Control device, monitoring device and control program

A detecting section detecting a change in a monitoring target of a monitoring device; and an operation mode deciding section deciding an operation mode of the device according to a detail of the change in the monitoring target detected by the detecting section are included. The device may have a work instrument for executing a second work different from a first work selected from a group of monitoring, security and guard works for the monitoring target. The operation mode deciding section may have: an alert level deciding section deciding an alert level indicating a level of threat to the monitoring target, according to the detail of the change in the monitoring target detected by the detecting section; and a second operation mode deciding section deciding a second operation mode indicating an operation detail about the second work, according to the alert level decided by the alert level deciding section.

BACKGROUND

1. Technical Field

The present invention relates to a control device, a monitoring device and a control program.

2. Related Art

In recent years, lawn mowers, cleaners and the like that run autonomously to work have been developed (please see Patent Documents 1 to 4). Also, it has been known that upon a cleaner including a motion sensor sensing a human around the cleaner, the cleaner decides a running route, switches to a silent mode, and so on (please see Patent Documents 3 to 4).

PATENT DOCUMENTS

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, (some) embodiment(s) of the present invention will be described. The embodiment(s) do(es) not limit the invention according to the claims, and all the combinations of the features described in the embodiment(s) are not necessarily essential to means provided by aspects of the invention. Identical or similar portions in figures are given identical reference numbers, and the same explanation is omitted in some cases.

[Outline of Control Device100]FIG. 1schematically shows one example of the system configuration of a control device100. In the present embodiment, the control device100includes a detecting section102and an operation mode deciding section104. The control device100controls a monitoring device110. In the present embodiment, the monitoring device110includes an autonomous travelling section112, an image-capturing section114and a work instrument116. The monitoring device110monitors a target of monitoring120. The target of monitoring120may be humans, objects, or an area having a predetermined geographic range.

In the present embodiment to be explained, the control device100and the monitoring device110are independent devices. However, the control device100and the monitoring device110are not limited to the present embodiment. In another embodiment, the control device100may constitute part of the monitoring device110. Also, the control device100may be disposed inside the same housing inside which the monitoring device110is also disposed, or may be disposed inside a housing that is different from a housing inside which the monitoring device110is disposed.

In the present embodiment, the detecting section102detects a change in the target of monitoring120of the monitoring device110. The change in the target of monitoring120may be a change in the appearance of the target of monitoring120or a change in the state of the target of monitoring120. The change in the state of the target of monitoring120may be a change in the surrounding environment of the target of monitoring120.

For example, if the target of monitoring120is a particular area, and if a suspicious person or suspicious object intrudes into the target of monitoring120, a change occurs to the appearance of the target of monitoring120. Also, if a suspicious person is roaming about the target of monitoring120, the target of monitoring120is exposed to a threat of the suspicious person, and thereby a change occurs to the state of the target of monitoring120. Examples of the threat that can cause a change in the state of the target of monitoring120may include a suspicious person, a suspicious object, a disaster, an accident and the like. An object that can pose a threat to the target of monitoring120may be a solid body, liquid or gas.

The detecting section102may detect a change in the target of monitoring120based on an image of the target of monitoring120. For example, the detecting section102detects a change in the target of monitoring120based on an image captured by the image-capturing section114of the monitoring device110.

In information processing of the detecting section102, a known image recognition technology may be utilized, or an image recognition technology to be newly developed in the future may be utilized. In an image recognition process, an image recognition technology utilizing machine learning may be utilized. In the information processing of the detecting section102, machine learning may be utilized. Machine learning may be supervised learning, unsupervised learning or reinforcement learning. In the learning process, learning techniques using a neural network technology, a deep-learning technology and the like may be used.

In the present embodiment, the operation mode deciding section104decides an operation mode of the monitoring device110based on a detail of a change in the target of monitoring120detected by the detecting section102. For example, the operation mode deciding section104selects, from a plurality of operation modes, an operation mode corresponding to a detail in a detected change in the target of monitoring120.

The operation mode deciding section104may (i) decide an operation mode based on a predetermined determination criterion, or (ii) decide an operation mode utilizing a learning model obtained through machine learning. The above-mentioned determination criterion may be information in which one or more factors (which may be sometimes referred to as factors to consider), conditions about respective factors to consider, and operation modes are associated with each other.

In one embodiment, an operation mode of the monitoring device110stipulates an operation about security. The operation about security may be any operation about crime prevention or disaster prevention, and for example, examples of the operation may include an operation about at least one work among a monitoring work, a security work and a guard work (which may be sometimes referred to as a first work or a security work). In another embodiment, the operation mode of the monitoring device110stipulates various types of operations other than an operation about a security work.

In the present embodiment, the operation mode deciding section104includes an alert level deciding section (not illustrated in figures) that decides an alert level indicating the level of threat to a target of monitoring, according to a detail of a change in the target of monitoring detected by the detecting section. The operation mode deciding section104may have a first operation mode deciding section (not illustrated in figures) that decides a first operation mode according to the alert level decided by the alert level deciding section. The first operation mode indicates a detail of an operation about at least one among a monitoring work, a security work and a guard work of the monitoring device. The operation mode deciding section104may have a second operation mode deciding section (not illustrated in figures) that decides a second operation mode according to the alert level decided by the alert level deciding section. The second operation mode indicates a detail of an operation about a second work different from a first work that is selected from a group consisting of a monitoring work, a security work and a guard work of a target of monitoring.

The operation mode deciding section104may control the monitoring device110based on an operation mode decided by the operation mode deciding section104. For example, the operation mode deciding section104generates an instruction for controlling the monitoring device110based on the decided operation mode. The operation mode deciding section104may control the monitoring device110by transmitting the generated instruction to the monitoring device110.

In the present embodiment, the monitoring device110has an autonomous travel function. For example, the monitoring device110travels by automatic operation by a computer mounted thereon. The monitoring device110may travel under control of the control device100. The monitoring device110may travel by remote manipulation by a user. The monitoring device110may be a travelling body to run autonomously or a travelling body to fly autonomously. The monitoring device110may be a travelling body to travel in or on water.

