JP6692735B2 - Monitoring system, monitoring method, and monitoring program - Google Patents

Description

  The present invention relates to a monitoring system, a monitoring method, and a monitoring program.

  Conventionally, a technique for detecting an intruder in a predetermined area has been proposed. For example, there has been proposed an imaging system that uses a flying robot to determine a person who has come out of a building in which an abnormality has occurred in the monitored area as a suspicious person, and can quickly image the suspicious person (Patent Document 1). In addition, a technique has also been proposed that realizes crime prevention in a wide area such as an orchard based on detection of wire breakage and pulling (Patent Document 2). There is also proposed a device that detects an intruder based on detection of opening and closing of windows and doors and information read by a tag reader included in a mobile terminal (Patent Document 3). In addition, a system for detecting an unauthorized intruder by a human body detection sensor provided at the entrance of a facility has been proposed (Patent Document 4).

JP, 2014-146141, A Utility model registration No. 3101410 JP, 2006-39613, A JP, 2006-259857, A

  However, in the conventional technology, it is difficult to detect a suspicious person in a land having a large area and take a crime prevention measure. For example, in a place where a large number of tourists visit from the outside, such as an orchard managed by a farmer, it is not easy to discriminate a suspicious person from the people who enter the orchard and take a crime prevention measure.

  It may be possible to install surveillance cameras and the like for crime prevention purposes. However, if the area of land to be monitored is large, it will be costly to install surveillance cameras comprehensively.

  On the other hand, in general, in view of the tendency that the theft damage of crops tends to be concentrated immediately before harvesting, in one aspect, a monitoring system capable of realizing low-cost and efficient monitoring of large-area land, An object is to provide a monitoring method and a monitoring program.

  In the first proposal, a monitoring system, a monitoring method, and a monitoring program specify a section in which a crop at a harvest time exists in a predetermined range of land divided into a plurality of sections, and move in the specified section among the plurality of sections. The robot is controlled to move around.

  According to one embodiment of the present invention, it is possible to realize low cost and efficient monitoring of land with a large area.

FIG. 1 is a diagram for explaining an example of the configuration of the monitoring system according to the first embodiment. FIG. 2 is a diagram showing an example of a configuration of information of areas stored in the monitoring system according to the first embodiment. FIG. 3 is a diagram showing an example of a configuration of tag information stored in the monitoring system according to the first embodiment. FIG. 4 is a diagram showing an example of a configuration of information of the motion sensor stored in the monitoring system according to the first embodiment. FIG. 5 is a diagram showing an example of the configuration of the tag sensor information stored in the monitoring system according to the first embodiment. FIG. 6 is a diagram showing an example of the configuration of the detection information stored in the monitoring system according to the first embodiment. FIG. 7 is a diagram showing an example of a configuration of drone information stored in the surveillance system according to the first embodiment. FIG. 8: is a figure which shows an example of a structure of the information of the cultivation plan memorize | stored in the monitoring system which concerns on 1st Embodiment. FIG. 9 is a diagram showing an example of the configuration of flight plan information stored in the monitoring system according to the first embodiment. FIG. 10 is a flowchart showing an example of the flow of the first monitoring process executed in the monitoring system according to the first embodiment. FIG. 11 is a flowchart showing an example of the flow of first warning processing executed in the monitoring system according to the first embodiment. FIG. 12 is a flowchart showing an example of the flow of the first drone control process executed in the surveillance system according to the first embodiment. FIG. 13 is a flowchart showing an example of the flow of the second monitoring process executed in the monitoring system according to the first embodiment. FIG. 14 is a flowchart showing an example of the flow of the second drone control process executed in the surveillance system according to the first embodiment. FIG. 15 is a flowchart showing an example of the flow of the second warning process executed in the monitoring system according to the first embodiment. FIG. 16 is a diagram for explaining an example of a computer that executes the monitoring program according to the first and second embodiments.

  Hereinafter, embodiments of a monitoring system, a monitoring method, and a monitoring program disclosed in the present application will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

(First embodiment)
FIG. 1 is a diagram for explaining an example of the configuration of the monitoring system 1 according to the first embodiment. As shown in FIG. 1, the monitoring system 1 according to the first embodiment includes a management server 2 and a detection device 3. The management server 2 and the detection device 3 are communicably connected via a network. The management server 2 is also communicatively connected to the mobile terminal 4 of the manager of the land to be monitored by the monitoring system 1 via a network. The management server 2 sends a notification to the mobile terminal 4 and controls the drone 6 based on the detection result of the tag 5 by the detection device 3.

  The management server 2 is an information processing device operated by an administrator who manages the land in a predetermined range divided into a plurality of sections, which is the monitoring target of the monitoring system 1. The management server 2 is, for example, a server operated by a farmer who grows fruit trees and sells fruits. The management server 2 is, for example, a server operated by a farmer who operates an orchard where tourists come and go for fruit picking and the like. The specific mode of the management server 2 is not particularly limited, and may be one physically physical server or a virtual server realized by using cloud computing.

  The detection device 3 is arranged on a land in a predetermined range which is a monitoring target of the monitoring system 1. The detection device 3 includes a motion sensor 31, a tag sensor 32, and a communication unit 33.

  The human sensor 31 detects a person existing within a predetermined range from the detection device 3. The motion sensor 31 detects a person existing near the position where the motion sensor 31 is installed. The human sensor 31 can detect, for example, a person present within a range of about 20 to 30 meters from the position where the human sensor 31 is installed. The detection distance of the human sensor 31 is not particularly limited, and may be determined according to the number and positions of the human sensors 31 arranged in the land. The human sensor 31 is, for example, a pyroelectric infrared sensor.

  The tag sensor 32 detects the tag 5 existing within a predetermined range from the detection device 3. The tag sensor 32 receives the radio wave signal transmitted from the tag 5 and detects information unique to each tag 5 such as the tag ID included in the radio wave signal. Further, the tag sensor 32 receives a radio wave signal transmitted from the tag 5 in a predetermined cycle and detects the location of the tag 5 based on the radio wave intensity, the round trip time of the radio wave, and the like. The detection distance of the tag sensor 32 is not particularly limited. The detection distance of the tag sensor 32 may be substantially the same as that of the motion sensor 31 provided in the same detection device 3, for example.

  The communication unit 33 transmits the detection results of the motion sensor 31 and the tag sensor 32 to the management server 2. For example, the communication unit 33 transmits, to the management server 2, information indicating that the motion sensor 31 has detected a person, the detection time, and information that identifies the motion sensor 31. In addition, the communication unit 33 transmits information indicating that the tag sensor 32 has detected the tag 5, the detection time, the information that identifies the detected tag 5, and the information that identifies the tag sensor 32 to the management server 2. ..

