Flight type robot

Abstract

To reliably monitor a monitoring object with a simple configuration.SOLUTION: A flight type robot 1001 flies to approach a monitoring object when recognizing the monitoring object such as wildlife that has entered a farm and a criminal who steels farm products based on an image photographed by a camera which is mounted on an unmanned aircraft flying by automatic steering. Thus, the monitoring object is recognized based on the image photographed by the camera, so as to accurately recognize the monitoring object when compared with a case to detect the monitoring object (such as a criminal 1203) with the use of only an infrared ray sensor. Thus, the monitoring object can be reliably monitored with a simple configuration.SELECTED DRAWING: Figure 13

Description

Technical Field

[0001] The present invention relates to a flying robot for monitoring farms and the like, a control program for the flying robot, and a control method for the flying robot.

Background Art

[0002] In recent years, theft of agricultural products (agricultural and livestock products) in farms such as crop cultivation farms and livestock farms has become a problem. The theft often occurs late at night or in the early morning when most people are sleeping. Even if it is possible to record the situation of the theft using a surveillance camera or the like, it is difficult to take real-time measures such as catching the scene of the theft.

[0003] As a related technology, specifically, conventionally, for example, when a plurality of communication devices installed in a farmland detect that a person, animal, object, etc. has invaded the farmland, a communication terminal device (dispatch unit) that has received a signal notifying the detection outputs a dispatch signal to a management machine waiting in the vicinity of the farmland, and a management machine (multicopter) that has received this dispatch signal is dispatched to the vicinity of the communication device that detected the intrusion (see, for example, Patent Document 1 below). The position of each communication device is specified by a management machine that uses GPS to specify its own position associating the identification information of its own device transmitted from the communication device with the position where the identification information was received.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

[0005] However, conventional technologies such as the above-mentioned Patent Document 1 have the problem that the equipment configuration is complex, as multiple communication devices are installed in the field and a cultivator is dispatched via a communication terminal device (dispatch unit) when a communication device detects intrusion into the field.

[0006] Furthermore, conventional technologies such as those disclosed in Patent Document 1 mentioned above have the problem that, in order to ensure a certain level of detection accuracy regardless of the size of the field, the larger the field, the more communication devices must be installed, which increases the burden on managers to maintain the equipment.

[0007] Furthermore, in conventional technologies such as Patent Document 1 mentioned above, the cultivator uses GPS to determine its own location, and determines the location of each communication device by correlating the identification information of the device itself transmitted from the communication device with the location where the identification information was received. Therefore, if a communication device is removed and moved to another location by a malicious third party, there is a problem that even if the communication terminal device (dispatch unit) receives a signal from the communication device detecting an intrusion into the field, it is unable to dispatch the cultivator to the location where the intruder is actually located.

[0008] In order to solve the problems associated with the conventional technology described above, an object of the present invention is to provide an flying robot that can reliably monitor a monitoring target with a simple configuration, a control program for a flying robot, and a control method for a flying robot.

[0009] In particular, in order to solve the problems of the above-mentioned conventional technology, the present invention provides a flying robot that can prevent damage to agricultural products in a farm with a simple configuration, The object of the present invention is to provide a control program for a flying robot and a control method for a flying robot. [Means for solving the problem]

[0010] In order to solve the above-described 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 a monitoring target is recognized based on an image captured by the camera, the flying robot is characterized in that it flies so as to approach the monitoring target.

[0011] Further, the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized based on an image captured by the camera, the flying robot flies so as to capture images of the monitoring target from all directions.

[0012] Further, the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is recognized based on an image captured by the camera within a preset predetermined range.

[0013] Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a farm.

[0014] Further, the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports agricultural products in the farm or articles presumed to be the agricultural products.

[0015] Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a crop cultivation farm.

[0016] Further, the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports cultivated crops in the crop cultivation farm or articles presumed to be the cultivated crops.

[0017] Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a livestock farm.

[0018] Further, in the flying robot according to the present invention, in the above invention, the monitoring target is a bird, animal or human that holds or transports livestock or poultry in the livestock farm, or an article presumed to be the livestock or poultry.

[0019] Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a beekeeping farm.

[0020] Further, the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports a hive box used for beekeeping or an article presumed to be the hive box.

[0021] Further, the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized based on an image captured by the camera in a preset time period, it flies so as to approach the monitoring target.

[0022] Further, the flying robot according to the present invention, in the above invention, after receiving a predetermined input operation or a predetermined signal, until receiving an operation for invalidating the predetermined input operation or a signal for invalidating the predetermined signal when the monitoring target is recognized based on an image captured by the camera, it flies so as to approach the monitoring target.

[0023] Further, the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized, it flies so as to approach the monitoring target and outputs a predetermined voice toward the monitoring target.

[0024] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a voice recording a speech for warning or alerting theft, or a synthesized voice imitating a speech for warning or alerting theft.

[0025] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a voice of a siren, a police siren, a horn or a whistle, or a synthesized voice imitating at least any one of these voices.

[0026] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is output while the recognized monitoring target exists within a preset monitoring range.

[0027] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice has a sound pressure level of 80 dB or more.

[0028] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice has a loudness level of 90 phons or more.

[0029] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it includes a light source mounted on the unmanned aerial vehicle and flies while emitting light from the light source.

[0030] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it flies while blinking the light source.

[0031] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it flies while blinking the light source with light having a luminous flux equal to or higher than a predetermined threshold value.

[0032] Further, the flying robot according to the present invention, in the above invention, comprises a wireless communication interface mounted on the unmanned aircraft, and when recognizing the monitoring target based on the image captured by the camera, transmits the image to a predetermined destination via the wireless communication interface.

[0033] Further, the flying robot according to the present invention, in the above invention, is characterized in that the predetermined destination is an email address set in a specific smartphone.

[0034] Further, the flying robot according to the present invention, in the above invention, is characterized in that the predetermined destination is a specific URL set on a cloud network.

[0035] Further, the flying robot according to the present invention, in the above invention, when recognizing the monitoring target based on the image captured by the camera, stores the image in a predetermined storage area.

[0036] Further, the control program of the flying robot according to the present invention causes a computer of a flying robot including an unmanned aircraft equipped with a camera and flying by automatic control to perform shooting by the camera, and when recognizing a monitoring target based on the image captured by the camera, causes the aircraft to fly so as to approach the target object.

[0037] Further, the control program of the flying robot according to the present invention, in the above invention, when recognizing the monitoring target based on the image captured by the camera, causes the aircraft to fly so as to capture images of the monitoring target from all directions.

[0038] Further, the control program of the flying robot according to the present invention, in the above invention, recognizes a monitoring target based on an image captured by the camera within a predetermined range set in advance.