In the present embodiment, the autonomous travelling section112causes the monitoring device110to travel. The autonomous travelling section112may include a thrust generating section (not illustrated in figures) such as a wheel or a propeller, a driving section (not illustrated in figures) that drives the thrust generating section, and a control section (not illustrated in figures) that controls autonomous travel of the monitoring device110. The autonomous travelling section112may cause the monitoring device110to travel autonomously according to control by the control device100. Examples of the driving section may include an engine, a motor, a prime mover and the like. The autonomous travelling section112may include a positional information acquiring section (not illustrated in figures) that acquires positional information indicating a position of the monitoring device110. Examples of the positional information acquiring section may include a GPS signal receiver, a beacon signal receiver, a radio field intensity measuring machine, a millimeter wave sensor, a magnetic sensor, a camera, an infrared camera, a microphone, an ultrasonic wave sensor and the like.

In the present embodiment, the image-capturing section114captures an image of the target of monitoring120. The image-capturing section114may capture an image of the space around the monitoring device110. The image-capturing section114may transmit, to the detecting section102, data of an image of the target of monitoring120(which may be sometimes referred to as image data of the target of monitoring120). The above-mentioned image may be a still image or moving image. The monitoring device110may have a single image-capturing section114or a plurality of image-capturing sections114. A single image-capturing section114may have a single image sensor or a plurality of image sensors. The image-capturing section114may be used exclusively for a use of capturing an image of the target of monitoring120or may be used for a plurality of uses.

In the present embodiment, the work instrument116executes a second work different from a first work selected from a group consisting of a monitoring work, a security work and a guard work of a target of monitoring. Examples of the second work may include pruning, lawn mowing, grass mowing, watering, fertilization, cleaning, transportation and the like.

According to the control device100according to the present embodiment, the operation mode deciding section104decides an operation mode of the monitoring device110based on a detail of a change in the target of monitoring120. For example, even if a suspicious person is detected around the target of monitoring120, if the suspicious person is unlikely to pose a threat to the target of monitoring120, the monitoring device110continues another work other than a monitoring work while monitoring the suspicious person. On the other hand, if it becomes more likely that the above-mentioned suspicious person poses a threat to the target of monitoring120, the monitoring device110discontinues the work other than the monitoring work, and starts an operation to eliminate the suspicious person. In the above-mentioned manner, the monitoring device110for example can monitor the target of monitoring120while suppressing degradation of the efficiency of a work other than a monitoring work.

[Specific Configuration of Each Section of Control Device100and Monitoring device110] Each section of the control device100and monitoring device110may be realized by hardware, software, or hardware and software. Each section of the control device100or monitoring device110may at least partially be realized by a single server or a plurality of servers. Each section of the control device100or monitoring device110may at least partially be realized on a virtual server or cloud system. Each section of the control device100or monitoring device110may at least partially be realized by a personal computer or mobile terminal. Examples of the mobile terminal may include a mobile phone, a smartphone, a PDA, a tablet, a notebook computer or laptop computer, a wearable computer and the like. The control device100or monitoring device110may store information utilizing a distributed ledger technology or distributed network such as a blockchain.

If at least some of components constituting the control device100or monitoring device110are realized by software, the components realized by the software may be realized by activating, in an information processing device having a general configuration, software or a program stipulating operations about the components. The above-mentioned information processing device may include: (i) a data processing device having processors such as a CPU or a GPU, a ROM, a RAM, a communication interface and the like, (ii) input devices such as a keyboard, a touch panel, a camera, a microphone, various types of sensors or a GPS receiver, (iii) output devices such as a display device, a speaker or a vibration device, and (iv) storage devices (including external storage devices) such as a memory or a HDD. In the above-mentioned information processing device, the above-mentioned data processing device or storage devices may store the above-mentioned software or program. Upon being executed by a processor, the above-mentioned software or program causes the above-mentioned information processing device to execute operations stipulated by the software or program. The above-mentioned software or program may be stored in a non-transitory computer-readable recording medium.

The above-mentioned software or program may be a control program for controlling the monitoring device110. The above-mentioned control program is, for example, a program for causing a computer to execute a detection procedure of detecting a change in the target of monitoring120of the monitoring device110and an operation mode decision procedure of deciding an operation mode of the monitoring device110according to a detail of the change in the target of monitoring120detected in the detection procedure. The above-mentioned control program may be a program for causing a computer to execute a control procedure of controlling the monitoring device based on the operation mode decided in the operation mode decision procedure. The above-mentioned computer may be a computer mounted on the monitoring device110(which is, for example, a processor of the monitoring device110), or may be a computer that controls the monitoring device110via a communication network.

[Outline of Security System200] UsingFIG. 2andFIG. 3, outline of a security system200that monitors a land30is explained.FIG. 2schematically shows one example of the system configuration of the security system200.FIG. 3schematically shows one example of a monitoring instrument disposed in the land30. In the present embodiment, each section of the security system200can transmit and receive information to and from each other via a communication network10. Each section of the security system200may transmit and receive information with a user terminal20via the communication network10.

In the present embodiment, the communication network10may be a wired communication transmission path, a wireless communication transmission path, or a combination of a wireless communication transmission path and a wired communication transmission path. The communication network10may include a wireless packet communication network, the Internet, a P2P network, a private line, a VPN, an electric power line communication line and the like. The communication network10: (i) may include a mobile communication network such as a mobile phone line network; and (ii) may include a wireless communication network such as a wireless MAN (for example, WiMAX (registered trademark)), a wireless LAN (for example, WiFi (registered trademark)), Bluetooth (registered trademark), Zigbee (registered trademark) or NFC (Near Field Communication).

In the present embodiment, the user terminal20is a communication terminal that a user of the land30, the security system200or a lawn mower230utilizes, and a detail thereof is not particularly limited. Examples of the user terminal20may include a personal computer, mobile terminal and the like. Examples of the mobile terminal may include a mobile phone, a smartphone, a PDA, a tablet, a notebook computer or laptop computer, a wearable computer and the like.

As shown inFIG. 2, in the present embodiment, the security system200includes a managing server210, a relay device220, the lawn mower230, a monitoring camera240, an intrusion sensor252and a fire sensor254. As shown inFIG. 3, in the present embodiment, a building310and lawn320are disposed in the land30. In the present embodiment, the relay device220, the intrusion sensor252and the fire sensor254are disposed inside the building310, and the lawn mower230and the monitoring camera240are disposed outside the building310. The lawn mower230executes lawn mowing on the lawn320as a work other than a monitoring work.