  The monitoring system 1 includes a plurality of detection devices 3. The plurality of detection devices 3 are distributed and arranged on the land in a predetermined range to be monitored. For example, the land to be monitored is divided into multiple sections. Then, at least one detection device 3 is arranged in each section. Further, the detection device 3 is arranged along a passage through which a person in the land passes. Further, the detection device 3 is arranged near the boundary between the land and the outside. Hereinafter, the plurality of detection devices 3 will be collectively denoted by reference numeral 3. In addition, the human sensor 31, the tag sensor 32, and the communication unit 33 included in each detection device 3 are collectively indicated by reference numerals 31, 32, and 33, respectively. It should be noted that the corresponding human sensor 31 and tag sensor 32 are provided in the same detection device 3 here. However, the corresponding human sensor 31 and tag sensor 32 may be configured separately as long as detection can be performed at substantially the same location.

  The mobile terminal 4 is an information processing device possessed by the manager of the land to be monitored. The mobile terminal 4 is not particularly limited in a specific mode as long as it can access the management server 2 via the network and receive information from the management server 2. The mobile terminal 4 may be any information processing terminal such as a personal computer (PC), a portable digital assistant (PDA), or a smartphone. The mobile terminal 4 receives the notification transmitted from the management server 2. In addition, the mobile terminal 4 transmits a response to the notification to the management server 2.

  The tag 5 is a small chip that stores information and has a function of transmitting the information by radio waves. The tag 5 is, for example, an IC chip. The tag 5 is distributed to people who enter and leave the land to be monitored. Each person who enters the land to be monitored carries the tag 5. For example, a person who enters the orchard for picking fruits is required to carry the tag 5 at the entrance and carry the tag 5 in the garden. Moreover, the manager and the employee of the orchard also carry the tag 5. The tag 5 stores unique information. The tag 5 transmits a wireless signal including information unique to the tag 5 in a predetermined cycle. The radio signal transmitted by the tag 5 can be received by the tag sensor 32 existing within a predetermined range from the tag 5. Further, the tag-specific information included in the wireless signal transmitted by the tag 5 can be detected by the tag sensor 32 that has received the wireless signal.

  The drone 6 is a mobile robot controlled by the management server 2. The drone 6 moves to an arbitrary position within the land to be monitored under the control of the management server 2. In addition, the drone 6 has a control unit 60 and a storage unit 70.

  The control unit 60 controls the operation and function of the drone 6. For the control unit 60, for example, various integrated circuits and electronic circuits can be adopted. Further, a part of the functional unit included in the control unit 60 may be another integrated circuit or electronic circuit. For example, the integrated circuit may be an ASIC (Application Specific Integrated Circuit). Further, examples of the electronic circuit include a CPU (Central Processing Unit) and an MPU (Micro Processing Unit).

  The storage unit 70 stores information used for the processing in the drone 6 and information generated by the processing in the drone 6. A semiconductor memory device or the like can be adopted as the storage unit 70. For example, the semiconductor memory device may be a VRAM (Video Random Access Memory), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory (flash memory), or the like.

  The control unit 60 has a detection unit 61, an imaging unit 62, an output unit 63, and a communication unit 64.

  The detection unit 61 detects an object around the drone 6. For example, the detection unit 61 has an infrared sensor or the like, and detects the presence of a person within a predetermined range from the drone 6.

  The imaging unit 62 captures an image around the drone 6. The imaging unit 62 captures an image of the person detected by the detection unit 61, for example. Further, the imaging unit 62 captures an image within a predetermined range from the position where the detection unit 61 detects a person, for example. The image pickup unit 62 has a function of illuminating a shooting range in order to shoot a clear image.

  The output unit 63 outputs a predetermined sound. For example, the output unit 63 outputs the recorded warning sound and human voice to the outside. The timing at which the output unit 63 outputs the sound is determined by the control signal transmitted from the management server 2.

  The communication unit 64 receives the control signal transmitted by the management server 2. Each unit of the control unit 60 operates according to a control signal transmitted by the management server 2. The communication unit 64 transmits the detection result of the detection unit 61 and the image captured by the imaging unit 62 to the management server 2. The communication unit 64 may have a function of transmitting information to an external device other than the management server 2.

  The storage unit 70 stores the position at which the detection unit 61 detects a person and the detection time. The storage unit 70 also stores the image captured by the image capturing unit 62 in association with the image capturing position and the image capturing time of the image. The storage unit 70 also stores the voice output by the output unit 63.

  The drone 6 may be a flying robot (multicopter) or a walking robot.

  The type of network that connects the management server 2, the detection device 3, the mobile terminal 4, and the drone 6 is not particularly limited.

(One example of the configuration of the management server 2)
An example of the configuration of the management server 2 will be described with reference to FIG. The management server 2 includes a communication unit 10, an input unit 20, an output unit 30, a storage unit 40, and a control unit 50.

  The communication unit 10 realizes communication between the management server 2, the detection device 3, the mobile terminal 4, and the drone 6 via the network.

  The input unit 20 is an input device for inputting information to the management server 2. The input unit 20 may be any device such as a keyboard, a mouse, a touch panel, and a microphone as long as it can input information to the management server 2.

  The output unit 30 is a device that outputs information stored in the management server 2 and information generated in the management server 2 to the outside. The output unit 30 outputs information to the outside as a sound or an image, for example. The output unit 30 includes, for example, a display device such as a monitor, a speaker, a printer, and the like.

  The storage unit 40 stores information used for processing in the management server 2 and information generated by processing in the management server 2. A semiconductor memory device or the like can be used as the storage unit 40. For example, the semiconductor memory device may be a VRAM (Video Random Access Memory), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory (flash memory), or the like.

  The control unit 50 controls the operation and function of the management server 2. For the control unit 50, for example, various integrated circuits and electronic circuits can be adopted. Further, a part of the functional unit included in the control unit 50 may be another integrated circuit or electronic circuit. For example, the integrated circuit may be an ASIC (Application Specific Integrated Circuit). Further, examples of the electronic circuit include a CPU (Central Processing Unit) and an MPU (Micro Processing Unit).

(Example of information stored in storage unit 40)
The storage unit 40 includes an area storage unit 41, a tag storage unit 42, a motion sensor storage unit 43, a tag sensor storage unit 44, a detection storage unit 45, a drone storage unit 46, a cultivation plan storage unit 47, and And a flight plan storage unit 48.

  The area storage unit 41 stores information on each section of land that is a monitoring target. FIG. 2 is a diagram showing an example of the configuration of area information stored in the monitoring system 1 according to the first embodiment. The land to be monitored by the monitoring system 1 is divided into a plurality of sections. Then, the information about each of the divided sections is stored in the area storage unit 41 of the management server 2.

  As shown in FIG. 2A, the area information includes “area ID”, “position”, “area”, and “fruit tree area”. The “area ID” is an identifier that uniquely identifies each area. “Position” indicates the position where the area is present. For example, “position” indicates the position of the outer edge of the area in longitude and latitude. "Area" indicates the size of the area. The “fruit tree area” indicates whether or not fruit trees, that is, objects to be stolen are cultivated in the area.