[0039] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a farm in the above invention.

[0040] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports agricultural products in the farm or articles presumed to be the agricultural products.

[0041] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a crop cultivation farm.

[0042] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports cultivated crops in the crop cultivation farm or articles presumed to be the cultivated crops.

[0043] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a livestock farm.

[0044] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports livestock or poultry in the livestock farm or articles presumed to be the livestock or poultry.

[0045] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a beekeeping farm.

[0046] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports a beehive used for beekeeping or articles presumed to be the beehive.

[0047] In addition, the control program of the flying robot according to the present invention, in the above invention, when recognizing the monitoring target based on the image captured by the camera in a preset time period, is characterized by flying so as to approach the monitoring target.

[0048] In addition, the control program of the flying robot according to the present invention, in the above invention, after receiving a predetermined input operation or a predetermined signal, until receiving an operation for invalidating the predetermined input operation or a signal for invalidating the predetermined signal, when recognizing the monitoring target based on the image captured by the camera, it flies so as to approach the monitoring target is characterized by doing so.

[0049] In addition, the control program of the flying robot according to the present invention, in the above invention, when recognizing the monitoring target, is characterized by flying so as to approach the monitoring target and outputting a predetermined voice toward the monitoring target.

[0050] In addition, the control program of the flying robot according to the present invention, in the above invention, the predetermined voice is a voice obtained by recording a speech for warning or cautioning against theft, or a synthetic voice imitating a speech for warning or cautioning against theft.

[0051] In addition, the control program of the flying robot according to the present invention, in the above invention, the predetermined voice is a voice of a siren, a police siren, a horn or a whistle, or a synthetic voice imitating at least any one of these voices.

[0052] In addition, the control program of the flying robot according to the present invention, in the above invention, is characterized by outputting the predetermined voice while the recognized monitoring target exists within a preset monitoring range.

[0053] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound has a sound pressure level of 80 dB or more.

[0054] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound has a loudness level of 90 phons or more.

[0055] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, it includes a light source mounted on the unmanned aircraft and flies while emitting light from the light source.

[0056] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, it flies while blinking the light source.

[0057] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, it flies while blinking the light source with light having a luminous flux equal to or greater than a predetermined threshold value.

[0058] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, it includes a wireless communication interface mounted on the unmanned aircraft, and when the monitoring target is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0059] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, the predetermined destination is an email address set in a specific smartphone.

[0060] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, the predetermined destination is a specific URL set on a cloud network.

[0061] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized based on the image captured by the camera, the image is stored in a predetermined storage area.

[0062] In addition, the control method of the flying robot according to the present invention is characterized in that, in a computer of a flying robot including an unmanned aircraft equipped with a camera and flying by automatic control, when the camera is caused to perform shooting and the monitoring target is recognized based on the image captured by the camera, a process of flying so as to approach the object is executed.

[0063] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized based on the image captured by the camera, the flying robot is caused to fly so as to capture images from all directions of the monitoring target.

[0064] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is recognized based on the image captured by the camera within a preset predetermined range.

[0065] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a farm.

[0066] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal, or human that holds or transports agricultural products in the farm or articles presumed to be the agricultural products.

[0067] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a crop cultivation farm.

[0068] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports a cultivated crop in the crop cultivation farm or an article presumed to be the cultivated crop.

[0069] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a livestock farm.

[0070] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports livestock or poultry in the livestock farm or an article presumed to be the livestock or poultry.

[0071] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined range is a beekeeping farm.

[0072] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the monitoring target is a bird, animal or human that holds or transports a beehive used for beekeeping or an article presumed to be the beehive.

[0073] In addition, the control method of the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized based on the image captured by the camera in a preset time period, the robot is made to fly so as to approach the monitoring target.

[0074] In addition, the control method of the flying robot according to the present invention is such that, in the above invention, when the monitoring target is recognized based on the image captured by the camera between receiving a predetermined input operation or a predetermined signal and receiving an operation for invalidating the predetermined input operation or a signal for invalidating the predetermined signal, the robot is made to fly so as to approach the monitoring target characterized by this.

[0075] Also, in the method for controlling a flying robot according to this invention, in the above invention, when the monitoring target is recognized, the flying robot is made to fly so as to approach the monitoring target, and a predetermined voice is output toward the monitoring target.

[0076] Also, in the method for controlling a flying robot according to this invention, in the above invention, the predetermined voice is a voice obtained by recording a statement for warning or cautioning against theft, or a synthetic voice imitating a statement for warning or cautioning against theft.

[0077] Also, in the method for controlling a flying robot according to this invention, in the above invention, the predetermined voice is a voice of a siren, a police siren, a horn or a whistle, or a synthetic voice imitating at least any one of these voices.

[0078] Also, in the method for controlling a flying robot according to this invention, in the above invention, the predetermined voice is output while the recognized monitoring target exists within a preset monitoring range.

[0079] Also, in the method for controlling a flying robot according to this invention, in the above invention, the predetermined voice is characterized in that the sound pressure level is 80 dB or more.

[0080] Also, in the method for controlling a flying robot according to this invention, in the above invention, the predetermined voice is characterized in that the loudness level is 90 phons or more.

[0081] Also, in the method for controlling a flying robot according to this invention, in the above invention, the unmanned aerial vehicle is equipped with a light source, and the flying robot is made to fly while emitting light from the light source.

[0082] Also, in the method for controlling a flying robot according to this invention, in the above invention, the flying robot is made to fly while flashing the light source.

[0083] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the light source is caused to fly while flashing light having a light flux equal to or greater than a predetermined threshold value.

[0084] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, it includes a wireless communication interface mounted on the unmanned aerial vehicle, and when the monitoring target is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0085] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined destination is an email address set in a specific smartphone.

[0086] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, the predetermined destination is a specific URL set on a cloud network.

[0087] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, when the monitoring target is recognized based on the image captured by the camera, the image is stored in a predetermined storage area.

Effect of the Invention

[0088] According to the flying robot, the control program for the flying robot, and the control method for the flying robot according to the present invention, it is possible to surely monitor the monitoring target with a simple configuration.

[0089] Further, according to the flying robot, the control program for the flying robot, and the control method for the flying robot according to the present invention, it is possible to prevent damage to agricultural products in a farm with a simple configuration.

Brief Description of the Drawings

[0090]

Figure 1

Figure 2

Figure 3A

Figure 3B

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Figure 13

Mode for Carrying Out the Invention

[0091] With reference to the accompanying drawings, preferred embodiments of the flying robot, the control program for the flying robot, and the control method for the flying robot according to the present invention will be described in detail below.

