Flying robot

Abstract

To provide a flying robot for reliably preventing a garbage littering damage by crows without harming humans.SOLUTION: A flying robot 101 is so configured that when recognizing crows 701 flying to a garbage dump based on an image taken by a camera mounted on an unmanned aerial vehicle flying by autopilot, the flying robot flies to approach the crows. The flying robot can thus effectively scare away the crows 701 without harming humans, and reliably prevent a garbage littering damage by the crows 701.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an flying robot for monitoring garbage collection sites and the like, a control program for the flying robot, and a control method for the flying robot. [Background technology]

[0002] Traditionally, crows eat garbage such as food scraps that humans produce, scattering it across the entire width of the road, causing problems such as spoiling the view and hindering garbage collection. In addition, because it is convenient for crows to eat garbage, they nest and raise their chicks near garbage collection sites, that is, in places close to urban areas such as downtowns and residential areas, which creates problems such as threatening and attacking people who pass by their nests during the breeding season.

[0003] In order to solve such problems caused by crows, there have been various technologies to prevent crows from scattering garbage. Specifically, there has been a technology to cover garbage with nets that are difficult for crows to see or weighted plastic buckets (see, for example, Patent Documents 1 and 2 below). Also, there has been a technology to use infrared sensors to detect the approach of targets to be repelled, such as crows, and to scare them off by emitting an explosion sound when the target approaches (see, for example, Patent Document 3 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Utility Model Registration No. 3228895 [Patent Document 2] Utility Model Registration No. 3226773 [Patent Document 3] JP 2016-73266 A [Patent Document 4] JP 2019-62743 A [Patent Document 5] JP 2020-92643 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional techniques such as those in Patent Documents 1 and 2 mentioned above, although covering the garbage with a net or the like can temporarily prevent the scattering of garbage, there is a problem in that crows are highly intelligent and have high learning abilities, and will eventually pull the garbage out from the gaps in the net. In addition, there is a problem in that there is a limit to the effectiveness of covering the garbage in preventing the scattering of garbage due to reasons on the part of the people who throw the garbage, such as the garbage not being covered sufficiently because they avoid touching the net that covers the garbage.

[0006] Furthermore, in conventional technologies such as the above-mentioned Patent Document 3, the infrared sensors react when a human approaches, making it difficult to install them in urban areas. Even if they were installed in urban areas, there were problems such as the risk of startling approaching people and the risk of frequent explosions being generated in urban areas.

[0007] In order to solve the problems associated with the prior art described above, the object of the present invention is to provide a control program and a control method for a flying robot that can reliably prevent crows from scattering garbage without harming humans. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the object, the flying robot according to the present invention includes an unmanned aerial vehicle that flies by automatic control and a camera mounted on the unmanned aerial vehicle, When an object is recognized based on an image captured by the camera, the drone flies so as to approach the object.

[0009] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the camera photographs a predetermined range.

[0010] In addition, in the flying robot according to the present invention, the predetermined area is a garbage collection area that has been set in advance.

[0011] In addition, the flying robot of the present invention is characterized in that, after flying to approach the target object, it returns to a station installed within the specified range or in the vicinity of the specified range.

[0012] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it flies within the predetermined range at a speed equal to or less than a set speed.

[0013] In addition, in the above-mentioned flying robot according to the present invention, the flying robot flies in a hovering manner at any position within the predetermined range.

[0014] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it flies up and down at any position within the predetermined range.

[0015] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image taken by the camera, it outputs a predetermined sound from the speaker and flies so as to approach the object.

[0016] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is output from the speaker to the target object.

[0017] In addition, in the flying robot of the present invention, in the above invention, the predetermined sound is a recorded cry of a bird of prey or a synthesized sound imitating the cry of a bird of prey.

[0018] In addition, in the flying robot according to the present invention, the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

[0019] In addition, in the flying robot of the present invention, in the above invention, the predetermined sound is a recorded dog barking or a synthetic sound imitating a dog barking.

[0020] In addition, the flying robot of the present invention is characterized in that, in the above invention, the specified sound is a recorded sound made by a crow that is under attack, a crow that is on alert, or a frightened crow, or a synthetic sound that imitates these sounds.

[0021] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a light source mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image taken by the camera, it emits the light source and flies so as to approach the object.

[0022] In addition, the flying robot according to the present invention has an appearance that imitates a bird of prey. It is characterized by eggplant.

[0023] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer of the flying robot, which is equipped with a camera and has an unmanned aerial vehicle that flies by automatic control, to take pictures using the camera, and when an object is recognized based on the image taken by the camera, it causes the computer to fly the robot so as to approach the object.

[0024] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the program causes the camera to take an image of a predetermined range.

[0025] In addition, the control program for the flying robot according to the present invention is characterized in that, in the above invention, the program causes the camera to take an image of a preset garbage collection area.

[0026] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the flying robot is caused to fly so as to approach the target object, and then to fly so as to return to a station installed within the specified range or in the vicinity of the specified range.

[0027] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly within the predetermined range at a speed equal to or less than a set speed.

[0028] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly in a hovering manner at any position within the predetermined range.

[0029] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly up and down at any position within the predetermined range.

[0030] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the flying robot's computer, which is equipped with a speaker mounted on the unmanned aerial vehicle, outputs a predetermined sound from the speaker when it recognizes an object based on an image captured by the camera, and flies the robot so as to approach the object.

[0031] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is output from the speaker to the target object.

[0032] In addition, in the control program for the flying robot of the present invention, in the above invention, the specified sound is a recorded cry of a bird of prey or a synthetic sound imitating the cry of a bird of prey.

[0033] In addition, in the control program for a flying robot according to the present invention, in the above invention, the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

[0034] In addition, in the control program for a flying robot of the present invention, in the above invention, the specified sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

[0035] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the specified sound is a recorded sound made by a crow under attack, a crow on alert, or a frightened crow, or a synthetic sound imitating these sounds.

[0036] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, the computer of the flying robot, which is equipped with a light source mounted on the unmanned aerial vehicle, illuminates the light source and flies the robot so as to approach the object when it recognizes an object based on an image captured by the camera.

[0037] In addition, the control method for a flying robot according to the present invention is characterized in that a computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by automatic control is caused to execute a process of taking pictures with the camera, and if an object is recognized based on the image taken by the camera, flying the robot so as to approach the object.

[0038] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the camera is caused to photograph a predetermined range.

[0039] In addition, the control method for a flying robot according to the present invention is characterized in that, in the above invention, the camera is caused to photograph a preset garbage collection area.

[0040] In addition, the control method for a flying robot of the present invention is characterized in that, in the above invention, after flying the flying robot to approach the target object, the flying robot is flown to return to a station installed within the specified range or in the vicinity of the specified range.

[0041] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly within the predetermined range at a speed equal to or less than a set speed.

[0042] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly in a hovering manner at an arbitrary position within the predetermined range.

[0043] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly up and down at any position within the predetermined range.

[0044] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, when the flying robot's computer, which is equipped with a speaker mounted on the unmanned aerial vehicle, recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies the flying robot so as to approach the object.

[0045] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is output from the speaker to the target object.

[0046] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified sound is a recorded cry of a bird of prey or a synthetic sound imitating the cry of a bird of prey.

[0047] In addition, in the flying robot control method according to the present invention, the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

[0048] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified sound is a recorded dog barking or a synthetic sound imitating a dog barking.

[0049] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified sound is a recorded sound made by a crow under attack, a crow on alert, or a frightened crow, or a synthetic sound imitating these sounds.

[0050] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, when a computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle recognizes an object based on an image captured by the camera, it illuminates the light source and flies the robot so as to approach the object. Effect of the Invention

[0051] The flying robot, the control program for the flying robot, and the control method for the flying robot of the present invention have the effect of reliably preventing the scattering of garbage by crows without harming humans. [Brief description of the drawings]

[0052] [Figure 1] FIG. 1 is an explanatory diagram showing an example of an external appearance of a flying robot according to a first embodiment of the present invention. [Diagram 2]FIG. 1 is an explanatory diagram showing an example of hardware of a flying robot according to a first embodiment of the present invention. [Figure 3A] FIG. 1 is an explanatory diagram (part 1) showing the configuration of a station. [Figure 3B] FIG. 2 is an explanatory diagram (part 2) showing the configuration of a station. [Figure 4] FIG. 1 is an explanatory diagram showing a functional configuration of a flying robot according to the present invention. [Diagram 5] 4 is a flowchart showing a processing procedure of the flying robot of the first embodiment according to the present invention. [Figure 6] FIG. 1 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot of the first embodiment according to the present invention. [Figure 7] FIG. 2 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 8] FIG. 3 is an explanatory diagram (part 3) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 9] FIG. 4 is an explanatory diagram (part 4) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 10] FIG. 11 is an explanatory diagram showing an example of the appearance of an flying robot according to a second embodiment of the present invention. [Figure 11] 10 is a flowchart showing a processing procedure of the flying robot 101 according to the second embodiment of the present invention. [Figure 12] FIG. 11 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot according to the second embodiment of the present invention. [Figure 13] FIG. 11 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0053] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment 1 of an flying robot, a control program for a flying robot, and a control method for a flying robot according to the present invention will be described in detail below with reference to the accompanying drawings.

[0054] <Embodiment 1> (An example of the appearance of a flying robot) First, an example of the appearance of the flying robot according to the first embodiment of the present invention will be described. FIG. 1 is an explanatory diagram showing an example of the appearance of the flying robot according to the first embodiment of the present invention. As shown in FIG. 1, the flying robot 101 has a drone (unmanned aerial vehicle) form. vinegar.

[0055] Specifically, the drone may be, for example, a quadcopter equipped with four propellers 102. The drone is not limited to a quadcopter, and may be any of a variety of multicopters, such as a hexacopter equipped with six propellers or an octocopter equipped with eight propellers.

[0056] The flying robot 101 according to the first embodiment of the present invention recognizes, for example, a crow that flies to a garbage dump and scatters garbage as an object, and chases the crow away from the garbage dump. As shown in FIG. 1, the flying robot 101 may have a shape that imitates a bird, particularly a bird of prey such as a hawk that crows are afraid of. Specifically, the flying robot 101 includes a head with a beak, and members 105 that imitate the wings and tail of a bird. The head with a beak and the members 105 that imitate the wings and tail of a bird may each be movable.

[0057] Specifically, for example, the beak, head, wings, tail, and other members 105 may be moved independently by a motor, a gear train, or a link mechanism, allowing the flying robot 101 to mimic the movements of wagging its tail or moving its wings.

[0058] The flying robot 101 is not limited to a shape imitating a bird such as a hawk. The flying robot 101 is not limited to birds and beasts that exist in the present day, but may be a shape imitating an extinct animal such as a dinosaur, a mythical beast such as a dragon or a unicorn, or an insect, and may be equipped with parts such as a beak, a head, wings, and a tail, as well as a tail, ears, feet (legs, limbs), horns, fangs, whiskers, etc.

[0059] The flying robot 101 also includes a camera 103. The camera 103 can be realized, for example, by a general-purpose digital camera. As shown in FIG. 1, in the flying robot 101 having a shape imitating a bird such as a hawk, for example, the lens of the camera 103 can be provided in a portion corresponding to the eye. Alternatively, the camera 103 may be provided on the lower side (ventral side) of the housing of the drone. The lens of the camera 103 may be a standard lens, a wide-angle lens, or a fisheye lens. By using a fisheye lens, a wide range can be captured.

[0060] The flying robot 101 captures an image of the surroundings of the flying robot 101 by the camera 103. For example, the flying robot 101 captures an image within a predetermined range that has been set in advance. The predetermined range can be, for example, a garbage collection area that has been set in advance. The predetermined range can be set by receiving a signal that specifies the range from a terminal device such as a smartphone on which a predetermined application has been installed.

[0061] Specifically, the predetermined range can be specified by, for example, a standard area mesh. More specifically, the movement range of the image projection device 100 can be specified by, for example, a first mesh, a second mesh, a third mesh, etc. Also, the movement range of the image projection device 100 may be specified by, for example, a divided area mesh, such as a half area mesh, a quarter area mesh, or an eighth area mesh, which is a further subdivision of the third mesh. By specifying the predetermined range by the standard area mesh, the predetermined range in which the flying robot 101 flies can be precisely restricted based on the position information obtained by using a GPS sensor (see FIG. 2).

[0062] The flying robot 101 detects the crow based on the image captured by the camera 103. The crow can be recognized, for example, by image recognition. In the image recognition, image preprocessing such as noise removal and background removal and feature extraction are performed to determine whether or not a crow is present in the image captured by the camera 103. The flying robot 101 may store information about the captured image in a memory (see FIG. 2) provided in the flying robot 101.

[0063] The flying robot 101 of the first embodiment flies so as to chase away crows that have entered a predetermined range, such as a garbage collection area, out of the predetermined range (see Figs. 6 to 9). Specifically, for example, at a station (see Figs. 3A and 3B) equipped with a charging function for the flying robot 101, an image of the predetermined range is taken, and if a crow is included in the taken image, the flying robot starts flying, flies away from the station, and flies so as to approach the crow. The station can be installed, for example, within the predetermined range or in the vicinity of the predetermined range.

[0064] Instead of a general-purpose digital camera, the camera 103 may be realized by a night vision camera that captures images in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared rays, an infrared color night vision camera that captures color images by analyzing the black and white shading in an image captured by an infrared camera, etc. By capturing images using a night vision camera, an infrared camera, an infrared color night vision camera, etc., the user can be recognized with high accuracy even at night or in a room with low illumination.

[0065] The flying robot 101 may have one or more cameras 103. In a flying robot 101 equipped with multiple cameras 103, the number of cameras 103 is not limited to one type, and multiple different types of cameras 103 may be equipped. As shown in FIG. 1, in a flying robot 101 shaped like an animal, the lens of the camera 103 may be provided in a portion corresponding to the eye, for example.

[0066] The camera 103 may be connected to the drone in a state in which its attitude can be adjusted. Specifically, the camera 103 can be connected to the bottom of the drone via a universal joint such as a ball joint, for example. By connecting the camera 103 to the drone via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 103 can be ensured.

[0067] Furthermore, the flying robot 101 may be provided with a drive mechanism for changing the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism may be configured with, for example, a motor, a gear train, and the like. By making it possible to adjust the attitude of the camera 103 relative to the drone without human intervention, the shooting direction can be arbitrarily adjusted during the flight of the flying robot 101, regardless of the attitude of the drone. The camera 103 may be provided with a zoom function.

[0068] The flying robot 101 may be equipped with a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology for receiving power from a battery (see FIG. 2) without going through a charging contact, and is also called non-contact power supply or wireless power supply.

[0069] The power receiving coil is provided inside the exterior surface of the housing of the flying robot 101. This makes it possible to prevent deterioration or failure of the power receiving coil due to water droplets from rain or dew, hand oil, etc. The flying robot 101 may use a battery charging The device may also include charging contacts for charging the battery.

[0070] 1, in an animal-shaped flying robot 101, for example, LED lamps (light sources) 104 may be provided in the areas corresponding to the eyes. There may be one LED lamp 104, or multiple LED lamps 104 may be provided. If there is a lens of a camera 103 in the area corresponding to the eye, the LED lamps 104 may be provided so as to frame the lens.

[0071] When multiple LED lamps 104 are provided, each LED lamp 104 may be capable of emitting multiple light colors independently and switchably. In this way, it is possible to emit light of a dimmed color that birds and animals dislike by mixing multiple colors of light. Also, multiple LED lamps 104 that emit different colors of light may be arranged side by side. Specifically, for example, an LED lamp 104 that emits green light may be arranged next to an LED lamp 104 that emits red light.

[0072] The flying robot 101 may further include a solar cell (solar cell, see Figs. 3A and 3B) that generates electricity using external light such as sunlight. The solar cell is provided, for example, on the upper surface of the housing of the flying robot 101. This allows the flying robot 101 to reliably take in external light during flight and generate electricity efficiently. Furthermore, the inclusion of the solar cell allows charging during flight, ensuring a long flight time per flight.