  As shown in FIG. 2B, the land to be monitored is divided into a plurality of sections specified by area IDs "A001" to "A009". Fruit trees are cultivated in the sections specified by the area IDs "A001" to "A006". On the other hand, fruit trees are not cultivated in the sections specified by the area IDs "A007" to "A009".

  In the example of FIG. 2A, for example, “position, XXX”, “area, 2”, “fruit area, YES” is stored for the section with area ID “A001”. This indicates that the position of the section specified by the area ID “A001” is “XXX”, the area is 2 hectares, and the area is where fruit trees are currently cultivated.

  The tag storage unit 42 stores information on the tag 5. FIG. 3 is a diagram showing an example of a configuration of information of the tag 5 stored in the monitoring system 1 according to the first embodiment. As shown in FIG. 3, the information of the tag 5 includes a “tag ID”, a “type”, an “effective time zone”, an “expiration date”, and “user information”.

  The “tag ID” is information for uniquely identifying each tag 5. The tag 5 may be configured to store the tag ID. “Type” indicates the type of person carrying the tag. In the example of FIG. 3, “manager”, “employee”, and “tourist” are set as the “type”. “Manager” refers to the person who manages the monitored land. “Employee” refers to an employee who works on the monitored land. “Tourist” refers to a person who is temporarily allowed to enter the monitored land.

  “Effective time zone” refers to a time zone in which a person carrying the tag 5 is permitted to enter the land to be monitored. For example, an administrator can enter the monitored land at any time without any restrictions. Employees can also enter the monitored land during working hours. Tourists can only enter the monitored land during the temporarily permitted time. The “expiration date” refers to a time limit during which the person carrying the tag 5 is allowed to enter the monitored land. For example, managers may enter the monitored land for an unlimited period of time. Employees may enter the monitored land for a period permitted by contract. Tourists can enter the monitored land only on the day of their visit.

  The “user information” is personal information of the person who carries the tag 5. In the example of FIG. 3, it is assumed that the “user information” is stored for the manager and the employee, and is not stored for the tourist. However, the user information may be stored for tourists.

  In the example of FIG. 3, for example, “type, administrator”, “valid time period, unlimited”, “valid period, unlimited”, “user information, Fujitaro” are stored in association with “tag ID, T001”. To be done. This indicates that the tag 5 specified by the tag ID “T001” is carried by Fujitaro who is the administrator. It also indicates that a person who carries the tag 5 identified by the tag ID “T001” can enter the land to be monitored without restrictions on time zones or time limits.

  Further, in the example of FIG. 3, for example, “type, tourist”, “valid time zone, 10: 00-16: 00”, and “validity period, 20144425” are stored in association with “tag ID, T004”. To be done. This indicates that the tag 5 specified by the tag ID “T004” is carried by a tourist. Further, it indicates that a tourist carrying the tag 5 is allowed to enter the land to be monitored from 10:00 to 16:00. It also indicates that the tourists carrying the tag 5 are only allowed to enter the monitored land on April 25, 2016.

  The human sensor storage unit 43 stores information of the human sensor 31 included in the detection device 3 arranged in the land to be monitored. FIG. 4 is a diagram showing an example of a configuration of information of the human sensor 31 stored in the monitoring system 1 according to the first embodiment. As shown in FIG. 4, the information of the motion sensor 31 includes “sensor ID (1)”, “position”, “area ID”, “fruit tree area”, and “on route”. “Sensor ID (1)” is an identifier that uniquely identifies the motion sensor 31. The “position” is information that specifies the position where the human sensor 31 is arranged. The “position” is, for example, the latitude and longitude of the place where the human sensor 31 is located. The “area ID” indicates in which section the place where the human sensor 31 is placed is. The “fruit tree area” indicates whether or not a fruit tree is being cultivated in the section where the human sensor 31 is arranged. “On the route” indicates whether or not the position where the human sensor 31 is arranged is on the tourist route through which the tourist passes.

  In the example of FIG. 4, “position, EOO, NXX”, “area ID, A001”, “fruit area, YES”, “on route, YES” are stored in association with “sensor ID (1), HS001”. To be done. This indicates that the human sensor 31 specified by the sensor ID (1) “HS001” is arranged at the position specified by “EOO, NXX”. Further, the human sensor 31 indicates that it is arranged in the section specified by the area ID “A001”. Further, it indicates that fruit trees are currently cultivated in the section where the human sensor 31 is arranged. Further, the position where the human sensor 31 is arranged indicates that it is on a route that is set so that tourists can pass through.

  The tag sensor storage unit 44 stores information on the tag sensor 32 included in the detection device 3 arranged in the monitored land. FIG. 5 is a diagram showing an example of a configuration of information of the tag sensor 32 stored in the monitoring system 1 according to the first embodiment. As shown in FIG. 5, the information of the tag sensor 32 includes “sensor ID (2)”, “position”, “area ID”, and “corresponding HS”. “Sensor ID (2)” is an identifier that uniquely identifies the tag sensor 32. The “position” is information that identifies the position where the tag sensor 32 is arranged. The “position” is, for example, the latitude and longitude of the position where the tag sensor 32 is arranged. The “area ID” is the area ID of the section in which the tag sensor 32 is arranged. The “corresponding HS” is the sensor ID of the motion sensor 31 corresponding to the tag sensor 32. That is, the “corresponding HS” is the sensor ID of the motion sensor 31 built in the same detection device 3 as the tag sensor 32.

  In the example of FIG. 5, “position, ...”, “Area ID, A001”, and “corresponding HS, HS001” are stored in association with “sensor ID (2), TS001”. This indicates that the tag sensor 32 specified by the sensor ID (2) “TS001” is arranged at the position specified by “...”. The tag sensor 32 is arranged in the section specified by the area ID “A001”. Further, it indicates that the tag sensor 32 is associated with the human sensor 31 specified by the sensor ID (1) “HS001”. That is, it indicates that the tag sensor 32 is provided in the same detection device 3 as the human sensor 31 specified by the sensor ID (1) “HS001”.

  The detection storage unit 45 stores the detection information that is the result of detection by the motion sensor 31 and the tag sensor 32. FIG. 6 is a diagram showing an example of the configuration of detection information stored in the monitoring system 1 according to the first embodiment. As shown in FIG. 6, the detection information includes “time”, “sensor ID (1)”, “sensor ID (2)”, and “tag ID”. “Time” indicates the time when the detection information is detected by the motion sensor 31 or the tag sensor 32. “Sensor ID (1)” is the sensor ID (1) of the motion sensor 31 that has detected the detection information. "Sensor ID (2)" is the sensor ID (2) of the tag sensor 32 that has detected the detection information. The “tag ID” is the tag ID of the tag 5 detected by the corresponding tag sensor 32.