[0092] <Embodiment 1> (An example of the appearance of the flying robot) First, an example of the appearance of the flying robot according to Embodiment 1 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 Embodiment 1 of the present invention. As shown in FIG. 1, the flying robot 101 is in the form of a drone (unmanned aerial vehicle).

[0093] Specifically, for example, a quadcopter equipped with four propellers 102 can be adopted as the drone. The drone is not limited to a quadcopter, and various multicopters such as a hexacopter equipped with six propellers and an octocopter equipped with eight propellers can be adopted.

[0094] The flying robot 101 according to Embodiment 1 of the present invention, for example, flies to a garbage collection site, recognizes a crow that scatters garbage as an object, and drives the crow away from the garbage collection site. The flying robot 101 can have a shape imitating a bird, particularly a raptor such as a hawk that crows are afraid of, as shown in FIG. 1, for example. Specifically, the flying robot 101 includes a head with a beak, a member 105 imitating a bird's wings and tail, etc. The head with a beak and the member 105 imitating a bird's wings and tail may each be movable.

[0095] Specifically, for example, members 105 such as the beak, head, wings, and tail can be independently moved by a motor, a gear train, or a link mechanism. Thereby, the flying robot 101 can imitate actions such as wagging its tail and moving its wings.

[0096] ​Note that the flying robot 101 is not limited to a shape imitating birds such as eagles. The flying robot 101 is not limited to existing birds and beasts in modern times, but may have a shape imitating extinct animals such as dinosaurs, mythical beasts such as dragons and unicorns, or insects, and may be equipped with members such as tails, ears, feet (legs, limbs), horns, fangs, and whiskers, not limited to beaks, heads, wings, and tails.

[0097] Also, the flying robot 101 is equipped with a camera 103. The camera 103 can be realized by, for example, a general-purpose digital camera. As shown in FIG. 1, in the flying robot 101 having a shape imitating birds such as eagles, for example, the lens of the camera 103 can be provided at a portion corresponding to the eyes. 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 fish-eye lens. By using a fish-eye lens, a wide range can be photographed.

[0098] The flying robot 101 photographs an image of the surroundings of the flying robot 101 with the camera 103. The flying robot 101 photographs, for example, within a predetermined range set in advance. The predetermined range can be, for example, a garbage accumulation site set in advance. The setting of the predetermined range can be performed, for example, by receiving a signal designating the corresponding range from a terminal device such as a smartphone installed with a predetermined application.

[0099] The predetermined range can be specifically specified by, for example, a standard regional mesh. More specifically, the moving range of the image projection device 100 can be specified by, for example, a primary mesh, a secondary mesh, a tertiary mesh, etc. Also, the moving range of the image projection device 100 may be specified by, for example, divided regional meshes such as a half regional mesh, a quarter regional mesh, an eighth regional mesh, etc. obtained by further subdividing the tertiary mesh. By specifying the predetermined range by the standard regional mesh, the predetermined range within which the flying robot 101 flies can be precisely restricted based on the position information using a GPS sensor (see FIG. 2).

[0100] The flying robot 101 recognizes crows based on the images captured by the camera 103. The recognition of crows can be performed, for example, by image recognition. In image recognition, image preprocessing such as noise removal and background removal, and feature extraction are performed to determine the presence or absence of crows in the images captured by the camera 103. The flying robot 101 may store the information regarding the captured images in the memory (see FIG. 2) provided in the flying robot 101. for reference).

[0101] The flying robot 101 of this Embodiment 1 flies so as to drive the crows that have entered a predetermined range, such as a garbage collection site, outside 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, when an image within the predetermined range is captured and the captured image contains crows, the flight starts, it takes off from the station, and flies so as to approach the crows. The station can be installed, for example, within the predetermined range or in the vicinity of the predetermined range.

[0102] Instead of a general-purpose digital camera, the camera 103 may be implemented by, for example, a night vision camera that amplifies sensitivity to light to photograph dark places, an infrared camera that has sensitivity to infrared rays, or an infrared color night vision camera that analyzes black-and-white shades in an image taken by an infrared camera to photograph a color image. By taking images using a night vision camera, an infrared camera, an infrared color night vision camera, etc., the user can be accurately recognized even at night or in a low-illumination indoor environment.

[0103] The camera 103 provided in the flying robot 101 may be one unit or a plurality of units. In the flying robot 101 equipped with a plurality of cameras 103, it is not limited to one type of camera 103, and a plurality of different types of cameras 103 may be provided. As shown in FIG. 1, in the flying robot 101 shaped like an animal, for example, the lens of the camera 103 may be provided at a portion corresponding to the eyes.

[0104] The camera 103 may be connected to the drone in a state where the attitude can be adjusted. Specifically, the camera 103 can be connected, for example, to the bottom surface of the drone via a universal joint such as a ball joint. 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.

[0105] Furthermore, the flying robot 101 may be provided with a drive mechanism for changing the attitude of the camera 103 with respect to the drone. Thereby, the attitude of the camera 103 with respect to the drone can be adjusted without manual intervention. The drive mechanism can be constituted by, for example, a motor and a gear train. By enabling the attitude of the camera 103 with respect to the drone to be adjusted without manual intervention, the photographing 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.

[0106] The flying robot 101 may be provided with a power receiving coil in wireless power transfer (Wireless Power Transfer, Contactless Power Transmission). Wireless power transfer (wireless power supply) is a technology for receiving power for a battery (see FIG. 2) without passing through a charging contact, and is also referred to as contactless power supply or wireless power supply.

[0107] The power receiving coil is provided inside the outer surface of the housing of the flying robot 101. Thereby, it is possible to avoid deterioration and failure of the power receiving coil due to water droplets such as rain and dew, and skin oil. The flying robot 101 may be provided with a charging contact for charging the battery instead of or in addition to the power receiving coil.

[0108] Also, as shown in FIG. 1, in the flying robot 101 having a shape like an animal, for example, an LED lamp (light source) 104 may be provided at a portion corresponding to the eyes. The LED lamp 1 04 may be one or a plurality may be provided. When there is a lens of the camera 103 at a portion corresponding to the eyeball, the LED lamp 104 may be provided so as to surround the lens.

[0109] When a plurality of LED lamps 104 are provided, each LED lamp 104 may be a single unit and may be capable of emitting light with a plurality of emission colors switched. Thereby, by mixing lights of a plurality of colors, it is possible to emit light dimmed to a color that birds and beasts 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.

[0110] The flying robot 101 may further include a solar cell (solar battery, 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 enables the reliable intake of external light during flight for efficient power generation. Also, by including a solar cell, charging can be performed during flight, thus ensuring a longer flight time per flight.