[0073] (Hardware configuration of Flying Robot 101) Next, the hardware configuration of the flying robot 101 will be described. Fig. 2 is an explanatory diagram showing an example of the hardware of the flying robot 101 of the first embodiment according to the present invention. As shown in Fig. 2, the hardware of the flying robot 101 is composed of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, an acceleration sensor 208, a communication I / F 209, an LED lamp 104, a solar cell 210, etc. The respective units 103, 104, 201 to 210 provided in the flying robot 101 are connected by a bus 200.

[0074] The battery 201 supplies power required for the operation of each unit of the flying robot 101. The battery 201 can be realized by, for example, a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 201 realized by a secondary battery may be detachable from the drone.

[0075] The motor 202 is controlled by the control circuit 207, and rotates the propeller 102 by rotating. Specifically, for example, a brushless motor in which the rotor is a permanent magnet and the stator is composed of a coil can be used as the motor 202. By providing the same number of motors 202 as the propellers 102, each propeller 102 can be rotated independently, and the flying robot 101 can be made to move forward, backward, and turn left and right.

[0076] If the flying robot 101 has a driving mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motor that constitutes the driving mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture any range or a wide range.

[0077] The camera 103 is equipped with an image sensor, and captures an image by receiving light that passes through a photographing lens at the image sensor. The image information (photographed data) obtained by converting the optical signal received by the lens into an electrical signal is output to the control circuit 207.

[0078] The camera 103 may be one that takes still images or one that takes moving images. Moving images include still images taken continuously at a predetermined time interval. Image information may be compressed according to a predetermined standard for compressing moving image and audio data (e.g., MPEG (Moving Picture Experts Group)).

[0079] The microphone 203 collects sounds around the flying robot 101. The microphone 203 converts sounds input as analog data into electrical signals. Specifically, the microphone 203 performs analog / digital conversion on the analog sound signal input as analog data, and generates digital sound data.

[0080] The speaker 204 generates sound by vibrating a diaphragm with an electric signal that is an audio signal. The speaker 204 may be an output terminal that outputs an audio signal, and an external speaker 204 may be connected to the output terminal to generate sound. The speaker 204 may be a so-called directional speaker that generates sound in only one direction.

[0081] The GPS sensor 205 identifies the current position of the flying robot 101. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 101 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may further include a filter that removes unnecessary components and an amplifier such as an LNA (Low Noise Amplifier) ​​or a PA (Power Amplifier).

[0082] The current position of the flying robot 101 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit performs positioning by calculating the distances to each of the four GPS satellites and calculating the position where the distances intersect. Instead of GPS, which determines the geometric position of the GPS satellite and the flying robot 101 based on radio waves received from the GPS satellite, the current position of the flying robot 101 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

[0083] The object sensor 206 detects the presence or absence of an obstacle within a predetermined range from the flying robot 101. An obstacle is an object that impedes the flight of the flying robot 101, and specifically, for example, a wall, a ceiling, furniture, a person, etc. When the flying robot 101 is flown outdoors, for example, all objects that impede the flight of the flying robot 101, such as a vehicle, a flying robot 101 other than the flying robot itself, trees, buildings, etc., are considered as obstacles.

[0084] Specifically, the object sensor 206 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The object sensor 206 can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The flying robot 101 may be equipped with a plurality of types of non-contact sensors as the object sensor 206. In addition, the flying robot 101 may detect the presence or absence of an obstacle present within a predetermined range from the flying robot 101 based on an image captured by the camera 103.

[0085] The acceleration sensor 208 detects gravity, motions such as vibrations, and impacts acting on the flying robot 101. For example, the acceleration sensor 208 may be a frequency change type acceleration sensor such as a low-noise and highly stable quartz acceleration sensor. Alternatively, the acceleration sensor may be a piezoelectric acceleration sensor, a capacitance acceleration sensor, a piezo-resistance acceleration sensor, or the like.

[0086] Solar cell 210 is constructed by bonding a P-type silicon semiconductor, which tends to be positively charged, and an N-type silicon semiconductor, which tends to be negatively charged, together via a PN junction surface. When light energy from external light such as sunlight is applied to the PN junction surface of solar cell 210, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 210, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

[0087] The control circuit 207 drives and controls each unit of the flying robot 101. The control circuit 207 can be realized by a microcomputer including a CPU, a memory, and the like. The memory stores various information such as the control program for the flying robot of the first embodiment of the present invention, information on a specific person, and information input in advance by the user of the flying robot 101, etc. Specifically, the control circuit 207 can be realized by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0088] The CPU executes the programs stored in the memory to control the entire flying robot 101. The memory stores various information such as the programs executed by the CPU, information on various conditions related to the operation of the flying robot 101, and information on images captured by the camera 103.

[0089] Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive). The memory may also be a memory card that is detachable from the flying robot 101 via a card slot provided in the flying robot 101. The memory card can realize its function by, for example, an IC card such as an SD (Secure Digital) memory card. The memory may also realize its function by, for example, an external USB memory.

[0090] The control circuit 207 also includes a charging circuit that charges the battery 201 with power generated by the solar cell 210, and a remaining capacity measurement circuit that measures the remaining capacity of the battery 201. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 210. The remaining capacity measurement circuit measures the remaining capacity of the battery 201 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

[0091] The control circuit 207 also includes circuits such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed ​​Controller), a BEC (Battery Elimination Circuit), or a UBEC (Universal BEC).

[0092] The IMU is a type of sensor required for the drone to obtain external information, and is composed of, for example, an acceleration sensor 208, a gyro sensor, a pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The GPS sensor 205 also , included in the IMU.

[0093] The acceleration sensor 208 detects the amount of change in the drone's speed. The gyro sensor and acceleration sensor 208 can calculate the amount of change in both the drone's tilt and the drone's speed, so the drone can continue flying even if it remains tilted.

[0094] The gyro sensor detects the amount of change in the angle of the drone. For example, the gyro sensor detects the amount of change in the angle of the drone by measuring the angular velocity using the Coriolis force. The gyro sensor allows the drone to fly stably.

[0095] The barometric pressure sensor detects the altitude of the drone. The barometric pressure sensor detects the altitude of the drone, for example, by detecting changes in air pressure. By measuring the altitude of the drone with the barometric pressure sensor, the altitude of the drone can be maintained.

[0096] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone. The ultrasonic sensor is provided, for example, on the underside of the drone, and detects the distance from an object located below the drone by utilizing the reflection of ultrasonic waves emitted below the drone.

[0097] This allows the drone to stably track on the ground (floor, ground, etc.) and return to the station (see Figs. 3A and 3B). When an ultrasonic sensor is used as the object sensor 206, ultrasonic waves may be emitted in all directions of the drone, and the ultrasonic sensor may function both as the object sensor 206 and as part of the IMU.

[0098] The magnetic orientation sensor detects whether the drone is facing north, south, east or west. Since the flying robot 101 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when changing the flying location.

[0099] The IMU and the above-mentioned microcomputer constitute a flight controller. The flight controller performs calculations related to the rotation control of the motor 202, and outputs a control signal to the ESC to control the rotation direction and rotation speed of the propeller (propeller motor 202). The ESC controls the rotation of the motor 202 based on the control signal output from the flight controller. During the flight of the flying robot 101, the flight controller detects the inclination of the flying robot 101, etc., performs calculations repeatedly, and recursively outputs a control signal to the motor 202.

[0100] Specifically, the flight controller prevents the flying robot 101 from rotating by, for example, outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. Also, for example, the flight controller controls the propeller 102 at the front in the traveling direction to rotate slower than the propeller 102 at the rear in the traveling direction to move the flying robot 101 forward. Also, for example, the flight controller controls the propeller 102 at the right in the traveling direction to rotate slower than the propeller 102 at the left in the traveling direction to turn the flying robot 101 to the right.

[0101] The communication I / F 209 is a wireless communication interface that connects the flying robot 101 and the network N through a communication line, and is in charge of the interface between the network N and the inside of the flying robot 101, and is in charge of the interface between the external device connected via the network N. The network N controls the input of data from and the output of data to an external device. The network N is realized by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0102] The communication I / F 209 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). The communication I / F 209 may also be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System). The communication via the communication I / F 209 may be performed periodically, such as at a specified time or at specified intervals, or may be performed at any timing depending on the status of the communication line. The above memory may store information acquired by communication via the communication I / F 209.

[0103] The LED lamps 104 provided in the parts corresponding to the eyes are controlled by the control circuit 207, and turn on, off, or blink in conjunction with the flying motion of the flying robot 101. The LED lamps 104 may also indicate the status of the flying robot 101. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamps 104 blink in a predetermined pattern. The color of the light emitted by the LED lamps 104 is not limited to one color, and may be multiple colors.

[0104] The flying robot 101 may also be equipped with other components (not shown) such as input devices such as keys or buttons for inputting instructions to the flying robot 101, a power switch for turning the power of the flying robot 101 on and off, and LED lamps provided in a position other than the area corresponding to the eyes.

[0105] The input device may be used to set the above-mentioned predetermined range. Specifically, for example, when a predetermined input instruction for the flying robot 101 is received via the input device, the location (location information) where the input instruction is received can be identified using the GPS sensor 205 or the like, and a predetermined range from the identified location can be set as the predetermined range. The input device may be realized by a connection terminal to which another information processing device can be connected.

[0106] (Station configuration) Next, the configuration of the station will be described. Figures 3A and 3B are explanatory diagrams showing the configuration of the station. Figure 3A shows an example of the appearance of the station. Figure 3B shows a cross section taken along line AA in Figure 3A.

[0107] As shown in Figures 3A and 3B, the station 301 has an exterior part 302 that is substantially box-shaped and has one open side. The station 301 is installed with the open part of the exterior part 302 facing a predetermined range, i.e., toward the garbage collection area. The station 301 is preferably installed at a height that is difficult for humans to reach. This makes it possible to prevent tampering with the station 301 and the flying robot 101.

[0108] The station 301 includes a battery 303 and a power transmission coil 304 for wireless power supply. The battery 303 is preferably a large-capacity battery mounted on an electric vehicle or the like. Specifically, the battery 303 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery, a lead-acid battery, or a nickel-metal hydride battery. The battery 303 may be a primary battery. The battery 303 may be detachable from the exterior unit 302, or may be separate from the exterior unit 302.

[0109] The power transmission coil 304 is connected to the battery 303, and is enclosed in a cover made of ABS resin, silicone rubber, or the like, and is waterproofed. The battery 301 can supply power to the battery 201 by wireless power transmission.

[0110] Station 301 may also include a solar cell 305 that generates power using external light such as sunlight, and a charging circuit that charges battery 303 with the power generated by solar cell 305. Solar cell 305 is provided on the top surface of exterior part 302 of station 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by solar cell 305. Station 301 may not include solar cell 305 or battery 303, and may be connected to a commercial power source or a generator.

[0111] The station 301 may be configured such that a window using a transparent acrylic plate or the like is provided in a part of the exterior 302, and a curtain-like partition is provided on the open side of the exterior 302. In the station 301 configured in this way, by installing the window facing a predetermined range, i.e., the garbage collection area side, it is possible to reduce the intrusion of dust into the inside of the station 301 while photographing the predetermined range through the window, and to suppress deterioration of the flying robot 101.

[0112] By installing such a station 301 within a predetermined range or in the vicinity of the predetermined range as described above, when a crow enters the predetermined range, it is possible to quickly approach the crow and chase it away. In addition, it is possible to reduce power consumption due to flight. The above-mentioned predetermined range may be set based on the installation position of the station 301. Specifically, for example, the station 301 may be provided with a wireless communication function, a communication distance between the station 301 and the flying robot 101 may be set, and the range within which communication with the station 301 is possible may be set as the predetermined range.

[0113] More specifically, for example, Bluetooth (registered trademark) is used for communication between the station 301 and the flying robot 101. By using Bluetooth, which is designed for one-to-one communication, it is possible to reduce power consumption for communication in terms of communication speed and distance compared to wireless communication such as Wi-Fi.

[0114] By enabling communication between the station 301 and the flying robot 101, it is possible to determine whether the flying robot 101 has returned to the station 301. Then, only when the flying robot 101 has returned to the station 301, electricity is passed through the power transmitting coil 304 to generate a magnetic field in the power transmitting coil 304, thereby supplying power to the battery 201. This makes it possible to reduce consumption of the battery 303.

[0115] The station 301 may be equipped with a wireless communication router such as a mobile Wi-Fi router. This allows the station 301 to function as a communication spot, and the flying robot 101 can communicate via the station 301. Also, one station 301 can be installed to use multiple flying robots 101.

[0116] Furthermore, if station 301 is equipped with a wireless communication router, when the remaining charge of battery 303 falls below a predetermined threshold value previously set for battery 303, a notification may be sent to a mobile phone or the like owned by a specific person, such as an administrator, that battery 303 needs to be charged or replaced. This makes it possible to reliably maintain the functionality of station 301 while reducing the burden on the administrator in managing station 301.

[0117] (Functional configuration of flying robot 101) Next, the functional configuration of the flying robot 101 will be described. Fig. 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to the present invention. As shown in Fig. 4, the functions of the flying robot 101 are realized by a memory unit 401, a detection unit 402, an image capture unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

[0118] The storage unit 401 stores various information including various programs related to the control by the control unit 407 and thresholds used for executing the programs. Specifically, the storage unit 401 stores information related to the feature amount of a crow related to pattern recognition (image recognition) used for recognizing a crow, for example.

[0119] Furthermore, the storage unit 401 stores image information captured by the image capturing unit 403, information acquired by the acquisition unit 404, and the like. The storage unit 401 may also store information related to battery charging spots, and the like. Specifically, the function of the storage unit 401 can be realized by, for example, a memory in the control circuit 207 shown in FIG. 2.

[0120] The detection unit 402 detects a signal output from a terminal device such as a smartphone on which a predetermined application is installed. The detection unit 402 may also detect that a predetermined input instruction to the flying robot 101 is received via an input device such as a key or a button by a user of the flying robot 101. Specifically, the detection unit 402 can realize its function by, for example, the communication I / F 209 shown in FIG. 2.

[0121] The detection unit 402 detects whether or not there is an obstacle within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically realize its function by, for example, the object sensor 206 shown in Fig. 2. In this case, the detection unit 402 can specifically realize its function by, for example, the camera 103 shown in Fig. 1 or 2 instead of the object sensor 206 or in addition to the object sensor 206.

[0122] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a moving stereo method that calculates the distance to the obstacle based on the parallax (difference between each image) between images taken at different positions obtained by the movement of the flying robot 101. By using the moving stereo method, the presence or absence of an obstacle existing within a predetermined range from the flying robot 101 can be detected using a monocular camera.

[0123] The photographing unit 403 photographs an image within a predetermined range. For example, the photographing unit 403 photographs an image within the predetermined range from outside the predetermined range. Also, the photographing unit 403 may photograph an image within the predetermined range from within the predetermined range. Specifically, the photographing unit 403 can realize its function by, for example, the camera 103 shown in FIG. 1 or FIG. 2.

[0124] The storage unit 401 may store image information related to an image captured by the image capturing unit 403. The storage unit 401 may store, in addition to the image information, information related to the place and time when the image related to the image information was captured in association with the image information. The information related to the place and time when the image was captured can be identified, for example, by using the GPS sensor 205 shown in FIG. 2.

[0125] The acquisition unit 404 acquires information from outside the flying robot 101. The acquisition unit 404 acquires predetermined information from an external device, for example, via the network N. Specifically, the acquisition unit 404 can realize its function by, for example, the communication I / F 209 illustrated in FIG.

[0126] Specifically, the acquiring unit 404 acquires information indicating that an event that may affect people in the vicinity, such as a disaster, may occur within a predetermined time from the current time. Specifically, the acquiring unit 404 acquires information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the current time.

[0127] Furthermore, the acquisition unit 404 may acquire information learned by another flying robot 101. This allows information acquired by learning of a single flying robot 101 to be shared by a plurality of other flying robots 101, and allows the flying robot 101 to behave in a manner more suitable for recognizing and chasing away crows.

[0128] The driving unit 405 controls the flight of the flying robot 101. Specifically, the driving unit 405 can realize its functions by, for example, the propeller 102 shown in Fig. 1, the flight controller in the control circuit 207 shown in Fig. 2, the ESC, the BEC (UBEC), the motor 202, and the object sensor 206.