  In the example of FIG. 6, “sensor ID (1), HS001”, “sensor ID (2), TS001”, and “tag ID, T004” are stored in association with “time, 20160410/10: 20: 00”. To be done. This indicates that the human sensor 31 specified by "HS001" detected a person at 10:20 on April 1, 2016. Also, at the same time, it indicates that the tag sensor 32 specified by "TS001" has detected the tag 5 specified by the tag ID "T004". Further, in the example of FIG. 6, “sensor ID (1), HS001” is stored in association with “time, 20160410/10: 45: 00”. The “sensor ID (2)” and the “tag ID” stored in association with this time are “NA”. This means that at 10:45 on April 1, 2016, the human sensor 31 specified by “HS001” detects a person, but at the same time, the tag sensor 32 corresponding to the human sensor 31 detects the tag 5 Is not detected.

  The drone storage unit 46 stores information on the drone 6 managed and controlled by the management server 2. FIG. 7 is a diagram showing an example of a configuration of information on the drone 6 stored in the surveillance system 1 according to the first embodiment. Although only one drone 6 is shown in FIG. 1, the management server 2 manages and controls a plurality of drones 6. When displaying a plurality of drones 6, they are displayed as drones 6a and 6b, and when collectively displayed, they are displayed as drone 6.

  As shown in FIG. 7, the information on the drone 6 includes a “drone ID”, a “continuous flight possible time”, and a “charging time”. The “drone ID” is an identifier that uniquely identifies each drone 6. “Continuous flight possible time” indicates the length of time that each drone 6 can continuously fly. In the example of FIG. 7, since the drone 6 is a flying robot, the “continuous flight possible time” is stored, but if the robot is a walking robot, the drone storage unit 46 stores the “continuous flight available time”. The “charging time” indicates the length of time required to fully charge the drone 6.

  In the example of FIG. 7, “continuous flight possible time, 1 hr” and “charging time, 20 m” are stored in association with “drone ID, D001”. This indicates that the drone 6 identified by the drone ID “D001” is a flying robot that can continuously fly for 1 hour, and it takes 20 minutes to be fully charged.

  The cultivation plan storage unit 47 stores a cultivation plan, which is information indicating when and what kind of crop is to be cultivated for each section. FIG. 8: is a figure which shows an example of a structure of the information of the cultivation plan memorize | stored in the monitoring system 1 which concerns on 1st Embodiment. The cultivation plan is stored in the management server 2 by a predetermined time every year.

  As shown in FIG. 8, the cultivation plan includes “area ID”, “crop”, “seed”, “seedling”, “harvest”, “priority”, and “harvest time”. The “area ID” is information that uniquely identifies a section of land to be monitored. The “area ID” is the same as that stored in the area storage unit 41. “Crop” indicates a crop cultivated in the section specified by the area ID. “Sowing” indicates the time of sowing of the crop specified by the “crop”. The “planting” indicates the time to plant seedlings of the crop specified by “crops”. The "harvest" indicates the time when the crop specified by the "crop" is harvested. The “priority” indicates the priority, which is the degree of whether or not the crop specified by the “crop” should be monitored with priority. The priority is set based on, for example, the unit price of the crop, the popularity of the crop in the market, or the like, and the magnitude of damage to the farmer when the crop is stolen. The operator of the monitoring system 1 may manually set the priority. Further, the priority may be set to be automatically updated based on the market price so that higher-priced crops are given higher priority. The “harvest time” indicates the time when the crop is actually scheduled to be harvested. For example, the harvest time of the crop “watermelon” is input to the management server 2 by the user when the “watermelon” has matured.

  In the example of FIG. 8, in association with “area ID, A002”, “crop, cherry”, “seed, NA”, “seed planting, NA”, “harvest, May-June”, “priority, 2 ”and“ harvest time, mid-May ”are stored. This indicates that cherries are cultivated in the section specified by the area ID “A002”. It also shows that cherry trees for harvesting cherries have already been planted in the area, and sowing and seedling planting will not be performed. It also indicates that the cherry harvest is scheduled for May-June. It also indicates that the priority of monitoring the section of "A002" is "2" when the cherry approaches the harvest time. In the example of FIG. 8, the smaller the number, the higher the priority, and the larger the number, the lower the priority. Therefore, the example of FIG. 8 shows that when a cherry approaches the harvest time, it should be monitored with the highest priority except for crops with priority “1”. It also indicates that the cherries are already maturing and will be harvested in mid-May. The information stored in the “harvest time” is automatically deleted after the time.

  In addition, in the example of FIG. 8, “harvest” usually indicates a period when the crop is considered to be mature and suitable for harvesting. On the other hand, the “harvest time” indicates the time when the land manager or the like performs the harvesting work determined by observing the actually cultivated crop.

  The flight plan storage unit 48 stores a flight plan that defines a flight pattern of the drone 6 that is executed to monitor the land that is the monitoring target. FIG. 9 is a diagram showing an example of the configuration of flight plan information stored in the monitoring system 1 according to the first embodiment. The flight plan storage unit 48 stores a plurality of flight plans in advance, and the drone 6 is controlled based on one flight plan specified by the management server 2. The monitoring system 1 according to the first embodiment selects a flight plan in association with the priority in order to intensively monitor the section in which a crop with a high priority is cultivated.

  As shown in FIG. 9A, the flight plan includes “route ID”, “number of vehicles”, “simultaneous flight”, “target area”, “fruit tree priority”, “flight pattern”, and “management”. .. The "route ID" is an identifier that uniquely identifies a flight plan. The “number” indicates the number of drones 6 used based on the flight plan. “Simultaneous flight” indicates the number of the drones 6 that are flying simultaneously. The “target area” indicates the area covered by the flight plan. That is, the “target area” indicates the area of land that can be monitored by the flight plan. The “fruit tree priority” indicates whether the flight plan is for crops with high priority or for crops with low priority. The “flight pattern” indicates the flight pattern of the drone 6 defined by the flight plan. The flight pattern indicates, for example, from which direction of the target section the drone 6 starts monitoring, and in which direction the drone 6 starts to fly. “Management” indicates the flight plan selected at each time point.

  For example, in the example of FIG. 9A, "route ID, R006" is associated with "number of units, 3", "simultaneous flight, 2", "target area, 5", "fruit tree priority, high". , “Flight pattern, zigzag (east to west)”, “management, ◯” are stored. This indicates that three drones 6 are used in the flight plan specified by the route ID “R006”. In addition, the flight plan indicates that two drones 6 are to fly at the same time. That is, in the flight plan, the other drone 6 is charged while the two drones 6 are flying, and the drone 6 is alternately rotated. In addition, the flight plan indicates that the size of the land over which the drone 6 flies is 5 hectares. In addition, it indicates that the crops suitable for the flight plan are the crops with high “priority”. In addition, the flight plan indicates that the drone 6 is controlled so as to proceed in a zigzag from east to west. It also indicates that the flight plan with route ID “R006” is selected as the flight plan to be executed at the present moment.

  The flight plan will be set to increase the number of drones used for high priority fruit trees and fly all over the monitored area. The flight plan is also set to use fewer drones for lower priority fruit trees than for higher priority fruit trees. Regarding flight patterns, fruit trees with higher priority will be set to fly closer than fruit trees with lower priority.