The security system200may be one example of a control device. The security system200may be one example of a monitoring system including a control device and a monitoring device. The managing server210may be one example of a control device. The lawn mower230may be one example of a monitoring device. The lawn mower230may be one example of a control device. The lawn mower230may be one example of a sensor or a sensor information acquiring section. The monitoring camera240may be one example of a sensor or a sensor information acquiring section. The intrusion sensor252may be one example of a sensor or a sensor information acquiring section. The fire sensor254may be one example of a sensor or a sensor information acquiring section.

The land30may be one example of a target of monitoring by the security system200or part thereof. The building310may be one example of a target of monitoring by the security system200or part thereof. The lawn320may be one example of a target of monitoring by the security system200or part thereof. The lawn320may be one example of a work target of the lawn mower230. A target of monitoring may be humans, objects, or an area having a predetermined geographic range (which may be sometimes referred to as a monitoring area). The work target may be humans, objects, or an area having a predetermined geographic range (which may be sometimes referred to as a work area).

In the present embodiment, the managing server210controls the lawn mower230. The managing server210may control the monitoring camera240. The managing server210may acquire information indicating the appearance or state of at least one among the land30, the building310and the lawn320(which may be sometimes referred to as the land30and the like). The managing server210may control at least either the lawn mower230or the monitoring camera240based on the above-mentioned information. A detail of a method of controlling the lawn mower230or monitoring camera240by the managing server210is described below. The lawn mower230may be one example of a self-running monitoring instrument. The monitoring camera240may be a one example of a fixed monitoring instrument.

The information indicating the appearance or state of the land30and the like may be information indicating a result of measurement by each among one or more sensors disposed inside the land30and the like or an area around the land30and the like. Examples of the above-mentioned information indicating a result of measurement may include (i) image data obtained by at least either various types of sensors (including image-capturing devices) mounted on the lawn mower230or the monitoring camera240capturing an image of the land30and the like, (ii) information indicating a result of sensing by the intrusion sensor252, (iii) information indicating a result of sensing by the fire sensor254, and the like.

In the present embodiment, the relay device220relays communication between (i) at least one among the user terminal20and the managing server210, and (ii) at least one among the lawn mower230, the monitoring camera240, the intrusion sensor252and the fire sensor254. The relay device220may be a server, a router or an access point.

In the present embodiment, the lawn mower230has an autonomous travel function. The lawn mower230may travel at least inside the land30. The lawn mower230may execute a plurality of works. The lawn mower230may execute (i) a security work and (ii) a work other than the security work. The lawn mower230may have a work instrument for executing a work (which may be sometimes referred to as a second work) other than a security work. The second work may be any work different from a security work, and the type of it is not particularly limited. Examples of the second work may include pruning, lawn mowing, grass mowing, watering, fertilization, cleaning, transportation and the like.

The lawn mower230may have a plurality of operation modes. Operation modes indicate a detail of operations about works of the lawn mower230. The lawn mower230may have (i) one or more operation modes about a security work, and (ii) one or more operation modes about a work other than the security work. The operation modes about the security work may be one example of a first operation mode. The operation modes about the work other than the security work may be one example of a second operation mode.

In the present embodiment, the lawn mower230monitors the land30and the like. The lawn mower230may transmit, to the relay device220, information obtained by monitoring the land30and the like. The information obtained by monitoring the land30and the like may be image data of an image obtained by capturing an image of the land30and the like. The above-mentioned image may be a still image or moving image. The lawn mower230may transmit, to the relay device220, positional information indicating a position of the lawn mower230. The relay device220may transmit, to the managing server210, the information received from the lawn mower230.

In the present embodiment, the monitoring camera240monitors the land30and the like. The monitoring camera240captures an image of the land30and the like. The monitoring camera240may transmit, to the relay device220, image data of an image obtained by capturing an image of the land30and the like. The above-mentioned image may be a still image or moving image. The relay device220may transmit, to the managing server210, information received from the monitoring camera240.

In the present embodiment, the intrusion sensor252senses intrusion of a suspicious person or suspicious object into the land30or building310. If having sensed intrusion of a suspicious person or suspicious object, the intrusion sensor252may transmit, to the relay device220, information indicating that the suspicious person or suspicious object has intruded. The relay device220may transmit, to the managing server210, the information received from the intrusion sensor252.

In the present embodiment, the fire sensor254senses occurrence of fire at the land30or building310. If having sensed occurrence of fire, the fire sensor254may transmit, to the relay device220, information indicating that the fire has occurred. The relay device220may transmit, to the managing server210, the information received from the fire sensor254. Fire may be one example of a disaster or accident.

[Specific Configuration of Each Section of Security System200] Each section of the security system200may be realized by hardware, software, or hardware and software. Each section of the security system200may at least partially be realized by a single server or a plurality of servers. Each section of the security system200may at least partially be realized on a virtual server or cloud system. Each section of the security system200may at least partially be realized by a personal computer or mobile terminal. Examples of the mobile terminal may include a mobile phone, a smartphone, a PDA, a tablet, a notebook computer or laptop computer, a wearable computer and the like. The security system200may store information utilizing a distributed ledger technology or distributed network such as a blockchain.

If at least some of components constituting the security system200are realized by software, the components realized by the software may be realized by activating, in an information processing device having a general configuration, software or a program stipulating operations about the components. The above-mentioned information processing device may include: (i) a data processing device having processors such as a CPU or a GPU, a ROM, a RAM, a communication interface and the like, (ii) input devices such as a keyboard, a touch panel, a camera, a microphone, various types of sensors or a GPS receiver, (iii) output devices such as a display device, a speaker or a vibration device, and (iv) storage devices (including external storage devices) such as a memory or a HDD. In the above-mentioned information processing device, the above-mentioned data processing device or storage devices may store the above-mentioned software or program. Upon being executed by a processor, the above-mentioned software or program causes the above-mentioned information processing device to execute operations stipulated by the software or program. The above-mentioned software or program may be stored in a non-transitory computer-readable recording medium.

The above-mentioned software or program may be a control program for controlling the lawn mower230. The above-mentioned control program is, for example, a program for causing a computer to execute a detection procedure of detecting a change in the land30of the lawn mower230and an operation mode decision procedure of deciding an operation mode of the lawn mower230according to a detail of the change in the land30detected in the detection procedure. The above-mentioned control program may be a program for causing a computer to execute a control procedure of controlling the lawn mower230based on the operation mode decided in the operation mode decision procedure. The above-mentioned computer may be a computer mounted on the lawn mower230(which is, for example, a processor of the lawn mower230), or may be a computer (which is, for example, a processor of the managing server210) that controls the lawn mower230via a communication network.

