warning method which concerns on this embodiment. It is a flowchart which shows an example of the warning method which concerns on this embodiment. It is a flowchart which shows an example of the warning method which concerns on this embodiment. It is a schematic diagram which shows a mode that the invasion path | route of a moving body and retreat. It is a schematic diagram which shows a mode that the height of a moving body is specified.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic block diagram showing a warning device according to the present embodiment. FIG. 2 is a schematic diagram illustrating an example of a state in which the warning device illustrated in FIG. 1 is installed. FIG. 3 is a schematic diagram showing another example of a state where the warning device shown in FIG. 1 is installed. The warning device 1 shown in FIGS. 1 to 3 is for warning the moving bodies A and B entering the target area R.

  As shown in FIGS. 1 and 2, the warning device 1 includes an image acquisition device (image acquisition unit) 10, a main body device 20, a UAV (Unmanned aerial vehicle: unmanned aircraft, warning unit) 30, and a sound generation device ( Warning section) 40. In the example of FIG. 2, one image acquisition device 10 </ b> A is used as the image acquisition device 10. In the example of FIG. 3, two image acquisition devices 10 </ b> A and 10 </ b> B are used as the image acquisition device 10. The image acquisition device 10, the main device 20, the UAV 30, and the sound generation device 40 are connected to each other by, for example, the main device 20 in a wired or wireless manner, and can exchange information.

  The image acquisition device 10 is, for example, a fixed point camera installed so as to face the target region R. The image acquisition device 10 acquires a plurality of images P1 and P2 by imaging the target region R a plurality of times at different imaging times. In the example of FIG. 3, the image acquisition devices 10A and 10B acquire the image (first image) P1 and the image (second image) P2 from different directions by photographing the target region R from different directions. . In this case, the image acquisition devices 10A and 10B are installed at positions where the target region R can be viewed in stereo.

  The image acquisition device 10 may be, for example, a still camera that captures the target region R at predetermined time intervals, or may be a video camera that continuously captures moving images over a certain period of time. When the image acquisition device 10 is a video camera, the images P1 and P2 can be frames constituting a moving image. The image acquisition device 10 may include both a visible light camera and an infrared camera, and may be configured to use a visible light camera during the day and an infrared camera at night.

  The main body device 20 creates the orthographic projection images OP1 and OP2 based on the images P1 and P2 acquired by the image acquisition device 10, or the moving object A that has entered the target region R based on the orthographic projection images OP1 and OP2. , B, and a signal for giving a warning to the detected moving bodies A, B is generated. Details of the main unit 20 will be described later. The main body device 20 may be provided around the target region R, or may be provided in a predetermined facility separated from the target region R.

  The UAV 30 warns the mobile bodies A and B by flying toward the positions of the mobile bodies A and B based on the signal generated by the main body device 20. When the moving bodies A and B do not enter the target area R, the UAV 30 is in a standby state by landing at a standby place 31 provided around the target area R, and can be charged. In other words, the warning device 1 can be clearly distinguished from the UAV flying regularly or in a certain pattern.

  The sound generator 40 is, for example, a directional speaker provided so as to face the target region R. The sound generator 40 may be installed together with the image acquisition device 10, for example. The sound generator 40 warns the mobile bodies A and B by transmitting directional sound toward the positions of the mobile bodies A and B based on the signal generated by the main body device 20. When the moving bodies A and B do not enter the target region R, the sound generator 40 can be in a standby state. That is, the warning device 1 can be clearly distinguished from those that generate sound or light regularly or in a certain pattern.

  In the present embodiment, the warning device 1 includes two warning units, the UAV 30 and the sound generation device 40, but either one may be provided. In addition, the warning device 1 may include a light irradiation device such as a light that irradiates light to the positions of the moving bodies A and B instead of or in addition to the UAV 30 and / or the sound generation device 40.