[0129] The output unit 406, for example, causes the speaker 204 to output a predetermined sound. The predetermined sound may be, for example, a recorded cry of a bird of prey or a synthetic sound that imitates a cry of a bird of prey. The predetermined sound may also be, for example, a recorded gunshot or a synthetic sound that imitates a gunshot.

[0130] Furthermore, the predetermined sound may be, for example, a recorded dog barking or a synthetic sound that imitates a dog barking, or may be a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthetic sound that imitates these sounds. In this case, the output unit 406 can specifically realize its function by, for example, the speaker 204 shown in FIG. 2.

[0131] Also, the output unit 406, for example, lights up the LED lamp 104. Also, the output unit 406, for example, blinks the LED lamp 104. In this case, specifically, the function of the output unit 406 can be realized by, for example, the LED lamp 104 shown in FIG. 1 or FIG. 2.

[0132] In addition, in response to obtaining information indicating the possibility of an event that may have some effect on people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather, the output unit 406 may output a voice informing the user of the possibility of the event occurring, or may cause the LED lamp 104 to light up or flash in a specific pattern or color.

[0133] The control unit 407 controls the entire flying robot 101. Specifically, the control unit 407 can realize its functions by, for example, the control circuit 207 shown in Fig. 2. More specifically, the control unit 407 can realize its functions by, for example, executing a program stored in a memory or the like by the CPU in the control circuit 207 shown in Fig. 2.

[0134] The control unit 407 controls the driving unit 405, for example, to make the flying robot 101 fly. In addition, the control unit 407 controls the driving of the image capturing unit 403, for example. The image is captured by the image capturing unit 403. Furthermore, the control unit 407 recognizes the object based on the image captured by the image capturing unit 403. The object may be, for example, a crow. The object (crow) is recognized by, for example, determining whether the object is included in the image captured by the image capturing unit 403.

[0135] The control unit 407 may have an AI (Artificial Intelligence) function and may learn multiple types of objects (crows) such as large-billed crows and carrion crows. The control unit 407 may have specialized AI specialized for recognizing crows. In recent years, computers equipped with AI have become smaller, and even a control circuit 207 (computer) equipped with AI can smoothly fly the flying robot 101. The control unit 407 may further learn animals such as cats that scatter garbage accumulated in garbage collection areas, and humans that take away recyclable garbage.

[0136] When recognizing the object, the control unit 407 makes it easier to extract the object (crow) included in the image by, for example, removing noise and distortion from the image captured by the image capturing unit 403, emphasizing the contour of the object included in the image, and adjusting the brightness and color of the image. In addition, if the lens of the camera 103 is a wide-angle lens, distortion of the image may be corrected.

[0137] In addition, when recognizing an object, the control unit 407 extracts features such as the position of the wings and the shape of the beak on a pixel-by-pixel basis, and determines whether or not the object is included in the image captured by the imaging unit 403 based on various information such as color and brightness assigned to the pixels.

[0138] When recognizing an object, the control unit 407 may recognize the object based on a distorted image obtained by using a wide-angle lens or the like, or may recognize the object based on an image that has been corrected for distortion so that the image resembles an image obtained with a standard lens.

[0139] The object may be a crow rummaging through garbage or about to rummage through garbage. In other words, if a crow is simply photographed, it may not be recognized as an object, but may be recognized as an object if the crow touches garbage or if the distance between the crow and the garbage falls below a predetermined value.

[0140] When recognizing an object, the control unit 407 may, for example, learn (machine learning) the characteristics of the recognized crow and store the learning result in the storage unit 401. The characteristics of the crow may be, for example, the size of the crow that flies in, the day of the week when it most often flies in, the time when it most often flies in, the direction from which it flies in, and the like.

[0141] In this case, the control unit 407 may take pictures only under conditions where there is a high possibility of a crow arriving by controlling the driving of the photographing unit 403. Alternatively, in this case, the control unit 407 may take pictures continuously under conditions where there is a high possibility of a crow arriving, and take pictures intermittently at time intervals of, for example, 5 or 10 minutes under conditions where there is a low possibility of a crow arriving.

[0142] Intermittent shooting may involve, for example, shooting for one minute, stopping shooting for five minutes, and then shooting for another minute.Whether or not conditions are favorable for crows to fly in can be determined, for example, by whether elements such as the current day of the week and time meet pre-set conditions.Also, whether or not conditions are favorable for crows to fly in may be determined, for example, by whether the number of elements that meet pre-set conditions exceeds a predetermined threshold.

[0143] Furthermore, when the control unit 407 recognizes an object (a crow), it controls the driving unit 405 to fly the flying robot 101. When the control unit 407 recognizes an object based on an image captured by the image capturing unit 403, for example, it controls the driving unit 405 to fly the flying robot 101 so as to approach the object.

[0144] Specifically, the control unit 407 makes the object fly from inside to outside the predetermined range relative to the crow, so as to push the object out of the predetermined range. This puts pressure on the crow, and can scare the crow away from the garbage collection site without injuring it.

[0145] When the control unit 407 recognizes an object (a crow), for example, it flies within a predetermined range at a speed equal to or lower than a set speed. Furthermore, when the control unit 407 recognizes an object (a crow), it may perform hovering flight or vertical flight at an arbitrary position within the predetermined range. The arbitrary position within the predetermined range may be, for example, the vicinity of the crow. This also applies pressure to the crow, making it possible to drive it away from the garbage collection site without injuring it.

[0146] The flying robot 101 equipped with an integrated camera 103 can fly autonomously to a position within the garbage dump where it is easy to photograph the garbage dump. This allows the crows to be photographed without any blind spots, regardless of environmental factors such as the position of the camera, the positions of trees and houses around the garbage dump, the way the garbage is disposed, and the shape and size of the disposed garbage. This allows the crows to be photographed reliably and effectively chased away from the garbage dump, compared to the conventional technology that scare away crows from the garbage dump by flying a drone based on an image taken by a stationary camera.

[0147] In addition, the flying robot 101 equipped with the camera 103 can fly autonomously to a position where it can reliably photograph the crows. This makes it possible to avoid losing sight of the crows, reliably photograph the crows, and effectively scare them away from garbage dumps, compared to the conventional technology of flying a drone based on an image taken by a stationary camera to scare away crows from garbage dumps.

[0148] The inventor named the flying robot 101 that operates to scare off crows that exist in a predetermined range such as a garbage dump, i.e., to repel crows that fly into the garbage dump and scatter garbage, "Drop Attacker." The inventor also named the flying robot 101 that operates to scare off crows that exist in a predetermined range such as a garbage dump, i.e., to repel crows that fly into the garbage dump and scatter garbage, "Drop Attacker."

[0149] The control unit 407 may execute a predetermined process while controlling the driving unit 405 to fly the flying robot 101 so as to approach the target object. For example, when the output unit 406 is realized by the speaker 204 shown in Fig. 2, the control unit 407 can realize the predetermined process by controlling the output unit 406 to output a sound that imitates the cry of a bird of prey or a sound made by a frightened crow.

[0150] When the speaker 204 is a directional speaker, even in a noisy environment, by flying while checking the position of the crow with the camera 103, the sound emitted by the speaker 204 can be reliably delivered to the target crow without being mixed with surrounding sounds or being lost.

[0151] Also, if the speaker 204 is a directional speaker, it emits sound only in the required direction. By doing so, it is possible to prevent the sound from being emitted in all directions, even in directions where there are no crows. This makes it possible to prevent the sound from being a nuisance to the surrounding residents, even if the garbage dump is located in a residential area.

[0152] 1 and 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to turn on or blink the light source (LED lamp 104). In particular, blinking the LED lamp 104 provided in the part corresponding to the eye can increase the visibility of the flying robot 101, making it possible to make crows aware of the presence of the flying robot 101 from a distance.

[0153] Crows, being highly intelligent, understand that the flying robot 101 is a robot, and has the shape of a bird of prey, which crows dislike, and has "eyes." By flashing the LED lamps 104, which are the "eyes" of the bird of prey, and creating a situation that would not exist in the natural world, it is possible to provoke anxiety in the crows, make them feel uncomfortable in the garbage dump, and induce them to leave the garbage dump. This makes it possible to effectively scare off crows from a specified area, such as a garbage dump, without harming them, and to keep them away from the garbage dump where the flying robot 101 is deployed.

[0154] When recognizing a crow that is rummaging through garbage or is about to rummage through garbage as an object, the control unit 407 may start flying from the station 301 when it recognizes the crow in the image, and fly at a certain distance away from the crow without approaching it. This prevents the flying robot 101 from chasing away crows that are not causing a nuisance to humans, such as scattering garbage, and prevents excessive pressure on the crows.

[0155] Also, by teaching highly intelligent crows that "if they don't eat at that place (the garbage dump), the flying robot won't chase them," it is expected that they will be guided not to rummage through the garbage, and in the long run, this will be a solution to the garbage scattering problem. It is also expected that crows that normally live around the garbage dump to ensure the convenience of eating garbage will be kept away from the area. This is expected to reduce the risk of humans being attacked by crows during the breeding season, as their activity areas overlap with human living areas.

[0156] When there are no more crows within a predetermined range (the garbage collection site and its surroundings), the control unit 407 controls the driving unit 405 to fly the flying robot 101 to return to the station 301. In addition, when the remaining charge of the battery 201 becomes equal to or less than a predetermined amount, the control unit 407 may control the driving unit 405 to fly the flying robot 101 to return to the station 301.

[0157] (Flying robot 101 processing procedure) Next, the processing procedure of the flying robot 101 will be described. Fig. 5 is a flowchart showing the processing procedure of the flying robot 101 of the first embodiment according to the present invention. In the flowchart of Fig. 5, first, an image is captured by the camera 103 (step S501). Then, based on the image captured in step S501, it is determined whether or not a crow has been recognized (step S502).

[0158] In step S502, as described above, noise and distortion in the captured image are removed, the contours of objects included in the image are emphasized, and the brightness and color of the image are adjusted, making it easier to extract the object (crow) included in the image. In addition, when recognizing the object, the control unit 407 may, for example, extract the wing size in pixel units. Features such as the position and shape of the beak are extracted, and based on various information such as color and brightness assigned to the pixels, it is determined whether or not the image captured by the camera 103 contains a target object.

[0159] Furthermore, in step S502, information on the characteristics of the recognized crow may be stored in the memory of the control circuit 207 shown in Fig. 2. The information on the characteristics of the crow may be, for example, the size of the arriving crow, the day of the week on which it most often arrives, the time of day on which it most often arrives, the direction from which it arrived, and the like.

[0160] In step S502, the drone waits until it recognizes a crow based on the captured image (step S502: No), and if it recognizes a crow (step S502: Yes), it starts flying from station 301 (step S503). In step S503, for example, it starts flying so as to approach the crow recognized in step S502: Yes.

[0161] In addition, a predetermined process is executed (step S504). In step S504, for example, the robot flies within the garbage dump at a speed equal to or lower than a set speed, flies in a hovering manner at an arbitrary position such as around a crow within the garbage dump, or flies up and down.

[0162] Also, in step S504, for example, a sound imitating the cry of a bird of prey, a sound made by a frightened crow, a recorded dog barking or a synthetic sound imitating a dog barking may be output from speaker 204, or a recorded sound made by an attacked crow, an alert crow or a frightened crow, or a synthetic sound imitating these sounds may be output.

[0163] Also, in step S504, for example, LED lamp 104 may be turned on or blinked. Also, in step S504, for example, a strong light such as a flash may be emitted momentarily. Also, in step S504, for example, the light color of LED lamp 104 may be changed. If LED lamp 104 is provided so as to frame the lens of camera 103, it may be turned on or blinked so as to rotate around the lens (around the eye).

[0164] These predetermined processes are not always the same. For example, if the magnitude of the crow's reaction is recognized based on the image captured by the camera 103 and it is determined that the effect of the process being executed is low, a different process may be executed. Also, the process is not limited to one, and two or more processes may be executed in parallel.

[0165] Then, it is determined whether or not the crows have been chased away from the garbage collection area (step S505). In step S505, it is determined whether or not the crows have been chased away from the garbage collection area based on, for example, the image captured by the camera 103, the current position of the flying robot 101 determined using the GPS sensor 205, and the orientation of the flying robot 101 determined using other sensors provided in the flying robot 101.

[0166] In step S505, if the crows have not been chased away from the garbage collection area (step S505: No), the process proceeds to step S504 and a predetermined process is executed. In step S504 after passing through step S505: No, a process different from the previous process may be executed, or the same process may be continued.

[0167] Also, in step S504 when step S505: No is passed, the device may output the sound of a bird of prey while hovering, for example, in accordance with a previously performed process. It is also possible to have more processes running than the number of processes that were previously configured.

[0168] In step S505, if the crow has been chased away from the garbage collection area (step S505: Yes), the robot returns to station 301 (step S506) and proceeds to step S501 to capture an image. In step S506, the robot returns to station 301 so that it can capture images of the inside of the garbage collection area and can receive power from power transmission coil 304. Note that the robot continues capturing images of the inside of the garbage collection area while returning to station 301, and if it recognizes a crow, it interrupts the return to station 301 and flies in a manner that chases away the crow.

[0169] Furthermore, during the above process, if the remaining charge of the battery 201 falls below a predetermined threshold value previously set for the battery 201, the flying robot 101 may fly back to the station 301 regardless of the presence or absence of crows at the garbage collection site. Pre-set Pre-set Threshold Value for the Battery 201 The predetermined threshold value previously set for the battery 201 may be, for example, a remaining charge of the battery 201 that allows the flying robot 101 to reliably return to the station 301 based on the positional relationship between the current position of the flying robot 101 and the station 301. This reliably prevents unexpected events such as the flying robot 101 falling and being damaged due to insufficient remaining charge of the battery 201.

[0170] (An example of how the flying robot 101 is used) Next, a description will be given of an example of a usage mode of the flying robot 101. Fig. 6 to Fig. 9 are explanatory diagrams showing an example of a usage mode of the flying robot 101 according to the first embodiment of the present invention.

[0171] 6, the station 301 is fixed to the top of a support 601. This allows the station 301 and the waiting flying robot 101 to be positioned at a height that is difficult for humans to reach, making it possible to prevent tampering with the station 301 and the flying robot 101.

[0172] 6, the flying robot 101 takes pictures of the inside of the garbage collection site 602 while receiving power from the power transmission coil 304 in the station 301. The flying robot 101 may take pictures of the inside of the garbage collection site 602 while flying in the sky above the garbage collection site 602. In this case, the flying robot 101 may fly in the sky at a certain distance from the garbage collection site 602 so as not to give excessive pressure to the crows.

[0173] 6 shows an example in which one flying robot 101 is deployed in one garbage collection site 602, but the number of flying robots 101 installed is not limited to one. For example, multiple flying robots 101 may be installed in one garbage collection site 602 depending on the size of a predetermined range to be photographed, such as the garbage collection site 602, the angle of view of the camera 103, and the like.

[0174] The flying robot 101 judges whether a crow can be recognized in an image captured by the camera 103 based on the image. As shown in Fig. 7, when a crow 701 is recognized in the captured image because the crow 701 approaches the garbage collection site 602, the flying robot 101 flies away from the station 301 as shown in Fig. 8. Then, as shown in Fig. 9, the flying robot 101 flies so as to approach the crow 701.

[0175] At this time, the drone does not approach the crow 701 until it comes into contact with it, but flies to a position at least a certain distance away from the crow 701. This prevents the drone from injuring the crow 701 with the propeller 102 or the like. This can prevent the flying robot 101 from being damaged and can also prevent damage to the flying robot 101.

[0176] The flying robot 101, for example, flies so as to approach the crow 701 at a speed equal to or lower than a set speed. This allows the flying robot 101 to fly so as to reliably come within the field of vision of the crow 701, rather than chasing the crow 701 at high speed, and in addition to scaring away the crow 701, it is possible to make the highly intelligent crow 701 avoid approaching the flying robot 101. This makes it possible to ensure a comfortable living environment for humans without harming the crow 701.