[0111] (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 according to Embodiment 1 of the present invention. As shown in FIG. 2, the hardware of the flying robot 101 includes a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, a proximity sensor 206, a control circuit 207, an acceleration sensor 208, a communication I / F 209, an LED lamp 104, a solar cell 210, etc. Each part 103, 104, 201 - 210 included in the flying robot 101 is connected by a bus 200.

[0112] The battery 201 supplies power required for the operation of each part included in the flying robot 101. The battery 201 can be realized, for example, by 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.

[0113] The motor 202 is controlled by the control circuit 207 and rotates to rotate the propeller 102. 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 number of propellers 102, each propeller 102 can be rotated independently, enabling the flying robot 101 to move forward, backward, or turn left and right.

[0114] When the flying robot 101 is provided with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motor constituting the drive mechanism. Thereby, while the flying robot 101 moves, it can adjust the attitude of the camera 103 without the intervention of a human hand and can photograph an arbitrary range or a wide range.

[0115] The camera 103 includes an image sensor, and photographs an image by causing the image sensor to receive light of the lens that has passed through the photographing lens. Further, the camera 103 outputs the photographed image, that is, the image information (photographing data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

[0116] The camera 103 may be configured to photograph still images or may be configured to photograph moving images. The moving images include those obtained by continuously photographing still images photographed at predetermined time intervals. The image information may be compressed according to a standard format of a compression method for predetermined moving image / audio data (for example, MPEG (Moving Picture Experts Group)).

[0117] The microphone 203 collects sounds around the flying robot 101. The microphone 203 converts the input sound as analog data into an electrical signal. Specifically, the microphone 203 performs analog / digital conversion on the input analog audio signal as analog data and generates audio data in digital format.

[0118] The speaker 204 generates sound by vibrating a diaphragm with an electrical signal that is an audio signal. Further, 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 only in one direction.

[0119] 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, a baseband unit, etc. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the pre-modulation 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 for removing unnecessary components, and amplifiers such as an LNA (Low Noise Amplifier) and a power amplifier PA (Power Amplifier).

[0120] The current position of the flying robot 101 can be identified by positioning based on radio waves transmitted from a plurality of GPS satellites. The baseband unit calculates the distances to four GPS satellites respectively, and performs positioning by calculating the position where the respective distances intersect. Instead of GPS for obtaining the geometric position between the GPS satellite and the flying robot 101 based on the radio waves received from the GPS satellite, satellite positioning systems such as Michibiki, GLONASS, Galileo, etc. may be used to identify the current position of the flying robot 101.

[0121] The object sensor 206 detects the presence or absence of obstacles existing within a predetermined range from the flying robot 101. An obstacle is an object that hinders the flight of the flying robot 101. Specifically, for example, walls, ceilings, furniture, people, etc. are applicable. When flying the flying robot 101 outdoors, for example, all objects that hinder the flight of the flying robot 101, such as vehicles, flying robots 101 other than the own device, trees, buildings, etc., are applicable as obstacles.

[0122] The object sensor 206 can be specifically realized by, for example, non-contact sensors such as infrared sensors, capacitance sensors, and ultrasonic sensors. The object sensor 206 can be realized by at least any one of non-contact sensors such as infrared sensors, capacitance sensors, and ultrasonic sensors. The flying robot 101 may be equipped with a plurality of types of non-contact sensors as the object sensor 206. Further, the flying robot 101 may detect the presence or absence of obstacles existing within a predetermined range from the flying robot 101 based on the image captured by the camera 103.

[0123] The acceleration sensor 208 detects the movement such as gravity and vibration applied to the flying robot 101, and impacts. The acceleration sensor 208 can use, for example, a frequency change type acceleration sensor such as a crystal acceleration sensor with low noise and high stability. Further, the acceleration sensor may use a piezoelectric acceleration sensor, a capacitance type acceleration sensor, a piezoresistive acceleration sensor, or the like.

[0124] The solar cell 210 is configured by bonding a P-type silicon semiconductor that tends to be positively charged and an N-type silicon semiconductor that tends to be negatively charged via a PN junction surface. In the solar cell 210, when light energy from external light such as sunlight is applied to the PN junction surface, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 210, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electric power can be taken out through wires connected to the respective electrodes.

[0125] The control circuit 207 drives and controls each part of the flying robot 101. The control circuit 207 can be realized by a microcomputer composed of a CPU, a memory, etc. The memory stores various types of information such as the control program of the flying robot according to Embodiment 1 of this invention, information about 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), an FPGA (Field-Programmable Gate Array), or the like.

[0126] The CPU controls the overall operation of the flying robot 101 by executing the program stored in the memory. The memory stores various types of information such as the program executed by the CPU, information about various conditions related to the operation of the flying robot 101, and information about the image captured by the camera 103.

[0127] Specifically, the memory can be realized by, for example, an IC memory, an SSD (Solid State Drive), or the like. Also, the memory may be a memory card 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 be configured to realize its function by an external USB memory or the like.

[0128] In addition, the control circuit 207 includes a charging circuit that charges the battery 201 with the power generated by the solar cell 210, a remaining amount measurement circuit that measures the remaining amount of the battery 201, and the like. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 210. The remaining amount measurement circuit measures the remaining amount of the battery 201 using various known methods such as the impedance tracking method, the voltage measurement method, the Coulomb counter method, or the battery cell modeling method.

[0129] In addition, the control circuit 207 includes circuits such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed Controller), a BEC (Battery Elimination Circuit), or a UBEC (Universal BEC).

[0130] The IMU is a set of sensors necessary for the drone to acquire external information, and is composed of, for example, an acceleration sensor 208, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic azimuth sensor (compass), etc. In addition, the above GPS sensor 205 is also included in the IMU.

[0131] The acceleration sensor 208 detects the change in the speed of the drone. The gyro sensor and the acceleration sensor 208 can calculate the change amounts of both the inclination of the drone and the speed of the drone, so that the drone can continue to fly even if it remains tilted. Therefore, the drone can continue to fly even if it remains tilted.

[0132] The gyro sensor detects the change in the angle of the drone. The gyro sensor detects the change in the angle of the drone, for example, by measuring the angular velocity using the Coriolis force. The gyro sensor enables the drone to fly stably.

[0133] The barometric pressure sensor detects the altitude of the drone. The barometric pressure sensor detects the altitude of the drone, for example, by detecting the change in barometric pressure. By measuring the altitude of the drone with the barometric pressure sensor, the altitude of the drone can be maintained.

[0134] The ultrasonic sensor detects the distance from an object (such as the floor surface or an obstacle) located below the drone. The ultrasonic sensor is provided, for example, on the lower surface of the drone, and detects the distance from an object located below the drone by utilizing the reflection of ultrasonic waves emitted downward from the drone.