  Here, the target region R is an arbitrary region in which, for example, food damage by birds and beasts can occur. The target region R may be, for example, an agricultural land adjacent to a house or a region separated from a house such as a mountain where alpine plants and the like grow naturally. The moving body A is a beast (harmful animal) that moves on the ground surface, and is, for example, a monkey, a wild boar, a deer, or the like. The moving body B is a bird (harmful bird) that can fly on the ground, and is, for example, a crow or the like. Furthermore, the mobile bodies A and B may be a single body or a group body.

  Subsequently, details of the main device 20 will be described. The main body device 20 includes an ortho-generation device (orthographic projection image creation unit) 21, a moving body detection device (determination unit, identification unit) 22, a route determination device (route determination unit) 23, and a mobile body determination device (moving body determination unit). ) 24, a guidance information creation device 25, a UAV guidance device 26, a sound generation device 27, and a recording device 28. At least a part of the main device 20 is configured as a computer including a CPU, a ROM, a RAM, and the like. Each device of the main device 20 can be a functional device that is realized by executing a predetermined program in the computer.

  The ortho generating device 21 inputs the images P <b> 1 and P <b> 2 of the target region R from the image acquisition device 10. For example, the ortho generating device 21 is based on a ground model (numerical terrain model, DSM) of the target region R held in the recording device 28, and an orthographic projection image (first orthographic projection image) OP1 of the target region R and An orthographic projection image (second orthographic projection image) OP2 is created. For example, three-dimensional geographical coordinates are given to the orthographic projection image. For example, the ortho generating device 21 generates the orthographic projection image OP1 based on each of the plurality of images P1 having different shooting times. The ortho generating device 21 creates an orthographic projection image OP2 based on each of the plurality of images P2 having different shooting times. Further, the ortho-generator 21 can generate a plurality of orthographic projection images OP1 and OP2 having different altitudes by projecting the images P1 and P2 onto surfaces having different altitudes (elevations).

  The moving body detection device 22 detects the moving bodies A and B according to the difference between the orthogonal projection images OP1 and OP2 (determines the presence or absence of the moving bodies A and B). For example, in the example of FIG. 2, the moving object A is detected by calculating a difference between a pair of orthographic projection images OP1 that are temporally adjacent to each other. In the example of FIG. 3, the moving object B is detected by calculating the difference between a pair of orthographic projection images OP1 or a pair of orthographic projection images OP2 that are temporally adjacent to each other. The moving body detection device 22 detects areas where the difference amount is larger than a predetermined threshold in the orthogonal projection images OP1 and OP2 as moving bodies A and B. That is, the moving body detection device 22 determines that the moving bodies A and B exist when the area is detected in the orthographic projection images OP1 and OP2.

  Further, when it is determined that there are the moving bodies A and B, the moving body detection device 22 specifies the positions of the moving bodies A and B based on the orthographic projection images OP1 and OP2. That is, since the orthographic projection images OP1 and OP2 include information on geographic coordinates, the mobile object detection device 22 determines the position of the region where the difference is relatively large based on the orthographic projection images OP1 and OP2. Can be identified. Information indicating the positions of the mobile bodies A and B specified by the mobile body detection device 22 is recorded and accumulated in the recording device 28.

  The route determination device 23 specifies the intrusion route T (see FIG. 7) of the moving bodies A and B based on the information indicating the positions of the moving bodies A and B accumulated in the recording device 28. In other words, the route determination device 23 specifies the intrusion route T of the moving objects A and B by accumulating the positions of the moving objects A and B specified by the moving object detection device 22.

  The moving body determination device 24 determines the types of the moving bodies A and B. More specifically, the moving body determination device 24 first determines the animals that the moving bodies A and B should evacuate, such as harmful beasts and harmful birds (for example, animals allowed to enter the target region R or animals other than animals). It is determined whether or not. In addition, when the moving bodies A and B are pests / birds or the like, the moving body determination device 24 determines a type such as deer, wild boar, monkey, or crow.

  For this determination, for example, deep learning can be used. That is, the mobile body determination device 24, for example, the determination result obtained by the image determination, the actual images P1, P2, the orthographic projection images OP1, OP2, the shooting times of the images P1, P2, the mobile bodies A, B The types of the mobile bodies A and B can be determined based on the determination condition generated by performing machine learning based on data including the position, the intrusion route T, and the like.