[0177] In addition, the flying robot 101 may, for example, fly so as to approach the crow 701, and then hover or fly up and down around the crow 701 in the garbage collection site 602. This also puts pressure on the crow 701, and can drive the crow 701 away from the garbage collection site 602 without injuring it.

[0178] The flying robot 101 may output a predetermined sound when flying so as to approach the crow 701. Specifically, for example, when flying so as to approach the crow 701, the flying robot 101 outputs a recorded cry of a bird of prey or a synthetic sound imitating the cry of a bird of prey, a recorded gunshot or a synthetic sound imitating a gunshot.

[0179] Alternatively, for example, a recorded dog barking or a synthetic voice imitating a dog barking may be output when flying close to the crow 701. Also, for example, a recorded voice of an attacked crow 701, a wary crow 701, or a frightened crow 701, or a synthetic voice imitating these voices may be output when flying close to the crow 701.

[0180] As described above, the flying robot 101 of embodiment 1 of the present invention comprises an unmanned aerial vehicle (drone) that flies by automatic control, and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that when an object is recognized based on an image captured by the camera 103, the flying robot 101 flies so as to approach the object.

[0181] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 recognized based on an image captured by the camera 103. This makes the crow feel uneasy about the flying robot 101 flying toward it, and causes the crow 701 to stay away from the garbage collection site 602. This makes it possible to effectively chase away the crow 701 without harming humans, and reliably prevents the crow 701 from scattering garbage.

[0182] The flying robot 101 according to the first embodiment of the present invention is characterized in that the camera 103 captures an image within a predetermined range.

[0183] According to the flying robot 101 of the first embodiment of the present invention, by capturing images only within a predetermined range using the camera 103, it is possible to scare away crows 701 within a desired range without scaring away crows 701 over an excessively wide range. This makes it possible to ensure a comfortable living environment for humans without harming the crows 701.

[0184] Moreover, the flying robot 101 according to the first embodiment of the present invention is characterized in that the predetermined range is a garbage collection area 602 that is set in advance.

[0185] According to the flying robot 101 of the first embodiment of the present invention, By capturing an image of only the inside of the garbage dump 602 set in advance, it is possible to scare away the crows 701 approaching the garbage dump 602 without scaring away the crows 701 over an excessively wide range. This makes it possible to ensure a comfortable living environment for humans without harming the crows 701.

[0186] Furthermore, the flying robot 101 of the first embodiment of the present invention is characterized in that after flying to approach an object, it returns to the station 301 installed within a predetermined range or in the vicinity of the predetermined range.

[0187] According to the flying robot 101 of the first embodiment of the present invention, it is possible to reduce power consumption by flying only when it recognizes the crow 701. This makes it possible to avoid getting in the way of humans or putting excessive pressure on the crow 701 by flying unnecessarily.

[0188] The flying robot 101 according to the first embodiment of the present invention is characterized in that it flies within a predetermined range at a speed equal to or less than a set speed.

[0189] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 does not chase the crow 701 at high speed, but flies so as to be reliably within the field of vision of the crow 701, thereby making the crow 701 avoid approaching the flying robot 101 and scaring the crow away. This makes it possible to ensure a comfortable living environment for humans without harming the crow 701.

[0190] The flying robot 101 according to the first embodiment of the present invention is characterized in that it flies in a hovering manner at any position within a predetermined range.

[0191] According to the flying robot 101 of the first embodiment of the present invention, instead of chasing the crow 701 at high speed, the flying robot 101 flies in a hovering manner to attract the attention of the crow 701, thereby making the crow 701 avoid approaching the flying robot 101 and scaring the crow away. This makes it possible to ensure a comfortable living environment for humans without harming the crow 701.

[0192] The flying robot 101 according to the first embodiment of the present invention is characterized in that it flies up and down at any position within a predetermined range.

[0193] According to the flying robot 101 of the first embodiment of the present invention, the crow 701 does not chase the crow 701 at high speed, but flies up and down, which the crow 701 cannot do, so that the crow 701 is reluctant to approach the flying robot 101 and is chased away. This makes it possible to ensure a comfortable living environment for humans without harming the crow 701.

[0194] In addition, the flying robot 101 of embodiment 1 of the present invention is characterized in that it is equipped with a speaker 204 mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera 103, it outputs a predetermined sound from the speaker 204 and flies so as to approach the object.

[0195] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 while outputting a predetermined sound that dislikes the crow 701 from the speaker 204. This makes it possible to more effectively scare away the crow 701 without harming humans, and reliably prevent the crow 701 from scattering rubbish.

[0196] The flying robot 101 according to the first embodiment of the present invention is characterized in that a predetermined sound is output from the speaker 204 to an object.

[0197] According to the flying robot 101 of the first embodiment of the present invention, in particular, a directional speaker or the like is used to output a predetermined sound only in the direction of the crow 701, thereby minimizing the impact on objects other than the target, such as surrounding people, and effectively driving away the crow 701. This can reliably prevent the crow 701 from scattering garbage.

[0198] In the flying robot 101 according to the first embodiment of the present invention, the predetermined sound may be a recorded cry of a bird of prey or a synthesized sound that imitates the cry of a bird of prey.

[0199] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while outputting the cry of a bird of prey such as a hawk, which is said to be disliked by the crow 701, or a synthetic voice imitating the cry of a bird of prey. This makes it possible to more effectively scare away the crow 701 without harming humans, and to reliably prevent the crow 701 from scattering garbage.

[0200] In addition, in the flying robot 101 according to the first embodiment of the present invention, the predetermined sound may be a recorded gunshot or a synthesized sound that imitates a gunshot.

[0201] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while outputting a gunshot or a synthetic voice that imitates a gunshot, which is considered to be disliked by animals in general, including a crow 701. This makes it possible to more effectively scare away the crow 701 without harming humans, and reliably prevent the crow 701 from scattering garbage.

[0202] In addition, in the flying robot 101 according to the first embodiment of the present invention, the predetermined sound may be a recorded dog barking or a synthetic sound that imitates a dog barking.

[0203] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while outputting a dog's bark or a synthetic voice imitating a dog's bark, which is said to be disliked by crows 701. This makes it possible to more effectively scare away the crows 701 without harming humans, and reliably prevent the crows 701 from scattering garbage.

[0204] In addition, in the flying robot 101 of the first embodiment of the present invention, the specified sound may be a recorded sound made by an attacked crow 701, an alert crow 701, or a frightened crow 701, or a synthesized sound imitating these sounds.

[0205] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while outputting a voice of an attacked crow 701, a wary crow 701, or a frightened crow 701 or a synthetic voice imitating these voices. As a result, every time the crow 701 enters a predetermined range such as a garbage collection site 602, the crow 701 is made anxious, and the crow 701 with high learning ability learns that approaching the garbage collection site 602 is dangerous, effectively driving away the crow 701 and suppressing the crow 701 from approaching thereafter. As a result, it is possible to reliably prevent the crow 701 from scattering garbage without harming humans.

[0206] In addition, the flying robot 101 of embodiment 1 of the present invention is characterized in that it is equipped with a light source such as an LED lamp 104 mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera 103, it emits light from the light source and flies so as to approach the object.

[0207] According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while emitting light from a light source. This makes it possible to more effectively scare away the crow 701 without harming humans, and reliably prevent the crow 701 from scattering garbage.

[0208] The flying robot 101 according to the first embodiment of the present invention is characterized in that it has an appearance that imitates a bird of prey. The flying robot 101 may be configured with real bird of prey feathers on its exterior.

[0209] The flying robot 101 of the first embodiment of the present invention has an appearance that imitates a bird of prey such as a hawk that many crows 701 avoid, so that the flying robot 101 can more effectively scare away the crows 701 without harming humans, and can reliably prevent the crows 701 from scattering garbage.

[0210] <Embodiment 2> Next, a flying robot according to a second embodiment of the present invention will be described. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0211] (An example of the appearance of a flying robot) Fig. 10 is an explanatory diagram showing an example of the appearance of an airborne robot according to a second embodiment of the present invention. As shown in Fig. 10, an airborne robot 1001 takes the form of a drone (unmanned aerial vehicle). As shown in Fig. 10, the drone may be a quadcopter equipped with four propellers 102, or may be a hexacopter or an octocopter.

[0212] The flying robot 1001 of the second embodiment of the present invention recognizes, for example, birds and animals that come to eat agricultural products (agricultural and livestock products) at farms such as crop farms and livestock farms, and thieves that steal agricultural products (agricultural and livestock products) from the farms, as targets of surveillance, and issues a warning to the targets of surveillance and takes images of the targets of surveillance.

[0213] The flying robot 1001 may track the target when warning the target or taking an image of the target. The flying robot 1001 is housed in a frame 1001a so that the propellers 102 do not get caught on the surroundings or the target and are not damaged when tracking the target.

[0214] The flying robot 1001 is equipped with multiple cameras 103. Specifically, in the flying robot 1001, the cameras 103 are arranged so as to capture images in multiple directions simultaneously. By having one flying robot 1001 capture images in multiple directions simultaneously, more information can be obtained in a short period of time, and the monitoring target can be quickly recognized.

[0215] In addition, since one flying robot 1001 simultaneously captures images in multiple directions, the number of monitoring targets that each flying robot 1001 can recognize increases. As a result, even when there are multiple monitoring targets or the targets are moving in different directions, a small number of flying robots 1001 can reliably recognize the monitoring targets.

[0216] The multiple cameras 103 may always capture images, or one of the cameras 103 may be switched to operate. Also, image capturing may be selectively performed using one or multiple cameras. Also, for example, when multiple surveillance targets within the capture range of one camera 103 start moving in different directions while an image is being captured, image capturing using the multiple cameras 103 may be started.

[0217] In the flying robot 1001, the LED lamp 104 is provided on the frame 1001a. A plurality of the LED lamps 104 are arranged in a row. The LED lamps 104 emit, for example, white light. By arranging a plurality of the LED lamps 104 emitting white light in a row, it is possible to extremely brightly illuminate the monitoring target and the surroundings of the monitoring target. This allows the monitoring target to be photographed clearly.

[0218] Each of the LED lamps 104 may be capable of emitting light in a switchable manner among a plurality of light colors. In this way, by mixing light of a plurality of colors, it is possible to emit light of a dimmed color that birds and animals dislike. Also, a plurality of LED lamps 104 each emitting light of a different color may be arranged side by side. Specifically, for example, an LED lamp 104 emitting green light may be arranged next to an LED lamp 104 emitting red light.

[0219] Furthermore, in the flying robot 1001, the LED lamps 104 are arranged in a row at multiple locations. This makes the flying robot 1001 stand out even at night, and can notify the surroundings of the location of the monitored object. Furthermore, even if there are multiple monitored objects or the monitored objects are moving in different directions, each monitored object can be photographed clearly.

[0220] (Functional configuration of flying robot 1001) Next, a description will be given of the functional configuration of the flying robot 1001. The functions of the flying robot 1001 are realized by a memory unit 401, a detection unit 402, an image capture unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

[0221] The storage unit 401 stores various information including various programs related to the control by the control unit 407 and thresholds used for executing the programs. Specifically, the storage unit 401 stores information related to the feature amount of the monitoring target related to pattern recognition (image recognition) used for recognizing the monitoring target. The storage unit 401 may further store voice information used for recognizing the monitoring target, information related to the period for which monitoring is performed, and the like.

[0222] The monitoring target may be an animal such as a bird, animal or human being that exists within a predetermined range. The predetermined range may be, for example, a farm such as a crop farm, a livestock farm, or a bee farm. The farm may be a specific farm set in advance, or may be a place that is determined to be a farm based on an image captured by the image capturing unit 403. That is, the monitoring target may be, for example, a bird or animal that possesses or carries agricultural products or items presumed to be agricultural products in a farm, or a human being that possesses or carries agricultural products or items presumed to be agricultural products in a farm.

[0223] Specifically, the subject of surveillance may be, for example, a bird or animal that possesses or carries a cultivated crop or an item presumed to be the cultivated crop in a crop farm, or a human that possesses or carries a cultivated crop or an item presumed to be the cultivated crop in a crop farm. More specifically, for example, in the case of surveillance in an orchard, the subject of surveillance may be a bird or animal that is eating fruit, or a human that is carrying a bag or box presumed to contain fruit. More specifically, for example, a person carrying a bag or box that is estimated to be of a certain weight or more may be the subject of monitoring.

[0224] Specifically, the monitoring target may be, for example, livestock or poultry at a livestock farm, or a bird, animal, or human possessing or carrying an item presumed to be the livestock or poultry. Furthermore, the monitoring target may be, for example, livestock or poultry at a livestock farm, or a human possessing or carrying an item presumed to be the livestock or poultry. More specifically, for example, when monitoring a pig farm, pigs or humans carrying bags or boxes presumed to contain pigs are the monitoring target. More specifically, for example, humans carrying bags or boxes presumed to be of a certain weight or more, or humans possessing or carrying bags or boxes with moving contents may be the monitoring target.

[0225] Specifically, the target of surveillance may be, for example, a bird or animal that possesses or carries a hive used for beekeeping in a beekeeping farm or an item presumed to be the hive, or a human that possesses or carries a hive used for beekeeping or an item presumed to be the hive. More specifically, for example, in the case of surveillance in a beekeeping farm, a bear holding a hive or a human carrying a box-shaped or plate-shaped object may be the target of surveillance.

[0226] Furthermore, the storage unit 401 stores image information captured by the image capturing unit 403, information acquired by the acquisition unit 404, and the like. The storage unit 401 may store information related to the positions of the stations 301 that serve as battery charging spots, and the like. Specifically, the function of the storage unit 401 can be realized by, for example, a memory in the control circuit 207 shown in FIG. 2.

[0227] The detection unit 402 detects a signal output from a terminal device such as a smartphone on which a specific application is installed. The detection unit 402 may also detect that a specific input instruction to the flying robot 1001 is received via an input device such as a key or a button by a user of the flying robot 1001. Specifically, the detection unit 402 can realize its function by, for example, the communication I / F 209 shown in FIG. 2.

[0228] Furthermore, the detection unit 402 detects the presence or absence of an obstacle present within a predetermined range from the flying robot 1001. In this case, the detection unit 402 can specifically realize its function by, for example, the object sensor 206 shown in Fig. 2. Furthermore, the detection unit 402 in this case can specifically realize its function by, for example, the camera 103 shown in Fig. 1 or 2 instead of the object sensor 206 or in addition to the object sensor 206.

[0229] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a moving stereo method that calculates the distance to the obstacle based on the parallax (difference between each image) between images taken at different positions obtained by moving the flying robot 1001. By using the moving stereo method, the presence or absence of an obstacle existing within a predetermined range from the flying robot 1001 can be detected using a monocular camera.

[0230] The photographing unit 403 photographs an image within a predetermined range, such as an area including the inside of a farm and the surroundings of the farm. For example, the photographing unit 403 photographs an image within the predetermined range from outside the predetermined range. Also, the photographing unit 403 may photograph an image within the predetermined range from within the predetermined range. Specifically, the photographing unit 403 may be, for example, a camera shown in FIG. This function can be realized by the controller 103 or the like.

[0231] The storage unit 401 described above stores image information related to an image captured by the image capturing unit 403. Instead of or in addition to storing the image information related to the image captured by the image capturing unit 403 in the storage unit 401, the image information may be stored in an external device. Furthermore, the storage unit 401 may store, in addition to the image information, information related to the location and time when the image related to the image information was captured in association with the image information. The information related to the location and time when the image was captured can be identified, for example, by using the GPS sensor 205 shown in FIG. 2.

[0232] The acquisition unit 404 acquires information outside the flying robot 1001. The acquisition unit 404 acquires sounds around the flying robot 1001 using, for example, the microphone 203. Specifically, the function of the acquisition unit 404 can be realized by, for example, the microphone 203 shown in FIG.

[0233] The acquisition unit 404 may also acquire predetermined information from an external device via the network N, for example. In this case, the acquisition unit 404 can specifically realize its function by, for example, the communication I / F 209 shown in FIG. 2. The acquisition unit 404 realized by the communication I / F 209 acquires information learned by another flying robot 1001, for example. This allows information acquired by learning of a single flying robot 1001 to be shared by a plurality of other flying robots 1001, and the flying robot 1001 can be made to behave in a manner more suitable for recognizing and chasing away crows.