[Outline of Managing Server210]FIG. 4schematically shows one example of the internal configuration of the managing server210. In the present embodiment, the managing server210includes a communication control section410, an abnormality detecting section420, a self-running instrument control section430, a fixed instrument control section440, and an information storage section450. In the present embodiment, the abnormality detecting section420has an image analyzing section422and a notifying section424.

The communication control section410may be one example of a positional information acquiring section or a sensor information acquiring section. The abnormality detecting section420may be one example of a detecting section. The image analyzing section422may be one example of a travelling body detecting section or a travelling body judging section. The self-running instrument control section430may be one example of an operation mode deciding section. The information storage section450may be one example of a storage section.

In the present embodiment, the communication control section410controls communication with an instrument located outside the managing server210. The communication control section410transfers, to an appropriate component in the managing server210, information received from the instrument located outside the managing server210. The communication control section410transmits, to an instrument located outside the managing server210, the information received from a component in the managing server210. The communication control section410may be a communication interface compatible with one or more communication systems. Examples of the instrument located outside may include the user terminal20, the relay device220, the lawn mower230, the monitoring camera240, the intrusion sensor252, the fire sensor254and the like.

In one embodiment, the communication control section410acquires information indicating a result of measurement by one or more sensor instruments monitoring the land30and the like. The communication control section410may acquire information in which information indicating a measurement position and information indicating a result of measurement at the measurement position are associated with each other. The one or more sensor instruments may include at least one image-capturing device. For example, the communication control section410acquires information obtained by each instrument among the lawn mower230, the monitoring camera240, the intrusion sensor252and the fire sensor254monitoring the land30and the like (which may be sometimes referred to as monitoring information) from each among them. The monitoring information may be one example of sensor information.

In another embodiment, the communication control section410acquires positional information indicating a position of the monitoring device. For example, the communication control section410acquires information indicating a current position of the lawn mower230. The communication control section410may acquire information indicating an installation position of at least one among the monitoring camera240, the intrusion sensor252and the fire sensor254.

In the present embodiment, the abnormality detecting section420detects a change in the land30and the like. For example, the abnormality detecting section420receives monitoring information from the communication control section410. The abnormality detecting section420may analyze the monitoring information to detect a change in the land30and the like. The change in the land30and the like may be a change in the appearance of the land30and the like or a change in the state of the land30and the like. The change in the state of the land30and the like may be a change in the surrounding environment of the land30and the like.

[Outline of Image Analyzing Section422] In the present embodiment, the image analyzing section422acquires an image of the land30and the like from the communication control section410. The image analyzing section422detects a change in the land30and the like based on an image of the land30and the like. The image analyzing section422transmits analysis information indicating a result of analysis to at least one among the notifying section424, the self-running instrument control section430and the fixed instrument control section440.

The image analyzing section422may analyze image data utilizing a image recognition technology such as pattern recognition. The above-mentioned image recognition technology may be a known image recognition technology, or an image recognition technology to be newly developed in the future. In the above-mentioned image recognition technology, a machine-learning technique or deep-learning technique may be utilized. A pattern model or learning model for image recognition processes is stored in the information storage section450, for example.

In one embodiment, the image analyzing section422detects a travelling body captured in an image (which may be sometimes referred to as a travelling body in an image). For example, the image analyzing section422extracts an outline of a travelling body utilizing a learning model constructed through machine learning performed in advance. In another embodiment, the image analyzing section422judges an attribute of a travelling body in an image. For example, the image analyzing section422judges an attribute of a travelling body utilizing a learning model constructed through machine learning performed in advance.

[One Example of Information Processing at Image Analyzing Section422] For example, the image analyzing section422receives, from the communication control section410, image data of an image obtained by the lawn mower230or monitoring camera240capturing an image of the land30and the like. The above-mentioned image may be a series of still images or a moving image. The image analyzing section422analyzes the above-mentioned image data to detect one or more travelling bodies in the image. Also, the image analyzing section422judges, about each travelling body in the image, whether or not the travelling body is a suspicious person or suspicious object. Whether or not a travelling body is a suspicious person or suspicious object may be one example of an attribute of the travelling body. (i) That a travelling body is detected in an image capturing the land30and the like and (ii) that the travelling body is a suspicious person or suspicious object may be one example of a change in the land30and the like.

For example, if a travelling body is detected in an image capturing the land30and the like, the image analyzing section422generates analysis information indicating that the travelling body has been detected. Also, if the above-mentioned travelling body is judged as a suspicious person or suspicious object, the image analyzing section422generates analysis information indicating that a suspicious person or suspicious object has been detected. The image analyzing section422transmits the above-mentioned analysis information to the notifying section424, the self-running instrument control section430and the fixed instrument control section440.

In information processing of the image analyzing section422, a known image recognition technology may be utilized, or an image recognition technology to be newly developed in the future may be utilized. In an image recognition process, an image recognition technology utilizing machine learning may be utilized. In the information processing of the image analyzing section422, machine learning may be utilized. Machine learning may be supervised learning, unsupervised learning or reinforcement learning. In the learning process, learning techniques using a neural network technology, a deep-learning technology and the like may be used. A learning model constructed through machine learning performed in advance is stored for example in the information storage section450.

The image analyzing section422may (i) detect a travelling body based on a predetermined determination criterion or (ii) detect a travelling body utilizing a learning model obtained through machine learning. The above-mentioned determination criterion may be a general criterion for extracting an outline of an object. The above-mentioned determination criterion may be information in which one or more factors (which may be sometimes referred to as factors to consider), conditions about respective factors to consider, and presence or absence of a travelling body are associated with each other. Based on what kind of determination criterion a travelling body is detected may be decided by a user or administrator, or decided through machine learning. A threshold about the above-mentioned determination criterion may be decided by a user or administrator, or decided through machine learning.

In the present embodiment, the notifying section424acquires analysis information from the image analyzing section422. The notifying section424may transmit the analysis information to the user terminal20.

[Outline of Self-Running Instrument Control section430] In the present embodiment, the self-running instrument control section430controls a monitoring instrument having an autonomous travel function. For example, the self-running instrument control section430controls the lawn mower230. If the abnormality detecting section420detected a change in the land30and the like, the self-running instrument control section430may control the lawn mower230based on a detail of the change in the land30and the like. The self-running instrument control section430may generate control information for controlling the lawn mower230, and transmit the control information to the lawn mower230.