  FIG. 9B shows the currently set security time period, which is the time period in which the monitoring process by the monitoring system 1 is executed. In the example of FIG. 9B, “security time zone, 22:00 to 5:00” is set. This indicates that the monitoring system 1 executes monitoring using the drone 6 from 22:00 in the evening to 5:00 in the morning. The guard time zone may be preset by the initial setting. Further, the guard time period may be arbitrarily set by the user.

  FIG. 9C shows the details of the flight plan. As an example, FIG. 9C shows the details of the flight plan in the case of using one drone 6 and monitoring the section with the area ID “A001”. In the example of FIG. 9C, "monitoring area, A001" is stored in association with "date, 10/1". In addition, "departure time, 0:00", "arrival time, 0:20", "charge start time, 0:20", and "charge completion time, 0:40" are stored. This indicates that in the flight plan on October 1, the section specified by the area ID "A001" is to be monitored. Further, the flight plan on October 1 indicates that the drone 6 departs from the drone storage position at 0:00 and flies over the section “A001”. It also indicates that the drone 6 is controlled to return to the drone storage position at 0:20. It also indicates that the drone 6 will be charged when it returns to the drone storage position at 0:20. It also indicates that the charging of the drone 6 is completed at 0:40. The flight plan is preset based on the information of the drone 6 shown in FIG. 7 so that the drone 6 can be controlled based on each plan.

  In the example of FIG. 9C, the case where only one drone 6 is used has been described. The invention is not limited to this, and a plurality of drones 6 may always be used to set a flight plan so that the monitoring is not interrupted during the charging time. For example, the drone 6a is started first, and the drone 6b is started a predetermined time before the arrival time. Then, the flight plan may be set such that the drone 6b performs monitoring while the drone 6a is being charged and the drone 6a performs monitoring while the drone 6b is being charged.

(Example of configuration of control unit 50)
Returning to FIG. 1, the configuration of the control unit 50 will be described. The control unit 50 includes a registration unit 51, a detection unit 52, a warning unit 53, a flight plan identification unit 54, and a drone control unit 55.

  The registration unit 51 stores information input from the communication unit 10 and the input unit 20 in each unit of the storage unit 40. For example, the registration unit 51 stores the information of the tag 5 input from the input unit 20 in the tag storage unit 42. The registration unit 51 also stores the detection information transmitted from the detection device 3 in the detection storage unit 45.

  The detection unit 52 detects a case where the human sensor 31 detects a person based on the information stored in the storage unit 40, but the tag sensor 32 associated with the human sensor 31 does not detect a tag. The case where the motion sensor 31 detects a person but the tag sensor 32 associated with the motion sensor 31 does not detect the tag 5 means that a person who has entered the land without the tag 5 is detected. Could be

  The detection unit 52 also detects whether the tag 5 detected by the tag sensor 32 is a tag 5 carried by a tourist or a tag 5 carried by a manager or an employee. This is because if the tag 5 is carried by the manager or employee, there is no suspicious point even in the land.

  The detection unit 52 also detects a case where the tag 5 detected by the tag sensor 32 is continuously present in a section other than the fruit tree area for a long time. This is because there is no need for tourists to stay in areas other than the fruit trees area for a long time, and it is possible that they may have come to pretend to be pretending to be tourists.

  The detection unit 52 also detects a case where the tag 5 detected by the tag sensor 32 is present in a section that is not on the tourist route for a long time. Even if a tourist stays in a section other than the fruit area for a long time, there is no suspicion if the place is on a tourist route such as a rest area or a shop. Therefore, the detection unit 52 detects whether or not the detected position of the tag 5 is on the route.

  In this way, the detection unit 52 notifies the warning unit 53 of suspicious person detection when the human sensor 31 detects a person but the corresponding tag sensor 32 does not detect the tag 5. Further, the detection unit 52 detects a case where a human carries the human presence sensor 31 and the corresponding tag sensor 32 detects the tag 5, but a tourist carries the tag 5. Then, the detection unit 52 notifies the suspicious individual detection to the warning unit 53 when the tag 5 stays in the same section for a predetermined time or more and the section is not in the fruit tree area or on the tourist route.

  The warning unit 53 executes a warning process in response to the suspicious individual detection by the detection unit 52. When the warning unit 53 receives the suspicious person notification from the detection unit 52, the warning unit 53 transmits a notification indicating that the suspicious person is detected to the administrator's mobile terminal 4. The warning unit 53 also receives a response from the administrator's mobile terminal 4 indicating that the suspicious individual is being dealt with. The warning unit 53 also instructs the drone control unit 55 to execute the first drone control process in response to the suspicious individual detection by the detection unit 52. The warning unit 53 may be configured not to instruct the drone control unit 55 to execute the first drone control process when a response indicating that a suspicious person is dealt with is received from the administrator's mobile terminal 4.

  The flight plan specifying unit 54 specifies a flight plan for executing monitoring in the guard time period shown in FIG. 9 (B). The monitoring system 1 according to the first embodiment identifies a suspicious person based on the processing of the detection unit 52 and the warning unit 53 during the daytime and executes the control of the drone 6 (first drone control processing). On the other hand, at night, the monitoring system 1 controls the drone 6 based on the flight plan specified by the flight plan specifying unit 54 to execute monitoring (second drone control process).

  The flight plan specifying unit 54 first refers to the cultivation plan stored in the cultivation plan storage unit 47. Then, the flight plan specifying unit 54 specifies the area ID in which the harvest time is input. Further, the flight plan specifying unit 54 specifies the priority of the crop of the area ID. Then, the flight plan specifying unit 54 specifies the area ID of the crop having the highest priority. Then, the flight plan identification unit 54 refers to the flight plan stored in the flight plan storage unit 48, and identifies one flight plan depending on whether the priority of the identified crop is equal to or higher than a predetermined threshold value or lower. When the priority is equal to or higher than the threshold, the flight plan specifying unit 54 according to the first embodiment determines that the area of the section of the area ID specified in the flight plan of “fruit tree priority, high” matches the “target area”. Select the flight plan you want. When a plurality of flight plans are applicable, the flight plan specifying unit 54 selects the next flight plan of the flight plans selected at that time. For example, the flight plan specifying unit 54 selects the next flight plan if there is a flight plan that is “managed, ◯”. As described above, by selecting the flight plans in order, it is possible to prevent the surveillance pattern from being fixed and to enhance the crime prevention effect.

  The flight plan specifying unit 54 starts the flight plan specifying process a predetermined time before the set security time period. Then, the flight plan identification unit 54 transmits to the drone control unit 55 an instruction to execute the second drone control process requesting control of the drone 6 based on the identified flight plan.