[0234] The acquisition unit 404 realized by the communication I / F 209 or the like may acquire information indicating that an event that may affect people in the vicinity, such as a disaster, may occur within a predetermined time from the current time. Specifically, the acquisition unit 404 may acquire information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the current time.

[0235] The driving unit 405 controls the flight of the flying robot 1001. Specifically, the driving unit 405 can realize its functions by, for example, the propeller 102 shown in Fig. 1, the flight controller in the control circuit 207 shown in Fig. 2, the ESC, the BEC (UBEC), the motor 202, and the object sensor 206.

[0236] The output unit 406 is controlled by the control unit 407 to output a predetermined sound from the speaker 204, for example. In this case, the output unit 406 can specifically realize its function by, for example, the speaker 204 shown in FIG. 2. The predetermined sound can be, for example, a recorded voice of an utterance that cautions or warns against theft, or a synthetic voice that imitates an utterance that cautions or warns against theft. The predetermined sound can also be, for example, the sound of a siren, a horn, a signal horn, or a whistle, or a synthetic voice that imitates at least any of these sounds.

[0237] Moreover, the output unit 406 is controlled by the control unit 407 to, for example, light the LED lamp 104. Moreover, the output unit 406, for example, blinks the LED lamp 104. In this case, specifically, the function of the output unit 406 can be realized by, for example, the LED lamp 104 shown in FIG. 1 or FIG. 2.

[0238] In addition, the output unit 406 may be controlled by the control unit 407 to transmit image information related to the image captured by the image capturing unit 403 to a predetermined destination. In this case, the output unit 406 specifically performs its function by, for example, the communication I / F 209 shown in FIG. The predetermined destination may be, for example, an email address set in a specific smartphone or a specific URL set on a cloud network.

[0239] Moreover, the output unit 406 may be controlled by the control unit 407 to output a support request to other flying robots 1001 when, for example, the remaining amount of the battery 201 falls below a predetermined amount. Specifically, the function of the output unit 406 in this case can also be realized by, for example, the communication I / F 209 shown in FIG.

[0240] In addition, when the acquisition unit 404 acquires information indicating the possibility of an event that may have some effect on people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather, the output unit 406 may output a voice informing the user of the possibility of the event occurring, or may cause the LED lamp 104 to light up or blink in a specific pattern or color.

[0241] The control unit 407 controls the entire flying robot 1001. Specifically, the control unit 407 can realize its functions by, for example, the control circuit 207 shown in Fig. 2. More specifically, the control unit 407 can realize its functions by, for example, executing a program stored in a memory or the like by the CPU in the control circuit 207 shown in Fig. 2.

[0242] The control unit 407, for example, controls the driving unit 405 to make the flying robot 1001 fly. When a specific sound is acquired based on the sound acquired by the acquisition unit 404, the control unit 407 may control the driving unit 405 to make the flying robot 1001 fly.

[0243] Specifically, for example, when the acquisition unit 404 acquires sounds such as footsteps of birds, animals or humans, sounds estimated to be the use of scissors or a cutter, sounds estimated to be the packing of items into a bag or a box, engine sounds or tire sounds of a vehicle, etc., the drone starts flying by controlling the driving unit 405. This makes it possible to reliably capture the presence of a monitoring target while suppressing battery consumption.

[0244] Furthermore, the control unit 407 performs imaging, for example, by driving and controlling the imaging unit 403. Furthermore, the control unit 407 recognizes the monitoring target based on the image captured by the imaging unit 403. The monitoring target is recognized, for example, by determining whether or not the monitoring target is included in the image captured by the imaging unit 403.

[0245] Specifically, when monitoring an orchard, for example, the control unit 407 determines whether or not the image captured by the image capturing unit 403 includes birds and animals eating fruit, or a person carrying a bag or box presumed to contain fruit. Fruit can be identified by image recognition. The bag or box presumed to contain fruit may be identified by image recognition of the bag or box itself, or may be identified by the fact that two or more people are carrying it.

[0246] More specifically, when monitoring a pig farm, the control unit 407 judges whether or not the image captured by the image capturing unit 403 includes a pig or a person carrying a bag or box that is presumed to contain a pig. Pigs can be identified by image recognition. A bag or box that is presumed to contain a pig may be presumed to contain the bag or box itself by image recognition, or may be presumed to contain the pig by the fact that two or more people are carrying it.

[0247] More specifically, when monitoring an apiary, the control unit 407 determines whether or not the image captured by the photographing unit 403 includes a bear holding a hive or a person carrying a box-shaped or plate-shaped object.

[0248] Alternatively, the control unit 407 may recognize the monitoring target based on the image captured by the imaging unit 403 and the sound acquired by the acquisition unit 404. Specifically, for example, in monitoring a pig farm, when a bear is photographed and the cries of the pig are collected, the control unit 407 may recognize the bear as the monitoring target.

[0249] The control unit 407 is provided with an AI function, and is therefore able to learn about the target of monitoring. In recent years, computers equipped with artificial intelligence have become increasingly smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can smoothly fly the flying robot 1001. The control unit 407 may further communicate with another flying robot 1001 to share characteristics and images of birds, animals, or humans that have caused damage to farms, etc., and may learn based on the shared information.

[0250] The monitoring target is not limited to those that come into contact with agricultural products, but may be birds, animals, or humans that invade a farm, or birds, animals, or humans that enter within a specified range of a farm. This makes it possible to recognize the monitoring target and take measures such as issuing a warning by sound or light before agricultural products are actually damaged.

[0251] The image capturing and the recognition of the monitored object may be performed only during a preset time period. Specifically, the time period can be set to, for example, "between 18:00 and 07:00" or "between sunrise and sunset." The sunrise time and sunset time can be acquired by the acquisition unit 404 through communication via the network N.

[0252] The image capturing and the monitoring target recognition may be performed only from the time when a predetermined input operation to the flying robot 1001 is received until the time when an operation to invalidate the predetermined input operation is received. Alternatively, the image capturing and the monitoring target recognition may be performed only from the time when a predetermined signal transmitted from a smartphone or the like to the flying robot 1001 is received until the time when a signal to invalidate the operation by the predetermined signal is received.

[0253] Specifically, for example, each day when work on a farm or the like is finished, a worker on the farm can perform a predetermined input operation on the flying robot 1001 to enable image capture and recognition of the monitored object, and when work on the farm starts the next day, the worker can perform an operation to disable the predetermined input operation. This allows the farm or the like to be appropriately monitored according to the type of work, even when daily working hours vary depending on conditions such as the season.

[0254] Alternatively, the image capturing and the recognition of the monitored object may be performed all day, and the countermeasure operation such as issuing a warning by sound or light when the monitored object is recognized may be performed only during a preset time period. In this way, for example, during the day, the system may learn about workers who work on a farm during the day, and only at night, it may issue a warning against birds and animals that eat agricultural products or thieves that steal agricultural products.

[0255] In addition, by taking images during the day, for example, a thief who visits during the day to scout a place for theft can be captured in bright, clear images, so if a theft occurs after the scouting, the clear images can be used to identify the culprit. By using the flying robot 1001 like a security camera, it is possible to strengthen crime prevention in the neighborhood. Also, by learning about workers, it is possible to prevent unnecessary warnings from being issued when the workers visit the farm at night for some reason.

[0256] When the control unit 407 recognizes a monitoring target in an image based on the image captured by the image capturing unit 403, the control unit 407 controls the driving unit 405 to fly the flying robot 101 so as to approach the target. In addition, when the control unit 407 recognizes a monitoring target in an image based on the image captured by the image capturing unit 403, the control unit 407 may store the captured image of the monitoring target in the storage unit 401.

[0257] When the control unit 407 recognizes a monitoring target in an image captured by the image capturing unit 403, the control unit 407 may fly the flying robot 101 so as to capture images of the monitoring target from all directions. The images of the monitoring target captured from all directions may then be stored in the storage unit 401.

[0258] The control unit 407 may control the driving unit 405 to fly the flying robot 1001 to a position with a certain distance from the monitoring target. Specifically, the control unit 405 controls the driving unit 405 to fly the flying robot 1001 to a position with a certain distance from the monitoring target where the monitoring target cannot touch the flying robot 1001. This makes it possible to prevent the flying robot 1001 from being damaged by an impact applied to the flying robot 1001 from the monitoring target.

[0259] The flying robot 101 equipped with an integrated camera 103 can fly autonomously to a position where it is easy to photograph the target of surveillance. This allows the target of surveillance to be photographed without blind spots, regardless of environmental factors such as the position of the camera or the positions of surrounding trees and houses. This allows the target of surveillance to be photographed more reliably based on images taken by a stationary camera, compared to conventional techniques such as flying a drone.

[0260] In addition, the flying robot 101 equipped with the camera 103 can fly autonomously to a position where it can reliably photograph the crows. This makes it possible to avoid losing sight of the crows, reliably photograph the crows, and effectively scare them away from garbage dumps, compared to the conventional technology of flying a drone based on an image taken by a stationary camera to scare away crows from garbage dumps.

[0261] The inventor named the flying robot 101 that monitors the presence or absence of a target in a specified area such as a farm and prompts the target to leave the specified area as a "Drop Guard." The inventor also named the flying robot 101 that monitors the presence or absence of a target in a specified area such as a farm and leaves evidence that the target was within the specified area as a "Drop Boat" or a "Drop Watcher."

[0262] The control unit 407 may execute a predetermined process while controlling the driving unit 405 to fly the flying robot 101 so as to approach the target object. For example, when the output unit 406 is realized by the speaker 204 shown in Fig. 2, the control unit 407 can realize the predetermined process by controlling the output unit 406 to output a recorded voice of a speech that warns or cautions against theft, or to output a synthetic voice that imitates a speech that warns or cautions against theft. A plurality of patterns of speech that warns or cautions against theft may be set.

[0263] In addition, the control unit 407 controls the output unit 406 to output, for example, a siren, a warning horn, a signal horn, or a whistle (recorded voice), or at least one of these. Alternatively, a predetermined process may be realized by outputting a synthetic voice that imitates either of the voices.

[0264] It is preferable that the control unit 407 outputs a sound with a sound pressure level of 80 dB or more. Alternatively, it is preferable that the control unit 407 outputs a sound with a loudness level of 90 phon or more. For example, it is legally required that emergency vehicles such as ambulances be equipped with a siren that can output a sound of 90 phon or more by measuring the volume at a position 20 meters ahead of the emergency vehicle. By outputting a sound of such a volume, it is possible to widely publicize the presence of the monitored object, and it is expected to have the effect of preventing damage to agricultural products and the like beforehand, or suppressing further expansion of the damage.

[0265] If the speaker 204 is a directional speaker, even in a noisy environment, sound can be emitted only in the required direction by flying while checking the position of the monitoring target with the camera 103. This allows the sound emitted from the speaker 204 to be delivered reliably to the monitoring target without disturbing nearby residents, even at night.

[0266] In particular, people who steal agricultural produce and the like are in a very tense psychological state in order to avoid their crime being discovered, so by suddenly outputting a loud sound, the criminal who is the subject of surveillance can be made to think that "the crime has been discovered" or "my presence has been made clear." This makes it difficult for criminals to continue their thefts, and can prevent damage to agricultural produce and the like from occurring, or suppress further expansion of the damage.

[0267] Also, for example, when the output unit 406 is realized by the LED lamp 104 shown in FIG. 1 or FIG. 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to turn on or blink the light source (LED lamp 104).

[0268] When the monitoring target is a bird or animal, the control unit 407 controls the output unit 406 to, for example, sequentially light up a group of LED lamps 104 provided at multiple locations as if the light were rotating, or to emit light in a color close to that of a flame. In this way, by performing artificial actions that do not exist in the natural world, it is possible to keep birds and animals away from a specified area such as a farm.

[0269] If the person being monitored is a person intending to commit theft, the control unit 407 controls the output unit 406 to, for example, cause the LED lamp 104 to emit white light. This makes it possible to illuminate the target and its surroundings extremely brightly, allowing the target to be photographed clearly.

[0270] The control unit 407 preferably causes the light source, such as the LED lamp 104, to emit light with a luminous flux equal to or greater than a predetermined threshold value. The luminous flux is the brightness of the LED lamp 104 itself, and can be expressed in lumens (unit: lm), which indicates the amount of light per unit time. The brightness of the LED lamp 104 itself may also be specified based on the intensity (luminous intensity) of light in a specific direction, expressed in candela (unit: cd).

[0271] Furthermore, the control unit 407 may specify the brightness of the illuminated location, that is, the illuminance (unit: lx), instead of the brightness of the LED lamp 104 itself. In this case, if the illuminance of the location that has been brightened by turning on the LED lamp 104 does not reach a predetermined threshold, the control unit 407 moves closer to the target or makes the LED lamp 104 emit light more brightly.

[0272] People who commit thefts (i.e., criminals) generally do so in bright light. They do not like borders and tend to commit their acts in dark places. One reason for this is that dark places have poor visibility, making it difficult for others to see them, and even if they are noticed, the visibility itself is low, making it difficult to identify the person or the act of theft. Another reason is that, as a matter of common sense, ordinary people are not present in dark places.

[0273] In the flying robot 1001, by emitting white light from the LED lamps 104, the target of surveillance can be photographed clearly, and the target can be made to think that "the crime has been discovered" or "my presence has been made clear." This makes it difficult for criminals to continue their thefts, and can prevent damage to agricultural produce, etc., or prevent the damage from spreading.

[0274] Furthermore, by emitting white light from the LED lamps 104, it is possible to light only the criminal and his surroundings, making it difficult to see the criminal's surroundings, such as his feet. This slows down the criminal's escape, and it is expected that the criminal can be apprehended at the scene before he escapes.

[0275] When the monitoring target is no longer within a predetermined range such as a farm or its surroundings, the control unit 407 controls the driving unit 405 to fly the flying robot 101 to return to the station 301. In addition, when the remaining charge of the battery 201 falls below a predetermined level, the control unit 407 may control the driving unit 405 to fly the flying robot 101 to return to the station 301.

[0276] When multiple flying robots 1001 are monitoring the same farm, when the remaining charge of the battery 201 falls below a predetermined level, a support request may be output to the other flying robots 1001. The support request includes information about the current location of the flying robot 1001 that issued the support request.

[0277] The support request may include information regarding the date and time of output of the support request. The support request may include identification information of the flying robot 1001 that has output the support request. The support request may include information regarding an image captured by the flying robot 1001 that has output the support request. The information regarding the image may be the image itself, or may be a URL indicating the storage location on the cloud network where the image is stored.

[0278] When the flying robot 1001 receives a support request from another flying robot 1001, it flies to the position of the flying robot 1001 that issued the support request based on information about the current position included in the support request. The flying robot 1001 that issued the support request may continue to output information about the current position of the flying robot 1001 that issued the support request until the flying robot 1001 that received the support request arrives.

[0279] As a result, even if the remaining charge of the battery 201 of the flying robot 1001 that first recognized the monitoring target becomes low, the flying robot 1001 can continue to monitor the monitoring target and take images by requesting assistance from another flying robot 1001. In this way, by using a plurality of flying robots 1001 to monitor the same farm or the like, the monitoring target can be monitored more reliably.

[0280] (Flying robot 101 processing procedure) Next, the processing procedure of the flying robot 101 will be described. FIG. 11 is a flowchart showing the processing procedure of the flying robot 101 according to the second embodiment of the present invention. In the flowchart of FIG. 11, first, the flying robot 101 waits until it detects a living body (step S1101: No). In step S1101, the flying robot 101 stops at, for example, the station 301. The device will wait in this state.

[0281] In step S1101, a living body is detected, for example, using objective sensor 206 (infrared sensor) shown in FIG. 2. Also, in step S1101, a living body may be detected based on a sound collected by microphone 203 shown in FIG. 2. Also, in step S1101, a living body may be detected based on an image captured by camera 103 shown in FIG. 1 or 2. Detection of a living body is not limited to one type of method, and may be performed using a plurality of types of methods. This allows detection of a living body with high accuracy.