[One Example of Information Processing at Self-Running Instrument Control section430] For example, the self-running instrument control section430acquires analysis information from the image analyzing section422. The analysis information for example includes information indicating a detail of a change in the land30and the like. The self-running instrument control section430decides an operation mode of the lawn mower230based on the detail of the change in the land30and the like. For example, the self-running instrument control section430selects an operation mode corresponding to the detail of the change in the land30and the like from a plurality of operation modes of the lawn mower230. The self-running instrument control section430may decide (i) an operation mode about a security work and (ii) an operation mode about a work other than the security work, based on the detail of the change in the land30and the like.

In information processing of the self-running instrument control section430, machine learning may be utilized. Machine learning may be supervised learning, unsupervised learning or reinforcement learning. In the learning process, learning techniques using a neural network technology, a deep-learning technology and the like may be used. A learning model constructed through machine learning performed in advance is stored for example in the information storage section450.

The self-running instrument control section430may (i) decide an operation mode based on a predetermined determination criterion, or (ii) decide an operation mode utilizing a learning model obtained through machine learning. The above-mentioned determination criterion may be information in which one or more factors (which may be sometimes referred to as factors to consider), conditions about respective factors to consider, and operation modes are associated with each other. Based on what kind of determination criterion an operation mode is decided may be decided by a user or administrator, or decided through machine learning. A threshold about the above-mentioned determination criterion may be decided by a user or administrator, or decided through machine learning.

The self-running instrument control section430may generate an instruction for causing the lawn mower230to operate in the above-mentioned operation mode, and transmit the instruction to the lawn mower230. The above-mentioned instruction may be one example of a control instruction.

[Outline of Fixed Instrument Control section440] In the present embodiment, the fixed instrument control section440controls a monitoring instrument not having an autonomous travel function. For example, the fixed instrument control section440controls the monitoring camera240. The fixed instrument control section440may control an image-capturing condition of the monitoring camera240. Examples of the image-capturing condition may include an angle of view, a pan-tilt angle, a zoom ratio and the like. For example, the fixed instrument control section440may generate control information for controlling the monitoring camera240, and transmit the control information to the monitoring camera240.

[One Example of Information Processing at Fixed Instrument Control section440] If the abnormality detecting section420detected a change in the land30and the like, the fixed instrument control section440may control the monitoring camera240based on a detail of the change in the land30and the like. For example, the fixed instrument control section440acquires analysis information from the image analyzing section422. The analysis information includes, for example as information indicating a detail of a change in the land30and the like, at least either (i) information indicating a position where a travelling body was detected or (ii) information indicating that the travelling body is a suspicious person or suspicious object.

In one embodiment, the fixed instrument control section440controls the monitoring camera240such that a travelling body is included in the angle of view of the monitoring camera240, based on information indicating a position where the travelling body was detected. The fixed instrument control section440may control the pan-tilt angle of the monitoring camera240to adjust the image-capturing direction of the monitoring camera240such that the monitoring camera240tracks the travelling body. The fixed instrument control section440may control the monitoring camera240so as to increase the zoom magnification. In another embodiment, if a travelling body is a suspicious person or suspicious object, the fixed instrument control section440may control the monitoring camera240such that an alert message is output from a speaker of the monitoring camera240. In this case, the fixed instrument control section440may control the monitoring camera240to cause a light-emitting device of the monitoring camera240to emit light.

In a process of deciding a method of controlling the monitoring camera240, a machine-learning technique or deep-learning technique may be utilized. A learning model constructed through machine learning performed in advance is stored for example in the information storage section450. The fixed instrument control section440may generate an instruction for controlling the monitoring camera240in the above-mentioned manner, and transmit the instruction to the lawn mower230. The above-mentioned instruction may be one example of a control instruction.

In the present embodiment, the information storage section450stores various types of information. The information storage section450may store information that the managing server210acquired from an instrument located outside. In one embodiment, the information storage section450may store information to be utilized in image analysis processing at the image analyzing section422. For example, the information storage section450stores learning data for machine learning of the image analyzing section422. The information storage section450may store a learning model constructed through the above-mentioned machine learning. The information storage section450may store information indicating a result of analysis by the image analyzing section422.

In another embodiment, the information storage section450may store information to be utilized in a decision process at at least either the self-running instrument control section430or the fixed instrument control section440. For example, the information storage section450stores learning data for machine learning of the self-running instrument control section430or the fixed instrument control section440. The information storage section450may store a learning model constructed through the above-mentioned machine learning. The information storage section450may store information indicating a result of decision by the self-running instrument control section430or the fixed instrument control section440.

In still another embodiment, the information storage section450stores information about a work plan of the lawn mower230. The work plan may be sometimes updated according to a change in the land30and the like. If the work plan is to be updated, the information storage section450stores information about a work before being updated. Examples of the information about a work before being updated may include information indicating a work plan before being updated, information indicating the progress of a work plan before being updated, and the like.

In the present embodiment explained, the managing server210includes the abnormality detecting section420, the self-running instrument control section430, the fixed instrument control section440and the information storage section450. However, the security system200is not limited to the present embodiment. In another embodiment, at least one among the abnormality detecting section420, the self-running instrument control section430, the fixed instrument control section440and the information storage section450may be disposed in the relay device220. In still another embodiment, at least one among the abnormality detecting section420, the self-running instrument control section430, the fixed instrument control section440and the information storage section450may be disposed in the lawn mower230. The self-running instrument control section430may be disposed in the lawn mower230, and the abnormality detecting section420and the self-running instrument control section430may be disposed in the lawn mower230.

FIG. 5schematically shows one example of the internal configuration of the self-running instrument control section430. In the present embodiment, the self-running instrument control section430is explained taking as an example a case where the lawn mower230includes a lawn mowing device, and the lawn mower230executes a lawn mowing work as a work other than a security work. Works of the lawn mower230are not limited to a lawn mowing work. The lawn mowing device may be one example of a work instrument.

In the present embodiment, the self-running instrument control section430includes a planning section510, a mode deciding section520, a route deciding section530and an instruction generating section540. In the present embodiment, the mode deciding section520has a security level deciding section522, a lawn mowing mode deciding section524and a security mode deciding section526.

The planning section510may be one example of a work plan deciding section. The mode deciding section520may be one example of an operation mode deciding section. The security level deciding section522may be one example of an alert level deciding section. The lawn mowing mode deciding section524may be one example of a second operation mode deciding section. The security mode deciding section526may be one example of a first operation mode deciding section. The route deciding section530may be one example of an approach route deciding section.