  The guidance information creation device 25 creates guidance information indicating a mode of warning to the moving bodies A and B using the UAV 30 and the sound generation device 40. As an example, the guidance information creation device 25 has a flight path of the UAV 30, a transmission direction and a frequency of sound generated by the sound generation device 40, and the like according to the types of the mobile bodies A and B determined by the mobile body determination device 24. Information (guidance information) is created. In addition, the guidance information creation device 25 uses the guidance information as the guidance information so as to retract the mobile bodies A and B in a desired direction based on the intrusion route T of the mobile bodies A and B specified by the route determination device 23. Create The guidance information creation device 25 may create information (stop information) indicating that the UAV 30 and the sound generation device 40 do not perform a warning operation.

  The UAV guidance device 26 generates a signal for operating the UAV 30 in accordance with the guidance information or the stop information created by the guidance information creation device 25, and provides the UAV 30 with the signal. The sound generation device 27 generates a signal for operating the sound generation device 40 along the guidance information or stop information created by the guidance information creation device 25 and provides the signal to the sound generation device 40.

  Subsequently, the operation (warning method) of the warning device 1 will be described. 4, 5, and 6 are flowcharts illustrating an example of a warning method according to the present embodiment. As shown in FIG. 4, here, first, the image acquisition device 10 captures the target region R a plurality of times at a predetermined time interval (that is, at different imaging times), in accordance with time. A plurality of images P1 and P2 are acquired (step S101: first step). The image acquisition device 10 provides the images P1 and P2 to the main body device 20.

  Subsequently, the ortho generating device 21 creates a plurality of orthographic projection images OP1, OP2 of the target region R based on the plurality of images P1, P2 (step S102: second step). The ortho generating device 21 can create the orthographic projection images OP1 and OP2 by projecting the images P1 and P2 onto, for example, a ground model held in advance in the recording device 28 or the like. As described above, in step S101, a plurality of images P1 and P2 along the time are acquired. Accordingly, also in this step S102, a plurality of orthographic projection images OP1 and OP2 along the time (with different shooting times) are created. In addition, geographic coordinates are given to the orthographic projection images OP1 and OP1. For this reason, the orthographic projection images OP1 and OP2 can be superimposed on the map of the target region R.

  Subsequently, the mobile body detection device 22 detects the mobile bodies A and B by calculating the difference between the orthogonal projection images OP1 or the orthogonal projection images OP2 (step S103). And the mobile body detection apparatus 22 determines the presence or absence of the mobile bodies A and B according to the detection result (step S104: 3rd process). That is, in this step S104, the moving body determination device 24 determines the presence or absence of the moving bodies A and B according to the difference between the orthogonal projection images.

  If it is determined in step S104 that there are no moving bodies A and B, the process returns to step S101. On the other hand, when it is determined in step S104 that the mobile bodies A and B are present (is present), the mobile body detection device 22 positions and shoots the mobile bodies A and B based on the orthographic projection images OP1 and OP2. Time is specified (step S105: 2nd process, 4th process). Here, as an example, the moving body detection device 22 specifies the three-dimensional positions of the moving bodies A and B.

  In particular, as in the example shown in FIG. 3, when the mobile object B is a flying object, the mobile object detection device 22 adds altitude (altitude) in addition to the latitude and longitude of the mobile object B as follows. Can be further specified. That is, as illustrated in FIG. 8A, the image acquisition device 10A and the image acquisition device 10B are installed so as to view the target region R in stereo. For this reason, the orthographic projection image OP1 and the orthographic projection image OP2 are at least partially overlapped. In such a state, the moving body detection device 22 projects a pair of images P1, P2 having the same shooting time onto a plurality of projection planes having different altitudes at intervals of 1 m, for example, as shown in FIG. As shown in (d), a plurality of orthographic projection images OP1, OP2 having different altitudes are created.