[0282] In step S1101, if a living organism is detected (step S1101: Yes), flight is started (step S1102) and image capture is started (step S1103). Note that detection of a living organism and capture of images for detecting a living organism are not limited to being performed while waiting at station 301, and may be performed while constantly flying around a predetermined area such as a farm. In this case, the processing of steps S1102 and S1103 is not performed, and flight is started and images are captured before a living organism is detected.

[0283] Next, it is determined whether or not the monitoring target has been recognized based on the captured image (step S1104). If the monitoring target has not been recognized in step S1104 (step S1104: No), the monitoring target continues to be captured while moving and the captured image is analyzed until the monitoring target is recognized.

[0284] In step S1104, if the monitoring target is not recognized, the LED lamp 104 may be turned on to brightly illuminate the surroundings. This is expected to scare the monitoring target away from the farm, for example, if the monitoring target is a bird or animal. Also, if the monitoring target is a criminal intending to steal agricultural products, it is quite likely that the bright illumination will cause the criminal to reflexively hide his face or hide himself, making it easier to find the monitoring target in the captured image.

[0285] On the other hand, if the monitoring target is recognized in step S1104 (step S1104: Yes), recording of the captured image starts (step S1105). In step S1105, the captured image is stored in, for example, a memory in the control circuit 207 shown in FIG.

[0286] Images captured by the camera 103 may be recorded not only when a surveillance target is recognized, but also in their entirety. In this case, the captured images are stored in the memory of the control circuit 207 shown in Fig. 2, and when the memory capacity becomes full, images with older dates and times are overwritten with images with newer dates and times.

[0287] Alternatively, the captured image may be temporarily stored in the memory of the control circuit 207 shown in Fig. 2 and then appropriately stored on a cloud network via the communication I / F 209. The image temporarily stored in the memory of the control circuit 207 shown in Fig. 2 may be deleted from the memory after being stored on the cloud network, or may be continuously stored until the memory capacity is full, at which point the image with the older date and time may be overwritten with the image with the newer date and time.

[0288] Next, a predetermined process is executed (step S1106). In step S1106, for example, a recorded voice of a speech cautioning or warning against theft is output from speaker 204 shown in FIG. 2, or a synthetic voice imitating a speech cautioning or warning against theft is output.

[0289] If multiple patterns of speech are set for warning or cautioning against theft, in step S1106, speech of the same pattern may not be output continuously, but a combination of speech of multiple patterns may be output. This allows the subject to believe that a human being is monitoring the subject in a remote location and issuing a warning in real time, rather than a recorded voice.

[0290] In particular, when the target of surveillance is a criminal intent on stealing agricultural products, etc., it is expected that the surveillance system will make the criminal think that "someone from the farm or someone else will come to arrest me any minute," thereby preventing damage to agricultural products, etc., or preventing the damage from spreading further.

[0291] Also, in step S1106, for example, a siren, horn, signal, or whistle sound, or a synthetic voice imitating at least any of these sounds, may be output from speaker 204 shown in Fig. 2. Also, in step S1106, for example, LED lamp 104 shown in Fig. 1 or 2 may be turned on or blinked.

[0292] In step S1106, either one of the processes of outputting sound from speaker 204 shown in FIG. 2 and the process of lighting up LED lamp 104 shown in FIG. 1 and FIG. 2 may be performed, or both processes may be performed in parallel, or multiple processes may be performed in sequence.

[0293] Although all of the predetermined processes performed in step S1106 are processes for outputting sounds from speaker 204 shown in Fig. 2, multiple types of sounds may be output. Specifically, for example, after the sound of a siren is output, a recorded voice giving a caution or warning against theft may be output.

[0294] In step S1106, a process may be performed in which an image captured by camera 103 is sent, for example, via communication I / F 209 shown in FIG. 2 to a specified destination, such as an email address set in a specific smartphone or a specific URL set on a cloud network.

[0295] Then, it is determined whether the monitoring target recognized in step S1104 has moved outside a predetermined range such as a farm (step S1107). If the monitoring target has not moved outside the predetermined range in step S1107 (step S1107: No), the process proceeds to step S1106 and the execution of the predetermined process continues.

[0296] On the other hand, if the monitoring target has moved outside the predetermined range (step S1107: Yes), the drone flies back to the station 301 (step S1108), and the series of processes ends. Note that in step S1108, images may be captured during the return, and if the monitoring target is recognized, the processes from step S1105 onwards may be performed.

[0297] Alternatively, in step S1108, during return, detection of a living body may be performed using the objective sensor 206 or the microphone 203, and if a living body is actually detected, the processes from step S1103 onwards may be performed.

[0298] (An example of how the flying robot 101 is used) Next, an example of a usage mode of the flying robot 1001 will be described. FIG. 12 and FIG. 13 show an example of a usage mode of the flying robot 1001 according to the second embodiment of the present invention. FIG.

[0299] Any number of flying robots 1001 and stations 301, from one to more, are placed depending on the area and topography of the farm to be monitored. Specifically, for example, the larger the farm to be monitored, the more flying robots 1001 are placed.

[0300] The number of flying robots 1001 and the number of stations 301 do not have to be the same. Specifically, for example, the number of stations 301 may be greater than the number of flying robots 1001. This allows the flying robots 1001 to quickly move to the nearest station 301, thereby preventing the flying robots 1001 from falling due to a dead battery 201 or failing to photograph criminals, etc.

[0301] Or, specifically, for example, the number of flying robots 1001 may be less than the number of stations 301. In this way, the flying robots 1001 fly so as to alternately charge, and the power consumed by the stations 301 during standby in the entire farm or the like can be reduced.

[0302] In addition, when monitoring an area where visibility is poor due to the large number of trees 1201 with spreading branches and leaves 1201a, such as an orchard as shown in Figure 12, it is preferable to deploy multiple flying robots 1001 and stations 301 even if the area is not particularly large.

[0303] In the orchard, a person (criminal) 1203 carrying a box 1202 presumably containing fruit 1201b is recognized as a surveillance target. In Fig. 12, the fruit 1201b is shown visible from the box, but even if the contents such as the fruit 1201b are not visible, the weight of the baggage may be estimated based on the shape and the posture of the baggage.

[0304] This makes it possible to ensure the reliability of surveillance by eliminating the so-called blind spot where the criminal 1203 is shaded by the tree 1201 and cannot be monitored properly. Even in cases where the presence of the tree 1201 makes it difficult to fly around the criminal 1203, multiple flying robots 1001 can be used to photograph the criminal 1203 from multiple directions, thereby ensuring the reliability of surveillance.

[0305] In addition, for example, when monitoring an area where the objects to be monitored (such as pigs 1301 and chickens) are scattered here and there and move around independently, such as a pig farm or chicken coop as shown in Figure 13, it is preferable to deploy multiple flying robots 1001 and stations 301.

[0306] As a result, for example, in a pig farm or chicken coop where a criminal 1203 intending to steal livestock or poultry such as pigs 1301 has invaded, even if the criminal chases the livestock or poultry causing them to run away in all directions, multiple flying robots 1001 can fly in different directions to take pictures of the criminal 1203 without losing sight of him.

[0307] The multiple flying robots 1001 can cooperate with each other by communicating with each other via the communication I / F 209. Alternatively, one of the multiple flying robots 1001 can determine the flight route and shooting direction of the remaining flying robots 1001, and the one flying robot 1001 can fly to the remaining flying robots 1001. A row instruction may be transmitted.

[0308] As described above, the flying robot 1001 of the second embodiment of the present invention comprises an unmanned aerial vehicle (drone) that flies by automatic control and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that when it recognizes an object such as a criminal 1203 based on an image captured by the camera 103, it flies so as to approach the object.

[0309] According to the flying robot 1001 of the second embodiment of the present invention, the flying robot 1001 can be flown so as to approach a monitoring target recognized based on an image captured by the camera 103. By recognizing the monitoring target based on an image captured by the camera 103, the monitoring target can be recognized with higher accuracy than when the monitoring target is detected using only an infrared sensor. This allows the monitoring target to be reliably monitored without being confused by factors other than the monitoring target, such as a heat source installed separately for decoy purposes.

[0310] Furthermore, according to the flying robot 1001 of the second embodiment of the present invention, the flying robot 1001 is provided with the camera 103 integrally therewith, and therefore can fly autonomously to a position where it is easy to photograph the target to be monitored. This allows the flying robot 1001 to photograph the target to be monitored without blind spots, without being affected by environmental factors such as the trees 1201 and the structures of buildings around the flying robot 1001. This allows the flying robot 1001 to reliably photograph and monitor the target to be monitored with a simple configuration, as compared to the conventional technology in which a stationary sensor is used to detect the target to be monitored and a drone is dispatched based on the detection result.

[0311] In this way, the flying robot 1001 according to the second embodiment of the present invention can reliably monitor the monitoring target with a simple configuration. Also, the flying robot 1001 according to the second embodiment of the present invention can make the monitoring target aware that it is being monitored and can call the monitoring target's attention.

[0312] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that when it recognizes a monitoring target based on images captured by a camera, it flies in such a way as to capture images of the monitoring target from all directions.

[0313] According to the flying robot 1001 of the second embodiment of the present invention, by capturing images of the monitoring target from all directions, the monitoring target can be reliably identified based on the captured images. Furthermore, since the flying robot 1001 flies around the monitoring target to capture images of the monitoring target from all directions, the monitoring target can be reliably made aware that it is being monitored and the monitoring target's attention can be called. This makes it possible to reliably monitor the monitoring target with a simple configuration.

[0314] In particular, when a criminal 1203 who acts with the intent of stealing agricultural products or the like is the subject of surveillance, the subject can be informed that he or she is being monitored and recorded, and be impressed that his or her crime has been noticed and evidence has been taken, so that the criminal can be induced to leave the agricultural products he or she intended to steal and run away. This makes it possible to prevent damage to agricultural products on farms with a simple configuration.

[0315] Also, the flying robot 1001 according to the second embodiment of the present invention is characterized in that it recognizes a monitoring target based on an image captured by the camera 103 within a preset range.

[0316] According to the flying robot 1001 of the second embodiment of the present invention, the flying robot 1001 can fly over an infinitely wide area. By recognizing the monitoring target within a predetermined range rather than targeting the entire area as a monitoring target, the desired range can be monitored reliably. This ensures the monitoring accuracy of the monitoring target within the predetermined range, and the monitoring target can be reliably monitored with a simple configuration.

[0317] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined area is a farm.

[0318] According to the flying robot 1001 of the second embodiment of the present invention, intrusion of a monitored object into an unmanned farm at night or the like can be reliably monitored with a simple configuration.

[0319] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the object of monitoring is a bird, animal, or human being that possesses or carries agricultural products on a farm or an item that is presumed to be the agricultural product.

[0320] According to the flying robot 1001 of the second embodiment of the present invention, the targets of monitoring are limited to birds, animals, or humans that are carrying or transporting agricultural products on a farm or items that are presumed to be agricultural products, and by monitoring targets that invade a farm that is deserted at night, for example, the targets of monitoring can be monitored reliably with a simple configuration.

[0321] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined area is a crop cultivation farm.

[0322] The flying robot 1001 of the second embodiment of the present invention can reliably monitor the intrusion of a monitored object in a crop cultivation farm where there is concern of a decrease in visibility and a decrease in security due to the lack of sunlight at night and other times, which is almost certain to be unmanned. This allows the simple configuration to safely and reliably monitor the monitored object in the crop cultivation farm.

[0323] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that the object of monitoring is a bird, animal, or human being that possesses or carries a cultivated crop in a crop cultivation farm or an item that is presumed to be the cultivated crop.

[0324] According to the flying robot 1001 of the second embodiment of the present invention, the monitoring targets are limited to birds, animals, or humans who are cultivating crops in a crop cultivation farm or who possess or transport items that are presumed to be related to the crop cultivation, and the monitoring targets that invade a crop cultivation farm that is almost certainly deserted at night, etc., making it possible to reliably monitor the monitoring targets with a simple configuration. In other words, by limiting the monitoring targets, the processing load required for recognizing the monitoring targets can be reduced and the monitoring targets can be quickly recognized, making it possible to reliably monitor the monitoring targets with a simple configuration.

[0325] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined area is a livestock farm.

[0326] According to the flying robot 1001 of the second embodiment of the present invention, the monitoring range is limited to the livestock farm, and the inside of the livestock farm is monitored, so that the intrusion of the monitored object can be reliably monitored with a simple configuration. This makes it possible to reliably monitor the intrusion of the monitored object into the livestock farm, which is often unmanned at night and difficult to notice due to the noise made by livestock and poultry, with a simple configuration.

[0327] Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the object of monitoring is livestock or poultry on a livestock farm, or a bird, animal, or human being that possesses or carries an item that is presumed to be the livestock or poultry.

[0328] According to the flying robot 1001 of the second embodiment of the present invention, the monitoring targets are limited to birds, animals, or humans who possess or carry livestock or poultry on a livestock farm or items presumed to be livestock or poultry, and the monitoring targets who invade a livestock farm that is deserted at night or the like are monitored, so that the monitoring targets can be reliably monitored with a simple configuration. In other words, by limiting the monitoring targets, the processing load required for recognizing the monitoring targets can be reduced and the monitoring targets can be quickly recognized, so that the monitoring targets can be reliably monitored with a simple configuration.

[0329] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined area is an apiary.

[0330] According to the flying robot 1001 of the second embodiment of the present invention, the monitoring range is limited to the apiary, and the inside of the apiary is monitored, so that the intrusion of a monitoring target can be reliably monitored with a simple configuration. This makes it possible to reliably monitor the intrusion of a monitoring target into the apiary, which is often unmanned at night, with a simple configuration.

[0331] Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the object of monitoring is a bird, animal, or human being that possesses or carries a hive used for beekeeping or an item that is presumed to be such a hive.

[0332] According to the flying robot 1001 of the second embodiment of the present invention, the monitoring targets are limited to birds, animals, or humans who possess or carry hives used in a beekeeping farm or items presumed to be hives, and the monitoring targets who invade an unmanned apiary at night or the like are monitored, so that the monitoring targets can be reliably monitored with a simple configuration. In other words, by limiting the monitoring targets, the processing load required for recognizing the monitoring targets can be reduced and the monitoring targets can be quickly recognized, so that the monitoring targets can be reliably monitored with a simple configuration.

[0333] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that when it recognizes a monitoring target based on an image captured by the camera 103 during a predetermined time period, it flies so as to approach the monitoring target.

[0334] According to the flying robot 1001 of the second embodiment of the present invention, by recognizing the monitoring target based on the image captured by the camera 103 in a preset time period, it is possible to exclude people who have a legitimate or necessary reason for business reasons, etc. from the monitoring target, and to perform monitoring during unmanned times, such as at night. In this way, by limiting the monitoring period, it is possible to exclude people who have a legitimate or necessary reason from the monitoring target, thereby reducing the processing load for recognizing the monitoring target due to unnecessary monitoring, and it is possible to reliably monitor the monitoring target with a simple configuration.

[0335] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that if it recognizes a monitoring target based on an image captured by the camera 103 between the time it receives a specified input operation or a specified signal and the time it receives an operation to invalidate the specified input operation or a signal to invalidate the specified signal, it flies so as to approach the monitoring target.

[0336] According to the flying robot 1001 of the second embodiment of the present invention, By monitoring only during the period when there is a person who has legitimate or necessary reasons for business reasons, for example, monitoring is not performed, and monitoring can be performed during times when no one is present, such as at night. In this way, by limiting the monitoring period, people who have legitimate or necessary reasons can be excluded from the monitoring targets, so the processing load for recognizing the monitoring targets due to unnecessary monitoring can be reduced, and the monitoring targets can be reliably monitored with a simple configuration.

[0337] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that, when it recognizes a monitoring target, it flies so as to approach the monitoring target and outputs a predetermined sound toward the monitoring target.

[0338] According to the flying robot 1001 of the second embodiment of the present invention, the robot flies so as to approach the target of monitoring and outputs a predetermined sound toward the target of monitoring, thereby attracting the attention of the target of monitoring and making the target of monitoring aware that it is being monitored, and also alerting the surrounding area of ​​the intrusion of the target of monitoring, thereby reliably preventing theft of agricultural produce, etc.