[Outline of Planning Section510] In the present embodiment, the planning section510creates a work plan of the lawn mower230. The planning section510may create a work plan about a work other than a security work. The work plan for example includes information about a detail of a work, a time schedule of a work, a route to execute a work, and the like.

The work plan may include information about at least one among: (i) a work target of the lawn mowing device; (ii) timing or a sequence for the lawn mowing device to execute a work; (iii) the type of a resource of the lawn mower230or managing server210allocated to an operation of the lawn mowing device; (iv) the amount or ratio of a resource of the lawn mower230or managing server210allocated to an operation of the lawn mowing device; and (v) a detail of a process to be executed by a resource of the lawn mower230or managing server210allocated to an operation of the lawn mowing device. The work plan may include information about at least one among: (vi) the type of a resource of the lawn mower230or managing server210allocated to an operation about a security work of the lawn mower230; (vii) the amount or ratio of a resource of the lawn mower230or managing server210allocated to an operation about a security work of the lawn mower230; and (viii) a detail of a process to be executed by a resource of the lawn mower230or managing server210allocated to an operation about a security work of the lawn mower230.

In one embodiment, the planning section510decides a work plan of the lawn mower230based on (i) a detail of a change in the land30and the like detected by the abnormality detecting section420or (ii) a security level decided by the security level deciding section522. The planning section510may decide a work plan of the lawn mower230based on (i) a detail of a change in the land30and the like detected by the abnormality detecting section420and (ii) a security level decided by the security level deciding section522.

For example, if the lawn mower230includes a single image-capturing device, the planning section510decides whether to utilize the image-capturing device in a lawn mowing work or in a monitoring work, according to a security level. Also, for example, if the lawn mower230includes a plurality of image-capturing devices, the planning section510decides to allocate a number, corresponding to a security level, of image-capturing devices to a monitoring work, and allocate the remaining image-capturing devices to a lawn mowing work. The image-capturing device may be one example of a resource of the lawn mower230.

In another embodiment, if a security level decided by the security level deciding section522is changed while the lawn mowing device is working, the planning section510decides whether a work plan needs to be updated or not. If the planning section510decided to update the work plan, it may store information about a work before being updated in the information storage section450.

[One Example of Information Processing at Planning Section510] For example, the planning section510decides a work plan of a work to be performed this time, taking into consideration a work history of previous works, the growth state of lawn grasses, and the like, before the lawn mower230starts a lawn mowing work. At this time, the planning section510may decide a work plan based on a security level decided by the security level deciding section522. The work plan for example includes information about an area to be a target of a work to be performed this time, a route of the lawn mower230, a work strength of a lawn mowing work at each position on a route, and the like.

Next, the lawn mower230executes a lawn mowing work according to the above-mentioned work plan. For example, if a suspicious person intrudes into the land30while the lawn mower230is executing a lawn mowing work, the security level deciding section522decides to change a security level. If the security level is changed, the planning section510determines whether or not it is necessary to update a work plan. If the planning section510determines that it is necessary to update the work plan, it decides a new work plan based on the security level after being changed.

In the present embodiment, the mode deciding section520decides an operation mode of the lawn mower230. The mode deciding section520decides an operation mode of the lawn mower230based on a detail of a change in the land30and the like. For example, the mode deciding section520decides an operation mode corresponding to a detail of a change in the land30and the like from a plurality of operation modes of the lawn mower230. The mode deciding section520may decide an operation mode corresponding to a detail of a change in the land30and the like, by deciding an operation mode corresponding to a security level.

In the present embodiment, the security level deciding section522decides a security level of the land30and the like. The security level deciding section522transmits information indicating the decided security level to at least one among the planning section510, the lawn mowing mode deciding section524and the security mode deciding section526. The security level for example indicates the level of threat to the land30and the like. The security level may be (i) an index obtained by evaluating, with consecutive numerical values, the above-mentioned level of threat, or (ii) an index obtained by evaluating stepwise, with a plurality of steps, the level of threat. The security level may be one example of an alert level.

For example, the security level deciding section522acquires analysis information from the image analyzing section422. The analysis information for example includes information indicating a detail of a change in the land30and the like. The security level deciding section522decides a security level of the land30and the like based on the detail of the change in the land30and the like. The security level deciding section522transmits information indicating the decided security level for example to the planning section510, the lawn mowing mode deciding section524and the security mode deciding section526.

In the present embodiment, the lawn mowing mode deciding section524decides an operation mode about a lawn mowing work. The operation mode may be information indicating a detail of an operation. For example, the lawn mowing mode deciding section524acquires, from the security level deciding section522, information indicating a security level. According to the security level, the lawn mowing mode deciding section524decides an operation mode about a lawn mowing work. The information indicating an operation mode about a lawn mowing work may be transmitted to the instruction generating section540.

In the present embodiment, the security mode deciding section526decides an operation mode about a security work of the lawn mower230. For example, the security mode deciding section526acquires, from the security level deciding section522, information indicating a security level. According to the security level, the security mode deciding section526decides an operation mode about a security work.

The security mode deciding section526may transmit, to the instruction generating section540, information indicating an operation mode about a security work. if an operation stipulated by an operation mode decided by the security mode deciding section526includes an operation to approach a suspicious person or suspicious object, the security mode deciding section526may transmit, to the route deciding section530, (i) information indicating an operation mode about a security work or (ii) information indicating that the lawn mower230is to be caused to approach the suspicious person or suspicious object.

[Outline of Route Deciding Section530] In the present embodiment, the route deciding section530decides a route (which may be sometimes referred to as a route to approach) for the lawn mower230to approach a suspicious person or suspicious object present around the land30and the like or a suspicious person or suspicious object that has intruded into the land30and the like. For example, if the abnormality detecting section420detected a travelling body that is likely to be a suspicious person or suspicious object inside the land30and the like or around the land30and the like, the route deciding section530decides a route to approach the travelling body. The route deciding section530may decide a route to approach based on at least one among (i) a position of the lawn mower230, (ii) a work plan, and (iii) a work history of the lawn mowing device. The route deciding section530may transmit information indicating the decided route to approach to the instruction generating section540.