  At this time, if the altitude of the projection plane is different from the altitude of the moving body B, as shown in (b) and (c) of FIG. 8, it moves between a pair of orthographic projection images OP1 and OP2. The position of the body B does not match. On the other hand, when the altitude of the projection surface coincides with the altitude of the moving object B, as shown in FIG. 8D, the moving object is between one set of orthographic projection images OP1 and OP2. The position of B matches (overlaps). Therefore, the altitude of the projection plane where the single moving body B is observed between the orthographic projection images OP1 and OP2 can be specified as the altitude of the moving body B. That is, here, the moving body detection device 22 further specifies the altitude of the moving body B based on the creation of plural sets of orthographic projection images OP1 and OP2 having different altitudes (second step) (fourth step). Process).

  The mobile body detection device 22 provides and accumulates the positions of the mobile bodies A and B specified as described above, for example, in the recording device 28 (step S106: sixth step). Then, the route determination device 23 specifies the routes of the moving bodies A and B from the accumulated positions of the moving bodies A and B (step S107: sixth step). That is, here, the intrusion route T of the mobile bodies A and B is specified by accumulating the positions of the mobile bodies A and B (see FIG. 7).

  Subsequently, the moving body determination device 24 receives input of determination information (step S108). As described above, the determination information is information for determining the types of the moving bodies A and B. For example, the determination result obtained by the image determination by the operator, the actual images P1 and P2, and the orthographic projection image It is generated by performing machine learning based on data including the shooting times of OP1 and OP2, images P1 and P2, the positions of the moving bodies A and B, the intrusion route T, and the like.

  Subsequently, the moving body determination device 24 determines the types of the moving bodies A and B (step S109: seventh step). More specifically, the mobile body determination device 24 determines whether or not the mobile bodies A and B are pests and pests based on the determination information. At this time, the mobile body determination device 24 can determine the types of the mobile bodies A and B when the mobile bodies A and B are pests and pests.

  As a result of the determination in step S109, when the moving bodies A and B are not harmful pests or harmful birds, the guidance information creating device 25 creates stop information (step S111). On the other hand, as a result of the determination in step S109, when the moving bodies A and B are pests and pests, the guidance information creation device 25 creates guidance information for the UAV 30 and the sound generation device 40 (step S112: fifth). Process).

  As an example, as shown in FIG. 7, the guidance information creation device 25 is configured to transmit the UAV 30 and / or the sound generation device 40 from the opposite side of the intrusion route T (from the opposite direction D of the intrusion route T via the moving body A). The guidance information is created so as to warn. As a result, the moving object A can be moved away from the intrusion position via the intrusion route T (that is, so as to return to the intrusion route T). As another example, the guidance information creation device 25 superimposes the map of the target region R and the orthographic projection images OP1 and OP2, and a direction different from the direction toward the house C from the position specified in step S105 (for example, the opposite direction) Guide information is created so that the mobile bodies A and B are guided to (). As yet another example, the guidance information creation device 25 superimposes the map of the target region R and the orthographic projection images OP1 and OP2, and moves the moving bodies A and B in the direction from the position specified in step S105 toward the forest F. Create guidance information to guide you. In these cases, it is not essential to specify the intrusion route T. In these cases, it is possible to avoid the moving bodies A and B moved away from the target region R from heading to the house C.

  Thereafter, the guidance information creation device 25 outputs stop information or guidance information to the UAV guidance device 26 and the sound generation device 27 (step S113). Then, the operation relating to the UAV 30 proceeds to step S114 in FIG. 5, and the operation relating to the sound generator 40 proceeds to step S122 in FIG.

  That is, as shown in FIG. 5, in the operation related to the UAV 30, the UAV guidance device 26 receives stop information or guidance information (step S114). Subsequently, the UAV guidance device 26 determines whether or not the received information is guidance information (step S115).

  If the information received by the UAV guidance device 26 is guidance information as a result of the determination in step S115, the UAV guidance device 26 determines whether the UAV 30 is on standby on the ground (step S116). If the result of this determination is that the UAV 30 is on the ground, the UAV 30 takes off to issue a warning along the guidance information (step S117). Then, the UAV 30 issues a warning by flying toward the positions of the mobile bodies A and B along the guidance information (step S118: fifth step), and ends the process. On the other hand, if the result of the determination in step S116 is that the UAV 30 is not on the ground (in flight), the UAV 30 will fly toward the positions of the mobile bodies A and B according to the guidance information and give a warning. (Step S118: 5th process), a process is complete | finished.