[0339] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified voice is a recorded voice of a speech giving a caution or warning against theft, or a synthesized voice imitating a speech giving a caution or warning against theft.

[0340] According to the flying robot 1001 of the second embodiment of the present invention, a synthetic voice imitating a speech to warn or caution against theft is output, so that the monitored object can think that a human is nearby or can anticipate the approach of a human. Also, according to the flying robot 1001 of the second embodiment of the present invention, a predetermined voice is output from the speaker 204 integrally provided in the flying robot 1001, so that even if the monitored object moves, such as by running away, the voice can always be output near the monitored object in accordance with the movement of the monitored object. This makes it possible to issue a warning to the monitored object and to reliably notify the surroundings of the position of the monitored object. This also makes it possible to reliably prevent further damage to agricultural products, etc.

[0341] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified sound is a siren, a warning horn, a signal horn or a whistle, or a synthetic sound that imitates at least any one of these sounds.

[0342] According to the flying robot 1001 of the second embodiment of the present invention, by outputting a siren, a warning horn, a signal horn or a whistle, or a synthetic voice imitating at least any of these sounds, it is possible to make the monitored subject believe that a human is nearby or to make the subject anticipate the approach of a human.

[0343] Also, the flying robot 1001 according to the second embodiment of the present invention is characterized in that it outputs a predetermined sound while the recognized monitoring target is present within a preset monitoring range.

[0344] According to the flying robot 1001 of the second embodiment of the present invention, a predetermined sound is continuously outputted while the monitoring target is within the monitoring range, thereby warning the monitoring target and notifying the surroundings of the position of the monitoring target reliably. This makes it possible to quickly chase the monitoring target out of the monitoring range and reliably prevent further damage to agricultural products, etc.

[0345] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined sound has a sound pressure level of 80 dB or more.

[0346] The flying robot 1001 according to the second embodiment of the present invention can output a sound loud enough to be heard over a wide area, thereby making it possible to give a clear warning to the monitored object and to reliably notify the location of the monitored object over a wide area, thereby reliably preventing further damage to agricultural produce, etc.

[0347] Moreover, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined sound has a loudness level of 90 phon or more.

[0348] According to the flying robot 1001 of the second embodiment of the present invention, a clear warning can be given to the monitored object by outputting a sound with a loudness level of 90 or more, which is the volume of a disaster prevention siren, and the location of the monitored object can be reliably notified over a wide area, thereby reliably preventing further damage to agricultural products, etc.

[0349] The flying robot 1001 according to the second embodiment of the present invention is characterized in that it includes an LED lamp 104 as a light source mounted on the unmanned aerial vehicle, and flies while emitting light from the LED lamp 104.

[0350] According to the flying robot 1001 of the second embodiment of the present invention, the flying robot 1001 flies so as to approach the monitored object and emits light from the LED lamp 104, which is the light source, thereby attracting the attention of the monitored object and making the monitored object aware that it is being monitored. The flying robot 1001 can also alert the surrounding area of ​​the monitored object's intrusion, thereby reliably preventing theft of agricultural produce and the like.

[0351] The flying robot 1001 according to the second embodiment of the present invention is characterized in that it flies while blinking the LED lamp 104 serving as a light source.

[0352] According to the flying robot 1001 of the second embodiment of the present invention, the LED lamp 104 serving as the light source is flashed to attract the attention of the monitored subject, reliably making the monitored subject aware that he or she is being monitored, and reliably alerting the surrounding area of ​​the intrusion of the monitored subject, thereby reliably preventing theft of agricultural produce, etc.

[0353] The flying robot 1001 according to the second embodiment of the present invention is characterized in that it flies while blinking the LED lamp 104, which is a light source, with a luminous flux equal to or greater than a predetermined threshold value.

[0354] According to the flying robot 1001 of the second embodiment of the present invention, by flying while flashing a luminous flux equal to or greater than a predetermined threshold, it is possible to attract the attention of the monitored subject, ensure that the monitored subject is aware that he or she is being monitored, and more reliably alert the surrounding area of ​​the intrusion of the monitored subject, thereby reliably preventing the theft of agricultural produce, etc.

[0355] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that it is equipped with a communication I / F 209, which is a wireless communication interface mounted on the unmanned aerial vehicle, and when it recognizes a monitoring target based on an image captured by the camera 103, it transmits the image to a specified destination via the communication I / F 209.

[0356] According to the flying robot 1001 of the second embodiment of the present invention, the camera 103 By transmitting an image of the monitored object recognized based on the image captured by the camera to a specified destination, damage to agricultural produce or the like can be promptly and reliably notified to the manager of the agricultural produce, etc.

[0357] Also, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined destination is an email address set in a specific smartphone.

[0358] According to the flying robot 1001 of the second embodiment of the present invention, an image of a monitored object recognized based on an image captured by the camera 103 can be sent to an email address set in the smartphone of an interested party such as a farm manager, for example, so that the manager can be notified promptly and reliably. This allows the manager to quickly grasp damage such as farm produce being eaten by animals or farm produce being stolen by humans, and to prompt a response to prevent the damage from spreading.

[0359] Also, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the predetermined destination is a specific URL set on a cloud network.

[0360] According to the flying robot 1001 of the second embodiment of the present invention, an image of a monitoring target recognized based on an image captured by the camera 103 can be transmitted to a specific URL set on the cloud network, and the image can be reliably stored on the cloud network regardless of the size of the transmitted image. This ensures that the record of the monitoring target is stored, and the monitoring target can be identified at a later date after it is recognized.

[0361] In addition, the flying robot 1001 of the second embodiment of the present invention is characterized in that when it recognizes a monitoring target based on an image captured by the camera 103, the flying robot 1001 stores the image in a specified memory area.

[0362] According to the flying robot 1001 of the second embodiment of the present invention, for example, an image of a recognized target to be monitored can be stored in a predetermined storage area, such as a memory, in the control circuit 207 shown in FIG. 2, so that in the event of theft of agricultural produce or the like, the culprit can be identified using the recorded image.

[0363] The control method for the flying robot described in this embodiment can be realized by executing a prepared program on a computer included in the flying robot. The program is recorded on a computer-readable recording medium such as a memory included in the flying robot, and is executed by being read from the recording medium by the computer. The program may be stored on a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc. and distributed, or may be a transmission medium that can be distributed via a network such as the Internet.

[0364] The contents of the first embodiment will be described below as an addendum.

[0365] (Appendix 1) An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with A flying robot characterized in that, when an object is recognized based on an image captured by the camera, the flying robot flies so as to approach the object.

[0366] (Appendix 2) 2. The flying robot according to claim 1, characterized in that the camera is adapted to take pictures within a predetermined range.

[0367] (Appendix 3) The flying robot according to claim 2, wherein the predetermined range is a predetermined garbage collection area.

[0368] (Appendix 4) 4. The flying robot according to claim 2 or 3, characterized in that after flying to approach the target, the flying robot returns to a station installed within the specified range or in the vicinity of the specified range.

[0369] (Appendix 5) 5. The flying robot according to claim 2, wherein the flying robot flies within the predetermined range at a speed equal to or less than a set speed.

[0370] (Appendix 6) 5. The flying robot according to claim 2, wherein the flying robot flies in a hovering manner at an arbitrary position within the predetermined range.

[0371] (Appendix 7) 5. The flying robot according to claim 2, wherein the flying robot flies up and down at any position within the predetermined range.

[0372] (Appendix 8) A speaker mounted on the unmanned aerial vehicle; The flying robot described in any one of appendices 1 to 7, characterized in that when the target object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker and the flying robot flies so as to approach the target object.

[0373] (Appendix 9) 9. The flying robot according to claim 8, wherein the predetermined sound is output from the speaker to the target object.

[0374] (Appendix 10) The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound that imitates the cry of a bird of prey.

[0375] (Appendix 11) The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

[0376] (Appendix 12) The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

[0377] (Appendix 13) The predetermined sound is a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthetic sound that imitates these sounds. 10. The flying robot according to claim 8 or 9.

[0378] (Appendix 14) A light source mounted on the unmanned aerial vehicle; The flying robot described in any one of appendices 1 to 13, characterized in that when an object is recognized based on an image captured by the camera, the flying robot emits light from the light source and flies so as to approach the object.

[0379] (Appendix 15) 15. The flying robot according to any one of claims 1 to 14, characterized in that it has an appearance imitating a bird of prey.

[0380] (Appendix 16) The computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control, Taking an image using the camera, When an object is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the object. A control program for a flying robot, which causes the robot to execute a process.

[0381] (Appendix 17) 17. A control program for a flying robot according to claim 16, characterized in that the camera is caused to photograph a predetermined range.

[0382] (Appendix 18) 18. The control program for a flying robot according to claim 17, wherein the camera is caused to photograph a predetermined garbage collection area.

[0383] (Appendix 19) 19. A control program for a flying robot as described in appendix 16 or 18, characterized in that after flying the flying robot to approach the target object, the flying robot is flown to return to a station installed within the specified range or in the vicinity of the specified range.

[0384] (Appendix 20) 20. The control program for a flying robot according to any one of claims 17 to 19, wherein the flying robot is caused to fly within the predetermined range at a speed equal to or less than a set speed.

[0385] (Appendix 21) 20. The control program for a flying robot according to any one of claims 17 to 19, wherein the flying robot is caused to fly in a hovering manner at an arbitrary position within the predetermined range.

[0386] (Appendix 22) 20. The control program for a flying robot according to any one of claims 17 to 19, wherein the flying robot is caused to fly up and down at any position within the predetermined range.

[0387] (Appendix 23) A computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle, When the target object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker and the drone is caused to fly so as to approach the target object. 23. The flying robot control program according to claim 16, further comprising:

[0388] (Appendix 24) 24. The control program for a flying robot according to claim 23, wherein the predetermined sound is output from the speaker to the target object.

[0389] (Appendix 25) 25. The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded bird of prey cry or a synthetic sound that imitates a bird of prey cry.

[0390] (Appendix 26) 25. The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

[0391] (Appendix 27) 25. The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

[0392] (Appendix 28) The control program for a flying robot described in Appendix 23 or 24, wherein the predetermined sound is a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

[0393] (Appendix 29) A computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle, A control program for a flying robot described in any one of appendices 16 to 28, characterized in that when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot is caused to fly toward the object.

[0394] (Appendix 30) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically Taking an image using the camera, When an object is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the object. A control method for a flying robot, comprising: executing a process.

[0395] (Appendix 31) 31. The flying robot control method according to claim 30, wherein the camera is caused to photograph a predetermined range.

[0396] (Appendix 32) 32. The method for controlling an airborne robot according to claim 31, wherein the camera is caused to photograph a predetermined garbage collection area.

[0397] (Appendix 33) 33. A method for controlling a flying robot as described in claim 31 or 32, characterized in that after flying the flying robot to approach the target object, the flying robot is flown to return to a station installed within the specified range or in the vicinity of the specified range.

[0398] (Appendix 34) 34. The method for controlling a flying robot according to any one of claims 31 to 33, wherein the flying robot is caused to fly within the predetermined range at a speed equal to or less than a set speed.

[0399] (Appendix 35) 34. The method for controlling a flying robot according to any one of claims 31 to 33, wherein the flying robot is made to fly in a hovering manner at an arbitrary position within the predetermined range.

[0400] (Appendix 36) 34. The method for controlling a flying robot according to any one of claims 31 to 33, wherein the flying robot is caused to fly up and down at any position within the predetermined range.

[0401] (Appendix 37) A computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle, 37. The method for controlling a flying robot according to any one of claims 30 to 36, characterized in that, when the target object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker and the flying robot is caused to fly so as to approach the target object.

[0402] (Appendix 38) 38. The flying robot control method according to claim 37, wherein the predetermined sound is output from the speaker to the target object.

[0403] (Appendix 39) 39. The method for controlling a flying robot according to claim 37 or 38, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound imitating the cry of a bird of prey.

[0404] (Appendix 40) 39. The flying robot control method according to claim 37 or 38, wherein the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

[0405] (Appendix 41) 39. The method for controlling an airborne robot according to claim 37 or 38, wherein the predetermined sound is a recorded dog barking or a synthetic sound imitating a dog barking.

[0406] (Appendix 42) The method for controlling a flying robot described in Appendix 37 or 38, wherein the predetermined sound is a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

[0407] (Appendix 43) A computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle, 43. A method for controlling a flying robot according to any one of claims 30 to 42, characterized in that, when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot is caused to fly so as to approach the object.

[0408] The contents of the second embodiment will be described below as an addendum.

[0409] (Appendix 1) An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with A flying robot characterized in that when a monitoring target is recognized based on an image captured by the camera, the flying robot flies so as to approach the monitoring target.

[0410] (Appendix 2) The flying robot described in Appendix 1, characterized in that when it recognizes the monitoring target based on the images captured by the camera, it flies so as to capture images of the monitoring target from all directions.

[0411] (Appendix 3) 3. The flying robot according to claim 1 or 2, characterized in that it recognizes a monitoring target based on images captured by the camera within a predetermined range.

[0412] (Appendix 4) 4. The flying robot according to claim 3, wherein the predetermined area is a farm.

[0413] (Appendix 5) The flying robot according to claim 4, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries agricultural produce or an item presumed to be the agricultural produce at the farm.

[0414] (Appendix 6) 5. The flying robot according to claim 3, wherein the predetermined area is a crop cultivation farm.

[0415] (Appendix 7) The flying robot according to claim 6, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries a cultivated crop or an item that is presumed to be the cultivated crop in the crop cultivation farm.

[0416] (Appendix 8) 5. The flying robot according to claim 3, wherein the predetermined area is a livestock farm.

[0417] (Appendix 9) The flying robot described in Appendix 8, characterized in that the subject of monitoring is a livestock or poultry at the livestock farm, or a bird, animal, or human being that possesses or carries an item that is presumed to be the livestock or poultry.

[0418] (Appendix 10) 5. The flying robot according to claim 3, wherein the predetermined area is a beekeeping area.

[0419] (Appendix 11) The flying robot according to claim 10, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

[0420] (Appendix 12) Based on the images taken by the camera during a preset time period, 12. The flying robot according to any one of claims 1 to 11, characterized in that when a visual target is recognized, the flying robot flies so as to approach the monitored target.

[0421] (Appendix 13) The flying robot according to any one of appendices 1 to 12, characterized in that if the flying robot recognizes the monitoring target based on an image captured by the camera between receiving a specified input operation or a specified signal and receiving an operation to invalidate the specified input operation or a signal to invalidate the specified signal, the flying robot flies so as to approach the monitoring target.

[0422] (Appendix 14) The flying robot described in any one of appendices 1 to 13, characterized in that when the flying robot recognizes the monitoring target, the flying robot flies toward the monitoring target and outputs a predetermined sound toward the monitoring target.

[0423] (Appendix 15) The flying robot according to claim 14, wherein the predetermined voice is a recorded voice giving a caution or warning against theft, or a synthesized voice imitating a voice giving a caution or warning against theft.

[0424] (Appendix 16) The flying robot according to claim 14, wherein the predetermined sound is a siren, a warning horn, a signal horn or a whistle, or a synthesized sound that imitates at least any one of these sounds.

[0425] (Appendix 17) The flying robot according to any one of appendices 14 to 16, wherein the predetermined sound is output while the recognized monitoring target is within a preset monitoring range.

[0426] (Appendix 18) 18. The flying robot according to any one of claims 14 to 17, wherein the predetermined sound has a sound pressure level of 80 dB or more.

[0427] (Appendix 19) 18. The flying robot according to any one of claims 14 to 17, wherein the predetermined sound has a loudness level of 90 phon or more.

[0428] (Appendix 20) A light source mounted on the unmanned aerial vehicle; 20. The flying robot according to any one of claims 1 to 19, wherein the flying robot flies while emitting light from the light source.

[0429] (Appendix 21) 21. The flying robot described in claim 20, which flies while blinking the light source.

[0430] (Appendix 22) 22. The flying robot described in claim 21, wherein the flying robot flies while flashing the light source with a luminous flux equal to or greater than a predetermined threshold.