  The drone control unit 55 receives an instruction to execute the drone control process from the warning unit 53 and the flight plan identification unit 54. The drone control unit 55 executes the drone control process according to the execution instruction of the drone control process. The drone control unit 55 receives, from the detection unit 52 or the warning unit 53, the position where the detection unit 52 has detected the suspicious individual, that is, the position of the motion sensor 31 which has detected the suspicious individual. Then, the drone control unit 55 moves the drone 6 to the position of the motion sensor 31. When detecting that the drone 6 has reached the position, the drone control unit 55 causes the drone 6 to generate a warning sound. For example, the drone control unit 55 causes the drone 6 to sound an alarm sound. Alternatively, the drone control unit 55 causes the drone 6 to reproduce a predetermined message recorded in advance. The drone control unit 55 controls the drone 6 to return to the starting position after turning the drone 6 at the position for a predetermined time.

  Upon receiving the instruction to execute the second drone control process from the flight plan specifying unit 54, the drone control unit 55 also controls the drone 6 based on the flight plan specified by the instruction to execute the second drone control process. To do. The drone control unit 55 transmits the specified flight plan to the number of drones 6 designated by the flight plan, and causes the drone 6 to fly based on the flight plan. During the guard time period, the drone 6 repeats flight and charging based on the flight plan and executes monitoring.

(Example of flow of first monitoring process)
FIG. 10 is a flowchart showing an example of the flow of the first monitoring process executed in the monitoring system 1 according to the first embodiment. The first monitoring process of the first embodiment will be described with reference to FIG.

  First, when the first monitoring process is started, the registration unit 51 stores information on the section of the land to be monitored, the tag 5, the motion sensor 31, the tag sensor 32, and the drone 6 in the storage unit 40 (step S1). Then, the registration unit 51 receives the detection information from the detection device 3 and stores it in the storage unit 40 (step S2). The detection unit 52 refers to the detection information and determines whether the tag information is stored at the time when the person is detected (step S3). When it is determined that the tag information is not stored (No in step S3), the detection unit 52 notifies the warning unit 53 of the detection of the suspicious person and causes the first warning process to be executed (step S9). On the other hand, when it is determined that the tag information is stored (step S3, Yes), the detection unit 52 then determines whether or not the tag 5 is a tag carried by a tourist by referring to the tag storage unit 42. Yes (step S4). When it is determined that the tag is not carried by the tourist (No in step S4), the detection unit 52 does not notify the warning unit 53 (step S8) and ends the process. On the other hand, when it is determined that the tag 5 is carried by the tourist (Yes in step S4), the detection unit 52 then refers to the detection information and determines whether the tag 5 exists in the same area for a predetermined time or longer. It is determined (step S5). When it is determined that the sensor does not exist for the predetermined time or longer (step S5, No), the detection unit 52 does not notify the warning unit 53 (step S8) and ends the process. On the other hand, when it is determined that the tag 5 has been present for the predetermined time or longer (step S5, Yes), the detection unit 52 next determines whether the detection device 3 that has detected the tag 5 is in the fruit tree area (step S6). ). When it determines with it being in a fruit tree area (step S6, Yes), the detection part 52 does not notify the warning part 53 (step S8), and complete | finishes a process. On the other hand, when it is determined that the detection device 3 is not in the fruit tree area (step S6, No), the detection unit 52 next refers to the human sensor storage unit 43 and determines whether or not the detection device 3 is on the route ( Step S7). When it is determined that the route is on the route (Yes in step S7), the detection unit 52 does not notify the warning unit 53 (step S8) and ends the process. On the other hand, when it is determined that the route is not on the route (step S7, No), the detection unit 52 notifies the warning unit 53 of the detection of the suspicious individual and causes the first warning process to be executed (step S9). This completes the first monitoring process.

(Example of first warning processing flow)
FIG. 11 is a flowchart showing an example of the flow of warning processing executed in the monitoring system 1 according to the first embodiment. First, the warning unit 53 refers to the detection information and determines whether or not the manager's tag 5 is in the land (step S101). When the warning unit 53 determines that the manager's tag 5 is not in the land (step S101, No), it instructs the drone control unit 55 to execute the drone control process, and the drone control unit 55 causes the first drone to operate. A control process is executed (step S105). On the other hand, when it is determined that the manager's tag 5 is in the land (step S101, Yes), the warning unit 53 sets the position of the detection device 3 that detects the manager's tag 5 to the position where the suspicious person is detected. It is determined whether they are close (step S102). When it is determined that the position of the detection device 3 that has detected the administrator's tag 5 is not close to the position at which a suspicious individual has been detected (No in step S102), the warning unit 53 causes the drone control unit 55 to perform the first drone control. Instruct to execute the process. On the other hand, when it is determined that the position of the detection device 3 that has detected the tag 5 of the administrator is close to the position at which the suspicious individual is detected (Yes in step S102), the warning unit 53 causes the portable terminal 4 of the administrator to detect the suspicious individual. The detection is notified (step S103). Then, the warning unit 53 determines whether or not a response indicating that the suspicious individual should be dealt with is received from the mobile terminal 4 within a predetermined time (step S104). When it is determined that the response has not been received (step S104, No), the warning unit 53 instructs the drone control unit 55 to execute the first drone control process. On the other hand, if it is determined that the response has been received (step S104, Yes), the warning unit 53 does not transmit the instruction to the drone control unit 55 and ends the process. This completes the first warning process.

(One example of the flow of the first drone control process)
FIG. 12 is a flowchart showing an example of the flow of the first drone control process executed in the surveillance system 1 according to the first embodiment. When receiving the instruction to execute the first drone control process from the warning unit 53, the drone control unit 55 specifies the position where the suspicious individual is detected and starts the drone 6 (step S201). Then, the drone control unit 55 guides the drone 6 to the position where the suspicious individual is detected (step S202). Then, the drone control unit 55 determines whether or not the drone 6 has reached the position where the suspicious individual is detected (step S203). If it is determined that it has not arrived (No in step S203), the drone control unit 55 repeats the determination in step S203. On the other hand, when it is determined that the drone has been reached (Yes in step S203), the drone control unit 55 causes the drone 6 to output a warning sound (step S204). The drone control unit 55 may output a warning sound and cause the drone 6 to capture an image of the surroundings of the detection device 3 that has detected a suspicious person. Then, the drone control unit 55 determines whether or not a predetermined time has elapsed since the drone 6 reached the position (step S205). When it is determined that the time has not elapsed (No in step S205), the drone control unit 55 repeats step S204. On the other hand, when it is determined that the time has passed (Yes in step S205), the drone control unit 55 instructs the drone 6 to return and collects the drone 6 (step S206). This completes the first drone control process.