[0135] This enables stable ground (floor, ground, etc.) tracking of the drone and return to the station (see FIGS. 3A and 3B). When an ultrasonic sensor is used as the object sensor 206, ultrasonic waves can be emitted in all directions of the drone, and the ultrasonic sensor can perform both the function as the object sensor 206 and the function as part of the IMU.

[0136] The magnetic azimuth sensor detects the direction in which the drone is facing, whether it is north, south, east, or west. Since the flying robot 101 is affected by magnetism depending on the location where it is flown, it is preferable to perform compass calibration and adjust the magnetic azimuth sensor when changing the flying location during operation.

[0137] The IMU, together with the above microcontroller, constitutes 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 (the motor 202 of the propeller). 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 and repeats calculations, and recursively outputs a control signal to the motor 202.

[0138] Specifically, for example, the flight controller outputs a control signal to control the counter-rotation of adjacent propellers 102 to prevent the rotation of the flying robot 101. Also, for example, the flying robot 101 is advanced by controlling the propeller 102 in front of the traveling direction to rotate slower than the propeller 102 in the rear of the traveling direction. Also, for example, the flying robot 101 is turned to the right by controlling the propeller 102 on the right side of the traveling direction to rotate slower than the propeller 102 on the left side of the traveling direction.

[0139] The communication I / F 209 is a wireless communication interface that connects the flying robot 101 and the network N through a communication line, controls the interface between the network N and the inside of the flying robot 101, and controls the input of data from an external device connected via the network N and the output of data to the external device. The network N is realized, for example, by the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.

[0140] The communication I / F 209 can be realized, for example, by a wireless interface using Wi-Fi (registered trademark). Further, the communication I / F 209 may be an interface for wireless communication such as a mobile phone line (for example, LTE (Long Term Evolution), PHS (Personal Handy-phone System), etc.). The communication via the communication I / F 209 may be performed periodically, such as at a predetermined time or at regular intervals, or may be performed at an arbitrary timing according to the status of the communication line or the like. The above memory may store information acquired by the communication via the communication I / F 209.

[0141] The LED lamp 104 provided in the portion corresponding to the eye is controlled by the control circuit 207 and lights on, off, or blinks in conjunction with the flight operation of the flying robot 101. Further, the LED lamp 104 may guide the state of the flying robot 101. Specifically, for example, when the remaining charge amount falls below a predetermined threshold value, it blinks in a predetermined pattern. The emission color of the LED lamp 104 is not limited to one color and may be a plurality of colors.

[0142] The flying robot 101 may also include, although not shown in the figure, an input device such as a key or a button for giving an input instruction to the flying robot 101, a power switch for switching the ON / OFF of the power supply of the flying robot 101, and an LED lamp provided at a position other than the portion corresponding to the eye.

[0143] The input device may be used for the above-described predetermined range settings. Specifically, for example, when a predetermined input instruction for the flying robot 101 is received via the input device, the location (position information) where the input instruction is received is identified using a GPS sensor 205 or the like, and the area within a predetermined range from the identified location can be set as the predetermined range. The input device may be realized by a connection terminal or the like that can connect to other information processing devices.

[0144] (Configuration of the Station) Next, the configuration of the station will be described. FIGS. 3A and 3B are explanatory diagrams showing the configuration of the station. In FIG. 3A, an example of the appearance of the station is shown. In FIG. 3B, the A-A cross section in FIG. 3A is shown.

[0145] As shown in FIGS. 3A and 3B, the station 301 includes an exterior portion 302 having a substantially box shape with one side open. The station 301 is installed with the open portion in the exterior portion 302 facing a predetermined range, that is, toward the side of the garbage collection area. The station 301 is preferably installed at a height that is difficult for human hands to reach. This can prevent pranks on the station 301 and the flying robot 101.

[0146] The station 301 includes a battery 303 and a power transmission coil 304 in wireless power supply. The battery 303 is preferably a large-capacity battery mounted on, for example, an electric vehicle. 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 portion 302 or may be separate from the exterior portion 302.

[0147] The power transmission coil 304 is connected to the battery 303, enclosed in a cover formed using materials such as ABS resin or silicone rubber, and waterproofed. As a result, the station 301 can supply power to the battery 201 through wireless power transmission.

[0148] Also, the station 301 may be equipped with a solar cell 305 that generates electricity using external light such as sunlight or a charging circuit that charges the battery 303 with the power generated by the solar cell 305. The solar cell 305 is provided on the top surface of the exterior portion 302 of the station 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 305. The station 301 may be connected to a commercial power source or a generator, etc., without being equipped with the solar cell 305 or the battery 303.

[0149] The station 301 may be configured by providing a window using a transparent acrylic plate or the like in a part of the exterior portion 302 and providing a curtain-like partition on the open side of the exterior portion 302. In the station 301 having such a configuration, by installing the window in a predetermined range, that is, in a state facing the side of the garbage collection area, while photographing a predetermined range through the window, the intrusion of dust etc. into the inside of the station 301 can be reduced, and the deterioration of the flying robot 101 can be suppressed.

[0150] By installing such a station 301 within or near the above-mentioned predetermined range as described above, when crows enter within the predetermined range, it can quickly approach the crows and drive them away. Also, the power consumption due to flight can be suppressed. The above-mentioned predetermined range may be set based on the installation position of the station 301. Specifically, for example, a wireless communication function may be provided in the station 301, the 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.

[0151] More specifically, the communication between the station 301 and the flying robot 101 uses, for example, Bluetooth (registered trademark). By using Bluetooth, which is designed for one-to-one communication, it is possible to suppress the power consumption for communication as compared with wireless communication such as Wi-Fi in terms of both communication speed and communication distance.

[0152] 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, the power transmission coil 304 can be energized to generate a magnetic field in the power transmission coil 304, and power supply to the battery 201 can be performed. Thereby, the consumption of the battery 303 can be suppressed.

[0153] The station 301 may be provided with a wireless communication router such as a mobile Wi-Fi router. Thereby, the station 301 can function as a communication spot, and the flying robot 101 can perform communication via the station 301. Also, by installing one station 301, a plurality of flying robots 101 can be used.

[0154] Further, when the station 301 is provided with a wireless communication router, when the remaining amount of the battery 303 becomes equal to or less than a predetermined threshold value set in advance for the battery 303, a portable telephone or the like owned by a specific person such as an administrator may be notified that charging or replacement of the battery 303 of the battery 303 is necessary. Thereby, while suppressing the burden on the administrator for managing the station 301, the function of the station 301 can be reliably maintained.