[0431] (Appendix 23) A wireless communication interface is provided on the unmanned aerial vehicle. The flying robot described in any one of Appendices 1 to 22, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0432] (Appendix 24) The flying robot described in Appendix 23, characterized in that the specified destination is an email address set in a specific smartphone.

[0433] (Appendix 25) The flying robot described in Appendix 23, characterized in that the specified destination is a specific URL set on a cloud network.

[0434] (Appendix 26) The flying robot according to any one of claims 1 to 25, characterized in that when the surveillance target is recognized based on an image captured by the camera, the image is stored in a predetermined memory area.

[0435] (Appendix 27) The computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control, Taking an image using the camera, When a surveillance target is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the target. A control program for a flying robot, which causes the robot to execute a process.

[0436] (Appendix 28) 28. A control program for a flying robot as described in claim 27, characterized in that when the monitoring target is recognized based on images taken by the camera, the flying robot is caused to fly so as to take images of the monitoring target from all directions.

[0437] (Appendix 29) 29. A control program for a flying robot according to claim 27 or 28, characterized in that a monitoring target is recognized based on an image captured by the camera within a predetermined range set in advance.

[0438] (Appendix 30) 30. The control program for an flying robot described in Appendix 29, wherein the predetermined area is a farm.

[0439] (Appendix 31) The control program for a flying robot described in Appendix 30, characterized in that the monitored object is a bird, animal, or human being that possesses or carries agricultural products on the farm or items that are presumed to be agricultural products.

[0440] (Appendix 32) 31. The control program for an flying robot according to claim 29 or 30, wherein the predetermined area is a crop cultivation farm.

[0441] (Appendix 33) The control program for the flying robot described in Appendix 32, characterized in that the monitored object is a bird, animal, or human being that possesses or carries a cultivated crop or an item that is presumed to be the cultivated crop in the crop cultivation farm.

[0442] (Appendix 34) 31. The control program for a flying robot according to claim 29 or 30, wherein the predetermined area is a livestock farm.

[0443] (Appendix 35) The control program for a flying robot described in Appendix 34, characterized in that the monitored object is a livestock or poultry at the livestock farm, or a bird, animal, or human being that possesses or carries an item presumed to be the livestock or poultry.

[0444] (Appendix 36) 31. The control program for an flying robot according to claim 29 or 30, wherein the predetermined range is a beekeeping area.

[0445] (Appendix 37) The control program for a flying robot described in Appendix 36, characterized in that the subject of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

[0446] (Appendix 38) A control program for a flying robot described in any one of Appendices 27 to 37, characterized in that when the monitoring target is recognized based on images taken by the camera during a predetermined time period, the flying robot is caused to fly so as to approach the monitoring target.

[0447] (Appendix 39) A control program for a flying robot described in any one of Appendices 27 to 38, characterized in that if the surveillance target is recognized based on an image captured by the camera between receiving a specified input operation or a specified signal and receiving an operation to invalidate the specified input operation or a signal to invalidate the specified signal, the flying robot is caused to fly so as to approach the surveillance target.

[0448] (Appendix 40) A control program for a flying robot described in any one of Appendices 27 to 39, characterized in that when the monitoring target is recognized, the flying robot is flown to approach the monitoring target and a predetermined sound is output toward the monitoring target.

[0449] (Appendix 41) The flying robot control program according to claim 40, wherein the predetermined voice is a recorded voice giving a caution or warning against theft, or a synthesized voice imitating a voice giving a caution or warning against theft.

[0450] (Appendix 42) The flying robot control program according to claim 40, wherein the predetermined sound is a siren, a warning horn, a signal horn or a whistle, or a synthesized sound that imitates at least any one of these sounds.

[0451] (Appendix 43) 43. The flying robot control program according to any one of appendices 40 to 42, characterized in that the predetermined sound is output while the recognized monitoring target is within a preset monitoring range.

[0452] (Appendix 44) 44. The flying robot control program according to any one of claims 40 to 43, wherein the predetermined sound has a sound pressure level of 80 dB or more.

[0453] (Appendix 45) 44. The flying robot control program according to any one of claims 40 to 43, wherein the predetermined sound has a loudness level of 90 phon or more.

[0454] (Appendix 46) A light source mounted on the unmanned aerial vehicle; 46. ​​A control program for a flying robot according to any one of claims 27 to 45, wherein the flying robot is caused to fly while emitting light from the light source.

[0455] (Appendix 47) 47. A control program for a flying robot according to claim 46, characterized in that the flying robot flies while blinking the light source.

[0456] (Appendix 48) 48. A control program for a flying robot according to claim 47, characterized in that the light source is caused to fly while flashing a luminous flux equal to or greater than a predetermined threshold.

[0457] (Appendix 49) A wireless communication interface is provided on the unmanned aerial vehicle. A control program for a flying robot described in any one of Appendices 27 to 48, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0458] (Appendix 50) The flying robot control program described in Appendix 49, characterized in that the specified destination is an email address set in a specific smartphone.

[0459] (Appendix 51) The flying robot control program described in Appendix 49, characterized in that the specified destination is a specific URL set on a cloud network.

[0460] (Appendix 52) A control program for a flying robot described in any one of Appendices 27 to 51, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is stored in a specified memory area.

[0461] (Appendix 53) The computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control, Taking an image using the camera, When a surveillance target is recognized based on the image captured by the camera, the target Fly so close to A control method for a flying robot, comprising: executing a process.

[0462] (Appendix 54) 54. A method for controlling a flying robot as described in claim 53, characterized in that when the monitoring target is recognized based on images taken by the camera, the flying robot is caused to fly so as to take images of the monitoring target from all directions.

[0463] (Appendix 55) 55. A method for controlling a flying robot according to claim 53 or 54, characterized in that a monitoring target is recognized based on an image captured by the camera within a predetermined range.

[0464] (Appendix 56) 56. The method for controlling an flying robot described in Appendix 55, wherein the specified area is a farm.

[0465] (Appendix 57) The flying robot control method of claim 56, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries agricultural produce on the farm or an item that is presumed to be the agricultural produce.

[0466] (Appendix 58) 57. The method for controlling an airborne robot according to claim 55 or 56, wherein the predetermined area is a crop cultivation farm.

[0467] (Appendix 59) 59. The flying robot control method according to claim 58, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries a cultivated crop or an item that is presumed to be the cultivated crop in the crop cultivation farm.

[0468] (Appendix 60) 57. The method for controlling an airborne robot according to claim 55 or 56, wherein the predetermined range is a livestock farm.

[0469] (Appendix 61) The flying robot control method described in Appendix 60, characterized in that the monitored object is a livestock or poultry at the livestock farm, or a bird, animal, or human being that possesses or carries an item presumed to be the livestock or poultry.

[0470] (Appendix 62) 57. The method for controlling an flying robot described in Appendix 55 or 56, wherein the specified area is a beekeeping area.

[0471] (Appendix 63) The flying robot control method according to claim 62, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

[0472] (Appendix 64) A method for controlling a flying robot described in any one of Appendices 55 to 63, characterized in that when the monitoring target is recognized based on images taken by the camera during a predetermined time period, the flying robot is caused to fly so as to approach the monitoring target.

[0473] (Appendix 65) A method for controlling a flying robot as described in any one of Appendices 53 to 64, characterized in that if the surveillance target is recognized based on an image captured by the camera between receiving a specified input operation or a specified signal and receiving an operation to invalidate the specified input operation or a signal to invalidate the specified signal, the flying robot is caused to fly so as to approach the surveillance target.

[0474] (Appendix 66) A method for controlling a flying robot described in any one of Appendices 55 to 65, characterized in that when the monitoring target is recognized, the flying robot is flown to approach the monitoring target and a predetermined sound is output toward the monitoring target.

[0475] (Appendix 67) The flying robot control method of claim 66, wherein the predetermined voice is a recorded voice giving a caution or warning against theft, or a synthesized voice imitating a voice giving a caution or warning against theft.

[0476] (Appendix 68) 67. The flying robot control method of claim 66, wherein the predetermined sound is a siren, a warning horn, a signal horn or a whistle, or a synthesized sound that imitates at least any one of these sounds.

[0477] (Appendix 69) A method for controlling an flying robot described in any one of Appendices 66 to 68, characterized in that the specified sound is output while the recognized monitoring target is present within a preset monitoring range.

[0478] (Appendix 70) 70. The flying robot control method according to any one of claims 66 to 69, wherein the predetermined sound has a sound pressure level of 80 dB or more.

[0479] (Appendix 71) 70. The flying robot control method according to any one of claims 66 to 69, wherein the predetermined sound has a loudness level of 90 phon or more.

[0480] (Appendix 72) A light source mounted on the unmanned aerial vehicle; 72. A method for controlling a flying robot according to any one of claims 55 to 71, characterized in that the flying robot is flown while the light source is being made to emit light.

[0481] (Appendix 73) 73. The method for controlling a flying robot according to claim 72, wherein the flying robot is caused to fly while the light source is blinking.

[0482] (Appendix 74) The light source is caused to fly while flashing a luminous flux equal to or greater than a predetermined threshold value. 74. A method for controlling a flying robot according to claim 73.

[0483] (Appendix 75) A wireless communication interface is provided on the unmanned aerial vehicle. A method for controlling an airborne robot according to any one of appendices 53 to 74, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0484] (Appendix 76) The flying robot control method described in Appendix 75, characterized in that the specified destination is an email address set in a specific smartphone.

[0485] (Appendix 77) The flying robot control method described in Appendix 75, characterized in that the specified destination is a specific URL set on a cloud network.

[0486] (Appendix 78) A method for controlling a flying robot described in any one of Appendices 53 to 77, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is stored in a specified memory area. [Industrial Applicability]

[0487] As described above, the flying robot, the control program for a flying robot, and the control method for a flying robot of the present invention are useful for a flying robot, a control program for a flying robot, and a control method for a flying robot that monitors garbage collection sites, etc., and are particularly suitable for a flying robot, a control program for a flying robot, and a control method for a flying robot that monitors the arrival of crows at garbage collection sites. [Explanation of symbols]

[0488] 101 Flying Robot 102 Propeller 103 Camera 104 LED lamps 201 Battery 202 Motor 203 Mike 204 Speaker 205 GPS sensor 206 Object Sensor 207 Control Circuit 208 Accelerometer 209 Communication I / F 210 Solar Cell 301 Station 302 Exterior part 303 Battery 304 Transmission coil 305 Solar Cell 401 Storage section 402 Detection unit 403 Photography Department 404 Acquisition Department 405 Drive unit 406 Output section 407 Control Unit 601 Post 602 Garbage dump 701 Crow 1001 Flying Robot 1201 Trees 1201a Branches and leaves 1201b Fruit 1202 boxes 1203 Criminal 1301 Pig

Claims

1. An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with A flying robot characterized in that, when an object is recognized based on an image captured by the camera, the flying robot flies so as to approach the object.

2. 2. The flying robot according to claim 1, wherein the camera captures an image within a predetermined range.

3. 3. The flying robot according to claim 2, wherein the predetermined area is a garbage collection area that has been set in advance.

4. 4. The flying robot according to claim 2 or 3, wherein after flying so as to approach the target object, the flying robot returns to a station installed within the predetermined range or in the vicinity of the predetermined range.

5. 5. The flying robot according to claim 2, wherein the flying robot flies within the predetermined range at a speed equal to or less than a set speed.

6. 5. The flying robot according to claim 2, wherein the flying robot flies in a hovering manner at any position within the predetermined range.

7. 5. The flying robot according to claim 2, wherein the flying robot flies up and down at any position within the predetermined range.

8. A speaker mounted on the unmanned aerial vehicle; The flying robot according to any one of claims 1 to 7, characterized in that, when the target object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker and the flying robot flies so as to approach the target object.

9. 9. The flying robot according to claim 8, wherein the predetermined sound is output from the speaker to the target object.

10. 10. The flying robot according to claim 8, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound that imitates the cry of a bird of prey.

11. 10. The flying robot according to claim 8, wherein the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

12. 10. The flying robot according to claim 8, wherein the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

13. The flying robot according to claim 8 or 9, characterized in that the predetermined sound is a recorded sound made by a crow under attack, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

14. A light source mounted on the unmanned aerial vehicle; When an object is recognized based on an image captured by the camera, the light source is turned on.

14. The flying robot according to claim 1, characterized in that it emits light and flies so as to approach the target object.

15. 15. The flying robot according to any one of claims 1 to 14, characterized in that it has an appearance imitating a bird of prey.

16. The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically Taking an image using the camera, When an object is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the object. A control program for a flying robot, which causes the robot to execute a process.

17. 17. The flying robot control program according to claim 16, wherein the camera is caused to capture an image within a predetermined range.

18. 18. The control program for a flying robot according to claim 17, characterized in that the camera is caused to photograph a garbage collection site that has been set in advance.

19. A control program for a flying robot as described in claim 16 or 18, characterized in that after flying the robot to approach the target object, the flying robot is caused to fly back to a station installed within the specified range or in the vicinity of the specified range.

20. 20. The flying robot control program according to claim 17, wherein the flying robot is caused to fly within the predetermined range at a speed equal to or less than a set speed.

21. 20. The control program for a flying robot according to any one of claims 17 to 19, characterized in that the flying robot is caused to hover at an arbitrary position within the predetermined range.

22. The flying robot control program according to any one of claims 17 to 19, characterized in that the flying robot is caused to fly up and down at any position within the predetermined range.

23. A computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle, A control program for a flying robot as described in any one of claims 16 to 22, characterized in that when the target object is recognized based on an image captured by the camera, a predetermined sound is output from the speaker and the flying robot is caused to fly so as to approach the target object.

24. 24. The flying robot control program according to claim 23, wherein the predetermined sound is output from the speaker to the target object.

25. 25. The flying robot control program according to claim 23, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound that imitates the cry of a bird of prey.

26. 25. The flying robot control program according to claim 23, wherein the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

27. The predetermined sound may be a recorded dog barking or a synthetic sound that imitates a dog barking.

25. The flying robot control program according to claim 23 or 24,

28. The flying robot control program according to claim 23 or 24, characterized in that the specified sound is a recorded sound made by an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

29. A computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle, A control program for a flying robot described in any one of claims 16 to 28, characterized in that when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot is caused to fly close to the object.

30. The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically Taking an image using the camera, When an object is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the object. A control method for a flying robot, comprising: executing a process.

31. 31. The flying robot control method according to claim 30, wherein the camera is caused to photograph a predetermined range.

32. The method for controlling an flying robot according to claim 31, characterized in that the camera is caused to photograph a garbage collection site that has been set in advance.

33. The method for controlling a flying robot according to claim 31 or 32, characterized in that after flying the robot to approach the target object, the flying robot is flown so as to return to a station installed within the specified range or in the vicinity of the specified range.

34. The method for controlling a flying robot according to any one of claims 31 to 33, characterized in that the flying robot is flown within the predetermined range at a speed equal to or less than a set speed.

35. The method for controlling a flying robot according to any one of claims 31 to 33, characterized in that the flying robot is made to fly in a hovering manner at an arbitrary position within the predetermined range.

36. The method for controlling a flying robot according to any one of claims 31 to 33, characterized in that the flying robot is made to fly up or down at any position within the predetermined range.

37. A computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle, A method for controlling a flying robot according to any one of claims 30 to 36, characterized in that, when the target object is recognized based on an image captured by the camera, a predetermined sound is output from the speaker and the flying robot is caused to fly so as to approach the target object.

38. The method for controlling an flying robot according to claim 37, further comprising the step of outputting the predetermined sound from the speaker to the target object.

39. 39. The method for controlling an flying robot according to claim 37 or 38, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound imitating a cry of a bird of prey.

40. The predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

39. The flying robot control method according to claim 37 or 38,

41. 39. The method for controlling an airborne robot according to claim 37 or 38, wherein the predetermined sound is a recorded dog barking or a synthesized sound that imitates a dog barking.

42. The method for controlling a flying robot according to claim 37 or 38, characterized in that the specified sound is a recorded sound made by an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

43. A computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle, A method for controlling a flying robot according to any one of claims 30 to 42, characterized in that, when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot is caused to fly so as to approach the object.

Images