(Example of flow of second monitoring process)
FIG. 13 is a flowchart showing an example of the flow of the second monitoring process executed in the monitoring system 1 according to the first embodiment. The second monitoring process is started by the flight plan specifying unit 54 at a predetermined time before the security time period. The flight plan specifying unit 54 first refers to the cultivation plan stored in the cultivation plan storage unit 47 (step S301). Then, the flight plan specifying unit 54 specifies whether or not there is a section in which the "harvest time" is stored in the cultivation plan storage unit 47 (step S302). When the “harvest time” is stored, it means that the harvest time of the crop is near. The flight plan identification unit 54 ends the process when there is no section in which the "harvest time" is stored (No in step S302). On the other hand, when there is a section in which the “harvest time” is stored (Yes in step S302), the flight plan specifying unit 54 selects the section with the highest priority among the sections in which the “harvest time” is stored. Yes (step S303). Then, the flight plan identification unit 54 refers to the flight plan stored in the flight plan storage unit 48 and selects a flight plan corresponding to the priority and area of the selected section (step S304). Then, the flight plan identification unit 54 transmits an instruction to execute the second drone control process to the drone control unit 55 so as to execute the monitoring based on the selected flight plan. In response to the instruction, the drone control unit 55 executes the second drone control process (step S305). When the preset guard time period ends, the second drone control process ends.

(An example of the flow of the second drone control process)
FIG. 14 is a flowchart showing an example of the flow of the second drone control process executed in the surveillance system 1 according to the first embodiment.

  When receiving the instruction to execute the second drone control process from the flight plan specifying unit 54, the drone control unit 55 extracts the monitoring target section and the flight plan included in the instruction. Then, the drone control unit 55 selects the number of drones 6 specified by the flight plan. The drone control unit 55 transmits and sets the extracted monitoring target section and flight plan to the selected drone 6 (step S401). As a result, the drone 6 operates based on the settings. The drone control unit 55 determines whether or not the remaining battery level of the selected drone 6 exceeds a predetermined threshold TH1 (step S402). If it is determined that the battery level is equal to or less than the threshold TH1 (step S402, No), the drone control unit 55 executes charging of the drone 6 (step S403). Then, the drone control unit 55 again determines whether or not the remaining battery level exceeds the threshold TH1. When it is determined that the remaining battery power exceeds the threshold TH1 (Yes in step S402), the drone control unit 55 starts the drone 6 (step S404). The drone 6 flies over the monitored section based on the settings. The detection unit 61 of the drone 6 detects a person existing in the monitored section. When the detection unit 61 of the drone 6 detects a person, the drone 6 determines that there is an abnormality (step S405, Yes), and executes the second warning process (step S406). On the other hand, when the detection unit 61 does not detect a person (step S405, No), the drone 6 continues to monitor. Then, the drone 6 determines whether the remaining battery power is below a predetermined threshold TH2 (step S407). When it is determined that the remaining battery power is equal to or higher than the predetermined threshold TH2 (step S407, No), the drone 6 continues to monitor. On the other hand, if it is determined that the remaining battery level has fallen below the predetermined threshold TH2 (step S407, Yes), the drone 6 returns to the drone storage location and executes charging. On the other hand, the drone control unit 55 starts another drone 6 to the monitored section based on the charging time of the drone 6 defined in the flight plan (step S408). Then, the drone 6 determines whether or not the security time period has ended (step S409). When it is determined that the security time period has not ended (step S409, No), the drone 6 continues to monitor. On the other hand, when it is determined that the security time period has ended (step S409, Yes), the drone 6 returns to the drone storage location and stops after charging (step S410). This completes the second drone control process.

(Example of second warning processing flow)
FIG. 15 is a flowchart showing an example of the flow of the second warning process executed in the monitoring system 1 according to the first embodiment. The process shown in FIG. 15 is executed in step S406 of FIG.

  First, when the drone 6 detects an abnormality, for example, when the infrared sensor included in the detection unit 61 detects a living thing, an image of the detection position is taken (step S501). Then, the drone 6 transmits the captured image to the drone control unit 55 of the management server 2 (step S502). The drone control unit 55 analyzes the image and determines whether or not a person is shown (step S503). When it is determined that the person is not captured (No in step S503), the drone control unit 55 ends the second warning process. On the other hand, when the drone control unit 55 determines that the person is included in the image (step S503, Yes), the drone control unit 55 sends a notification to the administrator's mobile terminal 4 (step S504). Then, the drone control unit 55 sends an instruction to the drone 6 to illuminate and photograph the place where the abnormality is detected. In response to the instruction, the drone 6 illuminates the abnormality detection location and executes shooting (step S505). This completes the second warning process.

(Modification)
In the above-described first embodiment, an example has been described in which an orchard focuses on crops during the harvesting period. However, the present invention is not limited to this, and the monitoring system 1 of the first embodiment may be applied to a case where, for example, in a land having a predetermined area other than an orchard, a high monetary value is stored for a predetermined period. it can. For example, instead of the cultivation plan shown in FIG. 8, the storage unit stores the time when an article of high monetary value is stored in each section, the area ID, and the priority of the article. Then, the management server 2 may control the drone 6 so as to preferentially monitor the area where articles of high monetary value are stored.

  Further, in the first embodiment, the monitoring system is configured so that the priority is set for each partition and the partition having the high priority is monitored intensively. Without being limited to this, for example, the land shown in FIG. 2B may be divided into large parcels having a larger area including a plurality of parcels, and the monitoring system may be configured to monitor the large parcels. Good. For example, the monitoring system may be configured to determine the monitoring target partition according to the ratio of the high-priority partition included in the large partition. Then, the surveillance system may be configured so that the drone patrolles the determined surveillance target section.

  Further, in the above-described first embodiment, the monitoring system 1 is configured to execute the first monitoring process during the daytime when a person enters and leaves and the second monitoring process during the nighttime. Without being limited to this, the first monitoring process and the second monitoring process may be executed at any time.

(Effects of the first embodiment)
As described above, the monitoring system 1 according to the first embodiment includes a specifying unit (a flight plan specifying unit 54) that specifies a section in which a crop at the harvest time exists in a predetermined range of land divided into a plurality of sections. The control unit (drone control unit 55) that controls the mobile robot (drone 6) to circulate in the section specified by the specifying unit. For this reason, the monitoring system 1 can enhance the crime prevention effect by focusing on the section having a high possibility of theft even when monitoring a land having a large area. Further, unlike the case where the surveillance camera is arranged in the land, the surveillance system 1 sends the mobile robot to the place to be intensively monitored and circulates it. Therefore, according to the surveillance system 1, the installation cost of the surveillance camera can be eliminated. Further, according to the monitoring system 1, since the mobile robot is used only when there is a crop that may be stolen, the cost required for operating the mobile robot can be reduced. Further, according to the monitoring system 1, it is possible to limit the section in which the mobile robot travels, so that it is possible to suppress the power consumption of the mobile robot.

  Further, in the monitoring system 1 according to the first embodiment, the specifying unit further specifies one monitoring plan according to the specified area of the section, and the control unit controls the monitoring plan (flight plan) specified by the specifying unit. Based on the above, the mobile robot is controlled. Therefore, the monitoring system 1 can change the pattern to be monitored according to the size of the monitoring target section, and can realize close monitoring while using the mobile robot.