[0155] (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 this invention. As shown in FIG. 4, the functions of the flying robot 101 are realized by a storage unit 401, a detection unit 402, a photographing unit 403, an acquisition unit 4 04, a drive unit 405, an output unit 406, and a control unit 407.

[0156] The storage unit 401 stores various programs related to the control by the control unit 407 and various information including thresholds used for the execution of the programs. Specifically, the storage unit 401 stores, for example, information regarding the feature amounts of crows related to pattern recognition (image recognition) used for the recognition of crows.

[0157] Also, the storage unit 401 stores the image information photographed by the photographing unit 403, the information acquired by the acquisition unit 404, and the like. The storage unit 401 may store information regarding the charging spots of the battery. 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.

[0158] The detection unit 402 detects, for example, a signal output from a terminal device such as a smartphone installed with a predetermined application. Also, the detection unit 402 may detect that a predetermined input instruction to the flying robot 101 has been received via an input device such as a key or a button, which is performed by, for example, a user of the flying robot 101. Specifically, the function of the detection unit 402 can be realized by, for example, the communication I / F 209 shown in FIG. 2.

[0159] In addition, the detection unit 402 detects the presence or absence of obstacles existing within a predetermined range from the flying robot 101. In this case, specifically, the detection unit 402 can realize its function by, for example, the object sensor 206 shown in FIG. 2. Also, in this case, specifically, the detection unit 402 can realize its function by, for example, instead of the object sensor 206 or in addition to the object sensor 206, the camera 103 shown in FIGS. 1 and 2.

[0160] The detection of the presence or absence of obstacles by the camera 103 can be realized by using, for example, a moving stereo method that obtains the distance to an obstacle based on the parallax (the difference between each image) in each of a plurality of different images taken at different positions obtained by the movement of the flying robot 101. By using the moving stereo method, it is possible to detect the presence or absence of obstacles existing within a predetermined range from the flying robot 101 using a monocular camera.

[0161] The imaging unit 403 images an image within a predetermined range. The imaging unit 403, for example, images an image within the predetermined range from the outside of the predetermined range. Also, the imaging unit 403 may, for example, image an image within the predetermined range within the predetermined range. Specifically, the imaging unit 403 can realize its function by, for example, the camera 103 shown in FIGS. 1 and 2.

[0162] The above storage unit 401 may store the image information related to the image captured by the imaging unit 403. Also, in addition to the image information, the storage unit 401 may store information regarding the location and time when the image related to the image information was captured, in association with the image information. The information regarding the location and time when the image was captured can be specified, for example, by using the GPS sensor 205 shown in FIG. 2.

[0163] The acquisition unit 404 acquires information outside the flying robot 101. Specifically, the acquisition unit 404 acquires predetermined information from an external device via the network N, for example. Specifically, the acquisition unit 404 can realize its function by, for example, the communication I / F 209 shown in FIG. 2.

[0164] Specifically, the acquisition unit 404 acquires information indicating that an event that may affect surrounding humans such as a disaster may occur within a predetermined time after the current time. Specifically, the acquisition unit 404 acquires information indicating that a disaster, earthquake, tsunami, thunder, rainfall, strong wind, or sudden weather change may occur within a predetermined time after the current time, for example.

[0165] Further, the acquisition unit 404 may acquire information learned by another flying robot 101, for example. Thereby, the information obtained by the learning of a single flying robot 101 can be shared by a plurality of other flying robots 101, and the flying robot 101 can be made to perform actions more suitable for crow recognition and crow expulsion.

[0166] The drive unit 405 controls the flight of the flying robot 101. Specifically, the drive unit 405 can realize its function by, for example, the propeller 102 shown in FIG. 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in FIG. 2.

[0167] The output unit 406 causes a predetermined sound to be emitted from the speaker 204, for example. The predetermined sound can be, for example, a recorded raptor cry or a synthesized sound imitating a raptor cry. Further, the predetermined sound may be, for example, a recorded gunfire sound or a synthesized sound imitating a gunfire sound.

[0168] Furthermore, the predetermined sound may be, for example, a recorded barking sound of a dog, or a synthetic voice imitating the barking sound of a dog, or a voice obtained by recording the sound made by a crow that has been attacked, a crow that is on guard, or a crow that is frightened, or a synthetic voice imitating these voices. In this case, the output unit 406 can specifically implement its function by, for example, the speaker 204 shown in FIG. 2.

[0169] Also, the output unit 406 turns on the LED lamp 104, for example. Also, the output unit 406 blinks the LED lamp 104, for example. In this case, the output unit 406 can specifically implement its function by, for example, the LED lamp 104 shown in FIGS. 1 and 2.

[0170] Also, the output unit 406 may output a voice notifying that there is a possibility that an event that may affect the surrounding people, such as a disaster, earthquake, tsunami, thunderstorm, rainfall, strong wind, or sudden weather change, may occur, or cause the LED lamp 104 to emit light or blink in a specific pattern or emission color.

[0171] The control unit 407 controls the entire flying robot 101. Specifically, the control unit 407 can implement its function by, for example, the control circuit 207 shown in FIG. 2. More specifically, the control unit 407 can implement its function by executing a program stored in a memory or the like by, for example, the CPU in the control circuit 207 shown in FIG. 2.

[0172] The control unit 407 causes the flying robot 101 to fly, for example, by controlling the drive unit 405. Further, the control unit 407 performs imaging, for example, by driving and controlling the imaging unit 403. Furthermore, the control unit 407 recognizes an object based on the image captured by the imaging unit 403. The object can be, for example, a crow. Recognition of the object (crow) is performed, for example, by determining whether or not the object is included in the image captured by the imaging unit 403.

[0173] The control unit 407 has an AI (Artificial Intelligence) function and may learn a plurality of types of objects (crows) such as hooded crows and jungle crows. The control unit 407 may be equipped with a specialized artificial intelligence specialized in recognizing crows. In recent years, miniaturization of computers equipped with artificial intelligence has advanced, and even a control circuit 207 (computer) equipped with artificial intelligence can fly the flying robot 101 smoothly. The control unit 407 may further learn animals such as cats that scatter the garbage accumulated at the garbage collection site, and humans who take away recyclable garbage.

[0174] At the time of recognizing the object, the control unit 407 removes noise, distortion, etc. of the image captured by the imaging unit 403, for example, emphasizes the contour of the object included in the image, or adjusts the brightness and color tone of the image, thereby making it easier to extract the object (crow) included in the image. Further, when the lens of the camera 103 is a wide-angle lens, distortion correction of the image may be performed.

[0175] Also, at the time of recognizing the object, the control unit 407 extracts features such as the position of the wings and the shape of the beak in pixel units, for example, and determines whether or not the object is included in the image captured by the imaging unit 403 based on various information such as the color and brightness assigned to the pixels.