[One Example of Information Processing at Route Deciding Section530] For example, if the abnormality detecting section420detected a travelling body that is likely to be a suspicious person or suspicious object inside the land30or around the land30and the like, the abnormality detecting section420transmits, to the self-running instrument control section430, analysis information including information indicating that a suspicious person or suspicious object has been detected. The analysis information for example includes positional information indicating a position of the suspicious person or suspicious object. Thereby, the route deciding section530acquires positional information indicating the position of the suspicious person or suspicious object. Also, the route deciding section530acquires, from the communication control section410, positional information indicating a current position of the lawn mower230.

Next, the route deciding section530decides a route to approach based on at least one among (i) a current position of the lawn mower230, (ii) a work plan, and (iii) a work history of the lawn mowing device. For example, if the level of threat to the land30and the like is relatively low, the route deciding section530decides a route to approach such that the lawn mower230pass through an area, in a work area, where a lawn mowing work has not completed, taking into consideration a current position, a work plan and a work history of the lawn mower230. On the other hand, if the level of threat to the land30and the like is relatively high, the route deciding section530decides a route to approach such that the lawn mower230pass through the shortest route from a current position of the lawn mower230to a suspicious person or suspicious object. The route deciding section530may decide a route to approach such that time required for the lawn mower230to reach the suspicious person or suspicious object is minimized.

In the present embodiment, the instruction generating section540generates various types of instructions. The instruction generating section540may generate an instruction to control the user terminal20. The instruction generating section540may generate an instruction to control the lawn mower230. The instruction generating section540may generate an instruction to control the lawn mower230based on an operation mode decided by the mode deciding section520. The instruction generating section540may generate an instruction to cause the lawn mower230to travel based on a route to approach decided by the route deciding section530. The instruction generating section540may generate an instruction to control at least one among the monitoring camera240, the intrusion sensor252and the fire sensor254.

[Outline of Lawn Mower230] UsingFIG. 6andFIG. 7, outline of the lawn mower230is explained.FIG. 6schematically shows one example of the internal configuration of the lawn mower230.FIG. 7schematically shows one example of the internal configuration of a control unit680. As shown inFIG. 6, in the present embodiment, the lawn mower230includes a housing602. In the present embodiment, the lawn mower230includes, under the housing602, a pair of front wheels612and a pair of rear wheels614. The lawn mower230may include a pair of motors for run616that respectively drive the pair of rear wheels614.

In the present embodiment, the lawn mower230includes a work unit620. The work unit620for example has a blade disk622, a cutter blade624, a motor for work626and a shaft628. The lawn mower230may include a position adjusting section630that adjusts a position of the work unit620. The work unit620may be one example of a work instrument. The blade disk622and the cutter blade624may be one example of a rotor for cutting a work target.

The blade disk622is coupled with the motor for work626via the shaft628. The cutter blade624may be a cutting blade for cutting lawn grasses. The cutter blade624is attached to the blade disk622and rotates together with the blade disk622. The motor for work626rotates the blade disk622.

In the present embodiment, inside the housing602or above the housing602, the lawn mower230includes a battery unit640, a user interface650, an image-capturing unit660, a sensor unit670, the control unit680and a spray section690. The image-capturing unit660may be one example of an image-capturing section or an image acquiring section. The control unit680may be one example of a control device. The spray section690may be one example of an intimidating section.

In the present embodiment, the battery unit640supplies electric power to each section of the lawn mower230. In the present embodiment, the user interface650receives a user input. The user interface650outputs information to a user. The user interface650may output an alert message to a suspicious person. Examples of the user interface650may include a keyboard, a pointing device, a microphone, a touch panel, a display, a speaker and the like.

In the present embodiment, the image-capturing unit660captures an image of the space around the lawn mower230. The image-capturing unit660may capture an image of the land30and the like. The image-capturing unit660may capture an image of a suspicious person or suspicious object. The image-capturing unit660may capture an image of lawn grasses to be a work target of the lawn mower230. The image-capturing unit660may capture an image of lawn grasses cut by the lawn mower230. The image-capturing unit660may acquire a still image of an object or acquire a moving image of an object. The lawn mower230may include a plurality of image-capturing units660. A single image-capturing unit660may have a plurality of image sensors. The image-capturing unit660may be a 360-degree angle camera.

In the present embodiment, the sensor unit670includes various types of sensors. The sensor unit670transmits outputs of various types of sensors to the control unit680. Examples of the sensors may include a GPS signal receiver, a beacon receiver, a radio field intensity measuring machine, an acceleration sensor, an angular speed sensor, a wheel speed sensor, a contact sensor, a magnetic sensor, a temperature sensor, a humidity sensor, a soil water sensor and the like.

In the present embodiment, the control unit680controls operation of the lawn mower230. According to one embodiment, the control unit680controls the pair of motors for run616to control travel of the lawn mower230. According to another embodiment, the control unit680controls the motor for work626to control a lawn mowing work of the lawn mower230.

In one embodiment, the control unit680may control the lawn mower230based on control information from the managing server210. For example, the control unit680controls the lawn mower230according to an instruction generated by the instruction generating section540of the managing server210. In another embodiment, the control unit680may execute at least part of information processing at the managing server210. The control unit680may control the lawn mower230based on a result of the above-mentioned information processing.

In the present embodiment, the spray section690sprays liquid or gas. The spray section690may spray liquid or gas for crime prevention. The spray section690may spray liquid or gas for crime prevention on a suspicious person or suspicious object. The liquid for crime prevention may include at least one among fluorescent paint, adhesive and smelly component. The gas for crime prevention may include at least one among a lachrymatory component, a hypnotic component and smelly component. Thereby, it is possible to intimidate a suspicious person or suspicious object. Other examples of the intimidating section may include a solid body launching device, a high-voltage generating device, a loud-sound generating device, and the like. Examples of a solid body launched from the solid body launching device may include a rubber bullet, fertilizer, a member to be used for maintenance (which is for example spare screw, spare blade or the like), a blade and the like.

As shown inFIG. 7, in the present embodiment, the control unit680includes a communication control section710, a running control section720, a work unit control section730, an input-output control section740and a setting information storage section750. The communication control section710may be one example of a notifying section or an image acquiring section. The running control section720may be one example of a travel control section. The work unit control section730may be one example of a work control section.

In the present embodiment, the communication control section710controls communication with an instrument located outside the lawn mower230. The communication control section710may be a communication interface compatible with one or more communication systems. Examples of the instrument located outside may include the user terminal20, the managing server210, the relay device220, the monitoring camera240, the intrusion sensor252, the fire sensor254and the like. The communication control section710may acquire, as necessary and from the monitoring camera240, image data of an image captured by the monitoring camera240. The communication control section710may acquire, as necessary, information indicating a result of sensing from the intrusion sensor252or fire sensor254.