  On the other hand, if the determination in step S115 is that the information received by the UAV guidance device 26 is not guidance information (that is, if it is stop information), the UAV guidance device 26 determines whether the UAV 30 is in the air (in flight). Is performed (step S119). If the result of this determination is that the UAV is in the air, the UAV guidance device 26 will land the UAV 30 at the standby location 31 (step S120) and start charging the UAV 30 (step S121). Then, the process ends. As a result of this determination, if the UAV 30 is not in the air, charging is started as it is (step S121).

  Here, as illustrated in FIG. 6, in the operation related to the sound generation device 40, the sound generation device 27 receives stop information or guidance information (step S <b> 122). Subsequently, the sound generation device 27 determines whether or not the received information is guidance information (step S123). As a result of this determination, when the information received by the sound generation device 27 is not guidance information (that is, when it is stop information), the sound generation device 40 stops the sound generation device 27 (step S124) and ends the process. .

  On the other hand, as a result of the determination in step S123, if the information received by the sound generation device 27 is guidance information, the sound generation device 27 transmits a sound along the guidance information and issues a warning. Is controlled (step S125). And according to the control, the sound generator 40 transmits a directional sound to the positions of the moving bodies A and B to give a warning (step S126: fifth step), and ends the process.

  As described above, in the warning device 1 and the warning method according to the present embodiment, a plurality of images P1 and P2 are acquired by shooting the target region R a plurality of times at different shooting times. Also, a plurality of orthographic projection images OP1 and OP2 are created based on the plurality of images P1 and P2. Therefore, the presence or absence of the moving bodies A and B that have entered the target region R can be determined according to the difference between the orthogonal projection images OP1 and OP2 (for example, two orthogonal projection images adjacent to each other). .

  In addition, geographic coordinates are assigned to the orthographic projection images OP1 and OP2. Therefore, when the mobile bodies A and B are present (is present), the positions of the mobile bodies A and B can be specified from the orthographic projection images OP1 and OP2. Therefore, the moving bodies A and B can be moved out of the target region R by giving a warning toward the specified position. As described above, according to the warning device 1 and the warning method thereof, it is possible to positively warn the mobile bodies A and B, and it is possible to reliably suppress damage caused by the mobile bodies A and B. .

  In the warning device 1 and the warning method, the UAV 30 is caused to fly toward the positions of the mobile bodies A and B as a warning. For this reason, by operating the UAV 30, it is possible to warn the mobile bodies A and B more positively and reliably move the mobile bodies A and B away from the target area R.

  In the warning device 1 and the warning method, directional sound is transmitted to the positions of the mobile bodies A and B as a warning. For this reason, by using directional sound, it is possible to positively warn the moving bodies A and B while suppressing the influence on the surroundings.

  Further, in the warning device 1 and the warning method thereof, images P1 and P2 from different directions are acquired as images by capturing the target region R from different directions. Further, as the orthographic projection images, a plurality of sets of orthographic projection images OP1 and orthographic projection images OP2 having different altitudes are created based on the images P1 and P2, respectively. Then, the altitudes of the moving bodies A and B are further specified based on the plural sets of orthographic projection images OP1 and orthographic projection images OP2. For this reason, for example, even when the moving bodies A and B are flying bodies such as harmful birds, an appropriate warning can be given.

  Further, the warning device 1 and its warning method specify the intrusion path T of the mobile bodies A and B by accumulating the positions of the specified mobile bodies A and B, and issue a warning from the opposite side of the intrusion path T. For this reason, it becomes possible to move the mobile bodies A and B from the intrusion position via the intrusion route T.