[0176] 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 subjected to distortion correction so as to be an image similar to that of a standard lens.

[0177] The object may be a crow that is fishing for garbage or is about to fish for garbage. That is, when only a crow is photographed, it is not recognized as an object, but when the crow touches the garbage or the distance between the crow and the garbage becomes equal to or less than a predetermined value, the crow may be recognized as an object.

[0178] 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 can be, for example, the size of the flying crow, the day of the week when it often flies, the time when it often flies, and the direction from which it flies.

[0179] And in this case, the control unit 407 may perform shooting by driving and controlling the shooting unit 403 only under conditions where a crow is likely to fly. Alternatively, in this case, the control unit 407 may continuously perform shooting under conditions where a crow is likely to fly, and perform intermittent shooting at time intervals such as 5 minutes or 10 minutes under conditions where a crow is less likely to fly.

[0180] Intermittent shooting is performed, for example, by performing shooting for 1 minute, then stopping shooting for 5 minutes, and then performing shooting for 1 minute again. Whether the condition is a condition where a crow is likely to fly can be determined, for example, by whether elements such as the current day of the week and time correspond to preset conditions. Also, whether the condition is a condition where a crow is likely to fly can be determined, for example, by whether the number of elements corresponding to the preset conditions exceeds a predetermined threshold value.

[0181] In addition, when the control unit 407 recognizes the target object (crow), it controls the drive unit 405 to fly the flying robot 101. For example, when the control unit 407 recognizes the target object based on the image captured by the imaging unit 403, it controls the drive unit 405 to fly the flying robot 101 so as to approach the target object.

[0182] Specifically, the control unit 407 flies from the inside to the outside of a predetermined range relative to the crow so as to push the target object out of a predetermined range. Thereby, pressure can be applied to the crow, and the crow can be driven away from the garbage collection site without damaging the crow.

[0183] When the control unit 407 recognizes the target object (crow), for example, it flies at a speed equal to or lower than the set speed within a predetermined range. Also, when the control unit 407 recognizes the target object (crow), it may perform hovering flight or vertical flight at an arbitrary position within the predetermined range. The arbitrary position within the predetermined range can be, for example, around the crow. Also by this, pressure can be applied to the crow, and the crow can be driven away from the garbage collection site without damaging the crow.

[0184] The flying robot 101 integrally equipped with the camera 103 can autonomously fly to a position where it is easy to capture images inside the garbage collection site. Thereby, for example, it is possible to capture the crow without dead angles without being affected by environmental factors such as the position of the camera, the position of trees and houses around the garbage collection site, the way of putting out the garbage, and the shape and size of the put-out garbage. Thus, compared with the conventional technology in which a drone is flown based on the image captured by an installed camera to drive away crows from a garbage collection site or the like, the crow can be surely captured, and the crow can be effectively driven away from the garbage collection site.

[0185] In addition, the flying robot 101 equipped with the camera 103 integrally can autonomously fly to a position where it can surely photograph crows. As a result, compared with the conventional technology of driving a drone based on an image captured by an installed camera to drive away crows from a garbage collection site or the like, it is possible to avoid losing sight of crows, surely photograph crows, and effectively drive away crows from the garbage collection site.

[0186] The inventor named the flying robot 101 that operates to drive away crows existing in a predetermined range such as a garbage collection site, that is, to repel crows that fly to the garbage collection site and scatter garbage, as the "Dro Crow". In addition, the inventor named the flying robot 101 that operates to drive away crows existing in a predetermined range such as a garbage collection site, that is, to repel crows that fly to the garbage collection site and scatter garbage, as the "Dro Attacker".

[0187] The control unit 407 may execute a predetermined process while controlling the drive unit 405 to fly the flying robot 101 so as to approach the object. For example, when the output unit 406 is realized by the speaker 204 shown in FIG. 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to output a sound imitating the cry of a raptor or output a sound made by a frightened crow.

[0188] When the speaker 204 is a directional speaker, even in a noisy environment, by flying while confirming the position of the crow with the camera 103, the sound emitted by the speaker 204 can surely reach the target crow without being mixed with or disappearing into the surrounding sounds.

[0189] In addition, when the speaker 204 is a directional speaker, by emitting sound only in the necessary direction, it is possible to avoid the sound being emitted in all directions to a direction where there are no crows. Thereby, even if the garbage collection site is in a residential area, it is possible to suppress causing trouble to the surrounding residents.

[0190] Also, for example, when the output unit 406 is realized by the LED lamp 104 shown in FIGS. 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, by blinking the LED lamp 104 provided in the part corresponding to the eyes, the visibility of the flying robot 101 can be enhanced, and the presence of the flying robot 101 can be made aware of by crows from a distance.

[0191] Highly intelligent crows, even if they are robots, understand that the flying robot 101 has the shape of a raptor that crows are afraid of and has "eyes". By blinking the LED lamp 104, which is the "eye" of the raptor, to create a situation that cannot exist in nature, the uneasiness of the crows can be aroused, the comfort in the garbage collection site can be worsened, and the crows can be induced to leave the garbage collection site. As a result, without hurting the crows, the crows can be effectively driven away from a predetermined range such as a garbage collection site, and the crows can be kept away from the garbage collection site where the flying robot 101 is deployed.

[0192] When recognizing a crow that is fishing for garbage or is about to fish for garbage as an object, the control unit 407 may start flying from the station 301 when recognizing a crow in the image and fly at a certain distance or more away from the crow without approaching it. This can prevent the flying robot 101 from driving away crows that do not cause nuisance behaviors to humans, such as scattering garbage, and prevent excessive pressure from being exerted on the crows.

[0193] In addition, by teaching highly intelligent crows that "if they don't eat at that place (the garbage collection site), the flying robot will chase them," they can be induced not to scavenge for garbage, and in the long term, it is expected to solve the problem of garbage scattering. Also, it is expected that crows living around the garbage collection site can be kept away from the area around the garbage collection site in order to ensure the convenience of eating garbage on a daily basis. As a result, since the activity area of crows overlaps with the living area of humans, it is expected to reduce the risk of humans being attacked by crows during the breeding season.

[0194] When there are no crows within a predetermined range (the garbage collection site and its vicinity), the control unit 407 controls the drive unit 405 to fly the flying robot 101 back to the station 301. Also, when the remaining amount of the battery 201 becomes equal to or less than a predetermined amount, the control unit 407 may control the drive unit 405 to fly the flying robot 101 back to the station 301.

[0195] (Processing procedure of the flying robot 101) 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 according to Embodiment 1 of 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 a crow has been recognized (step S502).