In the present embodiment, the running control section720controls the motors for run616to control travel of the lawn mower230. The running control section720may control the motors for run616based on an operation mode decided by the mode deciding section520. The running control section720may control the motors for run616based on a route to approach decided by the route deciding section530. The running control section720controls autonomous run of the lawn mower230. For example, the running control section720controls at least one among a travel speed, a travel direction and a travel route of the lawn mower230.

In the present embodiment, the work unit control section730controls the work unit620. The work unit control section730may control the work unit620based on an operation mode decided by the mode deciding section520. The work unit control section730may control at least one among the type of work, strength of work and schedule of work of the work unit620. For example, the work unit control section730controls the motor for work626to control the strength of work of the work unit620. The work unit control section730may control the position adjusting section630to control the strength of work of the work unit620.

In the present embodiment, the input-output control section740receives an input from at least one among the user interface650, the image-capturing unit660and the sensor unit670. The input-output control section740outputs information to the user interface650. The input-output control section740may control at least one among the user interface650, the image-capturing unit660and the sensor unit670. For example, the input-output control section740controls at least one instrument among the user interface650, the image-capturing unit660and the sensor unit670by adjusting setting of the instrument.

In the present embodiment, the input-output control section740may control at least one among the user interface650, the image-capturing unit660and the sensor unit670based on an operation mode decided by the mode deciding section520. For example, the input-output control section740outputs an alert message to a suspicious person from the user interface650based on an operation mode decided by the mode deciding section520. The input-output control section740may decide an object of the image-capturing unit660based on an operation mode decided by the mode deciding section520.

In the present embodiment, the setting information storage section750stores various types of setting information necessary for control of the lawn mower230. For example, the setting information storage section750stores information indicating a correspondence between a security level of the land30and the like and an operation mode of the lawn mower230. The setting information storage section750may store information indicating the above-mentioned correspondence for each among a plurality of security levels. The setting information storage section750may store information indicating a correspondence between an operation mode of the lawn mower230and a resource of the lawn mower230. The setting information storage section750may store information indicating the above-mentioned correspondence for each among a plurality of operation modes.

FIG. 8schematically shows one example of a data table800. The data table800may be one example of information indicating a correspondence between a security level of the land30and the like and an operation mode of the lawn mower230. The data table800may be one example of setting information stored in the setting information storage section750. In the present embodiment, the data table800stores, in association with each other, security levels802, operation modes804of a lawn mowing work, operation modes806of a security work.

In the data table800, a high-speed mode is an operation mode in which an operation is performed to reduced work time as compared with a standard operation mode. A power-save mode is an operation mode in which an operation is performed to reduce consumed energy as compared with a standard operation mode.

In the data table800, a motion image tracking mode is an operation mode in which a motion image captured by the image-capturing unit660is analyzed to track a suspicious person or suspicious object. In the motion image tracking mode, the lawn mower230travels according to an initial work plan. A close-up monitoring mode is an operation mode in which close-up monitoring is performed on a suspicious person or suspicious object. In the close-up monitoring mode, the lawn mower230updates a work plan as necessary, and approaches a suspicious person or suspicious object.

In the data table800, a tracking/alert mode is an operation mode in which tracking is performed physically on a suspicious person or suspicious object. In the tracking/alert mode, the lawn mower230outputs an alert message to a suspicious person or suspicious object as necessary. An intimidation mode is an operation mode in which a suspicious person or suspicious object is intimidated, following physical tracking of the suspicious person or suspicious object. For example, the lawn mower230sprays liquid or gas for crime prevention on a suspicious person or suspicious object.

FIG. 9schematically shows one example of a data table900. The data table900may be one example of information indicating a correspondence between an operation mode of the lawn mower230and a resource of the lawn mower230. In the present embodiment, the data table900indicates a correspondence between operation modes of a lawn mowing work and resources of the lawn mower230. The data table900may be one example of setting information stored in the setting information storage section750. In the present embodiment, the data table900stores, in association with each other, operation modes902of a lawn mowing work, control methods904of the motors for run616, and control methods906of the work unit620. The data table900may store, in association with each other, the operation modes902of a lawn mowing work and control methods of the image-capturing unit660. The motors for run616, the work unit620and the image-capturing unit660may be one example of a resource of the lawn mower230.

In the data table900, a quality prioritized mode is an operation mode in which the state of lawn grasses after lawn mowing is observed utilizing the image-capturing unit660, and the motors for run616and the work unit620are controlled based on the state of lawn grasses. Thereby, the work quality of a lawn mowing work can be maintained at high level.

FIG. 10schematically shows another example of the internal configuration of the control unit680. According to the embodiment explained usingFIG. 7, the managing server210has the abnormality detecting section420, the self-running instrument control section430, the fixed instrument control section440and the information storage section450, and various types of processing about control of the lawn mower230are executed at the managing server210. In the embodiment of FIG.7, the control unit680controls the lawn mower230based on a control signal from the managing server210.

The embodiment explained usingFIG. 10is different from the embodiment ofFIG. 7in that the abnormality detecting section420, the self-running instrument control section430, the fixed instrument control section440and the information storage section450are disposed in the control unit680. In the present embodiment, the running control section720and the work unit control section730control at least one among the motors for run616, the motor for work626and the position adjusting section630based on an instruction generated by the self-running instrument control section430disposed in the control unit680. In other respects, it may have a similar configuration to that in the embodiment ofFIG. 7.

In the present embodiment explained, the control unit680has the abnormality detecting section420, the self-running instrument control section430, the fixed instrument control section440and the information storage section450. However, the control unit680is not limited to the present embodiment. In another embodiment, the control unit680may not have at least one among the self-running instrument control section430, the fixed instrument control section440and the information storage section450. For example, the control unit680may not have the information storage section450. In still another embodiment, the control unit680may have some configurations among a plurality of configurations included in the self-running instrument control section430.

While the embodiments of the present invention have been described, the technical scope of the invention is not limited to the above described embodiments. It is apparent to persons skilled in the art that various alterations and improvements can be added to the above-described embodiments. Also, matters explained with reference to a particular embodiment can be applied to other embodiments unless such application causes a technical contradiction. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the invention.