  In the warning device 1 and its warning method, the map of the target region R and the orthographic projection images OP1 and OP2 are overlapped, and the moving object A is moved in a direction different from the direction from the position of the moving objects A and B toward the house C. , B can be alerted. Further, in the warning device 1 and its warning method, the map of the target area R and the orthographic projection images OP1 and OP2 are overlapped, and the moving bodies A and B are moved in the direction from the position of the moving bodies A and B to the forest F. A warning can be given to guide. In these cases, it is possible to avoid the moving bodies A and B moved away from the target region R from heading to the house C or the like.

  Further, the warning device 1 and the warning method thereof determine the types of the moving bodies A and B when it is determined that the moving bodies A and B are present. For this reason, it is possible to give an appropriate warning (or not to give an unnecessary warning) according to the types of the moving bodies A and B.

  The above embodiment is a person who described one embodiment of the warning method and the warning device according to the present invention. Therefore, the warning method and the warning device according to the present invention are not limited to those described above, and can be changed as appropriate.

  For example, in the above embodiment, the order of performing the warning by the UAV 30 and the warning by the sound is not particularly defined. On the other hand, as an example, after transmitting directional sound from the sound generator 40 to the mobile bodies A and B, it is determined that the mobile bodies A and B still exist (that is, the mobile bodies A and B are The UAV 30 may be caused to fly toward the positions of the mobile bodies A and B when the vehicle has not left the target area R). Further, the order of the warning by the UAV 30 and the warning by the sound may be reversed.

  DESCRIPTION OF SYMBOLS 1 ... Warning apparatus, 10 ... Image acquisition apparatus (image acquisition part), 21 ... Orthogonal generation apparatus (orthographic projection image creation part), 22 ... Mobile body detection apparatus (determination part, specific | specification part), 30 ... UAV (warning part) ), 40 ... acoustic generator (warning unit), A, B ... moving body, T ... intrusion route, P1 ... image (first image), P2 ... image (second image), OP1 ... orthographic projection image (first) 1 orthographic projection image), OP2 ... orthographic projection image, R ... target area.

Claims (8)

A warning method for warning a moving object that enters a target area,
A first step of acquiring a plurality of images by imaging the target area a plurality of times at different imaging times;
A second step of creating, based on the plurality of images, a plurality of orthographic projection images of the target region to which geographic coordinates are assigned;
A third step of determining the presence or absence of the moving body according to the difference between the orthographic projection images;
A fourth step of identifying the position of the moving body based on the orthographic projection image when it is determined that the moving body is present in the third step;
A fifth step of giving the warning toward the position;
A warning method comprising: In the fifth step, the unmanned aircraft is caused to fly toward the position as the warning.
The warning method according to claim 1. In the fifth step, as the warning, a directional sound is transmitted to the position.
The warning method according to claim 1 or 2. In the first step, as the image, a first image and a second image from different directions are acquired by photographing the target area from different directions,
In the second step, as the orthographic projection image, a plurality of sets of first orthographic projection images and second orthographic projection images having different altitudes are created based on the first image and the second image, respectively.
In the fourth step, the height of the moving body is further specified based on the plurality of sets of the first orthographic projection image and the second orthographic projection image.
The warning method as described in any one of Claims 1-3. In the fifth step, the map of the target area and the orthographic projection image are overlaid, and the warning is performed so as to guide the moving body in a direction different from the direction from the position toward the house.
The warning method as described in any one of Claims 1-4. In the fifth step, the map of the target area and the orthographic projection image are overlapped, and the warning is performed so as to guide the moving body from the position toward the forest.
The warning method as described in any one of Claims 1-5. Before the fifth step, further comprising a seventh step of determining the type of the moving body when it is determined that the moving body is present in the third step.
The warning method as described in any one of Claims 1-6. A warning device for warning a moving body to a target area,
An image acquisition unit that acquires a plurality of images by imaging the target region a plurality of times at different imaging times;
An orthographic projection image creation unit that creates a plurality of orthographic projection images of the target region to which geographic coordinates are assigned based on the plurality of images;
A determination unit that determines the presence or absence of the moving body in the target area according to a difference between the orthogonal projection images;
A specifying unit that specifies a position of the moving body based on the orthographic projection image when the determining unit determines that the moving body is present;
A warning unit for performing the warning toward the position;
A warning device comprising:

Images