  Further, in the monitoring system 1 according to the first embodiment, the specifying unit specifies one monitoring plan that defines the movement pattern and the change timing of the mobile robot. Therefore, the monitoring system 1 can apply different monitoring plans according to the operating time, the charging time, and the like of the mobile robot. Moreover, the monitoring system 1 can perform monitoring using a plurality of mobile robots. Therefore, the monitoring system 1 can adopt various monitoring patterns according to the identification of the mobile robot, and can enhance the crime prevention effect.

  Further, in the monitoring system 1 according to the first embodiment, the specifying unit specifies one monitoring plan according to the priority determined based on the price of the crop. Therefore, the monitoring system 1 can focus on particularly expensive articles and can prevent damage due to theft.

  In addition, in the monitoring system 1 according to the first embodiment, the control unit sequentially controls a plurality of mobile robots and causes other mobile robots to circulate while one mobile robot is being charged. Therefore, the monitoring system 1 can continue the monitoring without interruption even when the operating time of the mobile robot is short, and can enhance the crime prevention effect.

  Further, in the monitoring system 1 according to the first embodiment, imaging is performed and image transmission to the management server 2 is executed only when the mobile robot detects an abnormality. Then, the image analysis is executed in the management server 2. Therefore, the power consumption of the mobile robot can be suppressed and the operating time can be extended. The mobile robot itself may be configured to perform image analysis depending on the performance of the mobile robot.

  In addition, the monitoring system 1 can eliminate the need to install a camera in each part of the monitored land by using the mobile robot. Therefore, the monitoring system 1 can suppress the operating cost.

(Second embodiment)
Although the embodiments of the disclosed device have been described so far, the present invention may be implemented in various different forms other than the above-described embodiments. Therefore, other embodiments included in the present invention will be described below.

(Distributed and integrated)
The components of the illustrated devices do not necessarily have to be physically configured as illustrated. That is, the specific form of distribution / integration of each device is not limited to that shown in the figure, and all or a part of the device may be functionally or physically distributed / arranged in arbitrary units according to various loads or usage conditions. It can be integrated and configured.

(Monitoring program)
In addition, in the various processes described in the above embodiments, a program prepared in advance is distributed from a computer such as a server to a computer such as a tablet terminal or a notebook computer, and the server and the computer perform the processes in cooperation with each other. It can be realized by doing. Therefore, in the following, an example of a computer that executes a monitoring program having the same function as that of the above embodiment will be described with reference to FIG. 16.

  FIG. 16 is a diagram for explaining an example of a computer that executes the monitoring program according to the first and second embodiments. As shown in FIG. 16, the computer 1000 has an operation unit 1100, a display 1200, and a communication unit 1300. Further, the computer 1000 includes a CPU (Central Processing Unit) 1400, a ROM (Read Only Memory) 1500, a RAM (Random Access Memory) 1600, and an HDD (Hard Disk Drive) 1700. Each of these 1100 to 1700 is connected via a bus 1800.

  As shown in FIG. 16, the HDD 1700 stores in advance a monitoring program 1700a capable of mounting a module that exhibits the same function as each unit shown in the first embodiment. The monitoring program 1700a may be integrated or separated as appropriate, like the respective constituent elements shown in FIG. That is, with respect to each data stored in the HDD 1700, all the data does not always need to be stored in the HDD 1700, and only the data necessary for processing need be stored in the HDD 1700.

  Then, the CPU 1400 reads each module of the monitoring program 1700a from the HDD 1700 and loads it in the RAM 1600. Thereby, as shown in FIG. 16, the monitoring program 1700a functions as a monitoring process 1600a. The monitoring process 1600a appropriately expands various data read from the HDD 1700 into an area allocated to itself on the RAM 1600, and executes various processes based on the expanded various data. The monitoring process 1600a includes processing executed by each processing unit shown in FIG. Further, in the respective processing units virtually realized on the CPU 1400, it is not necessary that all the processing units always operate on the CPU 1400, and only the necessary processing units may be virtually realized.

  The monitoring program 1700a described above does not necessarily have to be stored in the HDD 1700 or the ROM 1500 from the beginning. For example, each program is stored in a “portable physical medium” such as a flexible disk or a CD-ROM (Compact Disc Read Only Memory) inserted in the computer 1000. Alternatively, each program is stored in a “portable physical medium” such as a DVD (Digital Versatile Disc), a magneto-optical disk, or an IC card. Then, the computer 1000 may acquire and execute each program from these portable physical media. Further, each program may be stored in another computer or a server device connected to the computer 1000 via a public line, the Internet, a LAN, a WAN (Wide Area Network), or the like. Then, the computer 1000 may acquire each program from these and execute it.

1 Monitoring system 2 Management server 10 Communication part 20 Input part 30 Output part 40 Storage part 41 Area storage part 42 Tag storage part 43 Human sensor storage part 44 Tag sensor storage part 45 Detection storage part 46 Drone storage part 47 Cultivation plan storage part 48 Flight plan storage unit 50 Control unit 51 Registration unit 52 Detection unit 53 Warning unit 54 Flight plan identification unit 55 Drone control unit 3 Detection device 31 Human sensor 32 Tag sensor 33 Communication unit 4 Mobile terminal 5 Tag 6 Drone 60 Control unit 61 Detection unit 62 imaging unit 63 output unit 64 communication unit 70 storage unit

Claims (6)

The area where the crops at the harvest time are present in the specified range of land divided into multiple areas is specified , one or more monitoring plans are specified according to the area of the specified areas, and the specified one or more monitoring plans are ordered. Specific part to select
A control unit that controls the mobile robot to circulate based on the one or more monitoring plans in the order selected by the specifying unit in the section specified by the specifying unit among the plurality of sections;
Monitoring system with. The monitoring system according to claim 1 , wherein the specifying unit specifies one or more monitoring plans that define a movement pattern and a change timing of the mobile robot. The specifying unit specifies one or more monitoring plan in accordance with the priority being determined based on the price of the crop, the monitoring system according to claim 1 or 2. The monitoring system according to any one of claims 1 to 3 , wherein the control unit controls a plurality of mobile robots in order and causes another mobile robot to patrol while charging one mobile robot. On the computer,
The area where the crops at the harvest time are located in a predetermined range of land that is divided into multiple areas is specified , one or more monitoring plans are specified according to the area of the specified areas, and one or more monitoring plans are specified. , In order,
In a specified section of the plurality of sections , the mobile robot is controlled to circulate in a selected order based on the one or more monitoring plans .
A monitoring method characterized in that each processing including the above is executed. The area where the crops at the harvest time are present in the specified range of land divided into multiple areas is specified , one or more monitoring plans are specified according to the area of the specified areas, and the specified one or more monitoring plans are ordered. Specific steps to choose from ,
In a section specified in the specifying procedure among the plurality of sections, in the order selected by the specifying unit, based on the one or more monitoring plans, a control procedure for controlling the mobile robot to circulate,
A monitoring program that causes a computer to execute processing including.

Images