[0196] In step S502, as described above, noise, distortion, etc. of the captured image are removed, the outline of the object included in the image is emphasized, or the brightness and color tone of the image are adjusted, so that the object (crow) included in the image can be easily extracted. Also, when recognizing the object, the control unit 407 extracts features such as the position of the wings and the shape of the beak in pixel units, for example, and determines whether the object is included in the image captured by the camera 103 based on various information such as the color and brightness assigned to the pixels.

[0197] Also, in step S502, information regarding the recognized crow characteristics may be stored in the memory in the control circuit 207 shown in FIG. 2. The information regarding the crow characteristics can be, for example, the size of the flying crow, the day of the week when it often flies in, the time when it often flies in, from which direction it flies in, etc.

[0198] In step S502, based on the captured image, wait until a crow is recognized (step S502: No). When recognized (step S502: Yes), start flying from the station 301 (step S503). In step S503, for example, start flying so as to approach the crow recognized in step S502: Yes.

[0199] Also, execute a predetermined process (step S504). In step S504, for example, fly inside the garbage collection site at a speed below the set speed, hover fly, or fly up and down at an arbitrary position such as around the crow inside the garbage collection site.

[0200] Also, in step S504, for example, output a sound imitating the cry of a raptor from the speaker 204, output the sound made by a frightened crow, output a recorded barking sound of a dog, or a synthesized sound imitating the barking sound of a dog, output a sound recorded from an attacked crow, a vigilant crow, or a frightened crow, or a synthesized sound imitating these sounds.

[0201] Also, in step S504, for example, turn on or blink the LED lamp 104. Also, in step S504, for example, emit a strong light instantaneously like a flash. Also, in step S504, for example, change the emission color of the LED lamp 104. When the LED lamp 104 is provided so as to frame the lens of the camera 103, it may be turned on or blinked so as to rotate around the periphery (around the eyes) of the lens.

[0202] These predetermined processes are not always the same. For example, based on the image captured by camera 103, if the magnitude of the crow's reaction is recognized and it is determined that the effect is low in the process being executed, another process may be switched to and executed. Also, the process is not limited to one, and two or more processes may be executed in parallel.

[0203] Then, it is determined whether or not the crows have been driven out of the garbage collection site (step S505). In step S505, for example, based on the image captured by camera 103, the current position of the flying robot 101 identified using the GPS sensor 205, and the orientation of the flying robot 101 identified using other sensors provided in the flying robot 101, it is determined whether or not the crows have been driven out of the garbage collection site.

[0204] In step S505, if the crows have not been driven out of the garbage collection site (step S505: No), the process proceeds to step S504 and a predetermined process is executed. In step S504 when passing through step S505: No, a process different from the previously executed process may be executed, or the same process may be continuously executed.

[0205] Also, in step S504 when passing through step S505: No, more processes than the number of previously executed processes may be executed, such as outputting the sound of a raptor's cry while hovering in flight.

[0206] In step S505, if the crows have been driven out of the garbage collection site (step S505: Yes), it returns to station 301 (step S506), step S501 Move to [the specified location] and take an image. In step S506, at the station 301, return to the station 301 so that the inside of the garbage collection yard can be photographed and power can be received from the power transmission coil 304. Note that even during the return to the station 301, continue photographing the inside of the garbage collection yard. If a crow is recognized, interrupt the return to the station 301 and fly to drive the crow away.

[0207] Also, during the above processing, if the remaining amount of the battery 201 becomes equal to or less than a predetermined threshold value set in advance for the battery 201, fly back to the station 301 regardless of the presence or absence of crows in the garbage collection yard. The predetermined threshold value set in advance for the battery 201 can be, for example, the remaining amount of the battery 201 that allows the flying robot 101 to surely return to the station 301 based on the positional relationship between the current position of the flying robot 101 and the station 301. Thereby, it is possible to surely suppress an unexpected situation such as the flying robot 101 falling and being damaged due to a shortage of the remaining amount of the battery 201.

[0208] (An example of the usage mode of the flying robot 101) Next, an example of the usage mode of the flying robot 101 will be described. FIGS. 6 to 9 are explanatory views showing an example of the usage mode of the flying robot 101 according to Embodiment 1 of the present invention.

[0209] In FIG. 6, the station 301 is fixed to the upper part of the support column 601. Thereby, since the station 301 and the standby flying robot 101 can be positioned at a height that is difficult for a human hand to reach, it is possible to prevent pranks on the station 301 and the flying robot 101.

[0210] As shown in FIG. 6, while receiving power supply from the power transmission coil 304 inside the station 301, the flying robot 101 photographs the inside of the garbage collection site 602. The flying robot 101 may photograph the inside of the garbage collection site 602 while flying over the garbage collection site 602. In this case, in order not to apply excessive pressure to the crows, it may fly at an altitude that is a certain distance away from the garbage collection site 602.

[0211] FIG. 6 shows an example in which one flying robot 101 is deployed at one garbage collection site 602, but the number of installed flying robots 101 is not limited to one. For example, according to the size of a predetermined range to be photographed such as the garbage collection site 602, the angle of view of the camera 103, etc., a plurality of flying robots 101 may be installed at one garbage collection site 602.

[0212] Based on the image photographed by the camera 103, the flying robot 101 determines whether crows can be recognized in the image. As shown in FIG. 7, when the crows 701 are recognized in the photographed image due to the crows 701 approaching the garbage collection site 602, it takes off from the station 301 as shown in FIG. 8. Then, as shown in FIG. 9, it flies so as to approach the crows 701.

[0213] At this time, it does not approach until it touches the crows 701 and flies to a position that is more than a certain distance away from the crows 701. This can avoid damaging the crows 701 by the propeller 102 or the like, and can also prevent damage to the flying robot 101.

[0214] The flying robot 101 flies, for example, at a speed equal to or lower than the set speed with respect to the crows 701. This enables it to not chase the crows 701 at high speed, but rather the crows 7 It can fly in such a way that it surely enters the view of 01. In addition to driving away the crow 701, it can be made to keep the intelligent crow 701 away from approaching the flying robot 101. Thereby, it is possible to ensure a comfortable living environment for humans without hurting the crow 701.

[0215] Moreover, the flying robot 101 may, for example, fly close to the crow 701 and then hover or fly up and down around the crow 701 in the garbage collection site 602. By doing so, pressure can also be applied to the crow 701, and the crow 701 can be driven away from the garbage collection site 602 without hurting it.

[0216] Also, when the flying robot 101 flies close to the crow 701, it may output a predetermined sound. Specifically, for example, when flying close to the crow 701, it outputs a recorded cry of a raptor, or a synthesized sound imitating the cry of a raptor, a recorded gunshot, or a synthesized sound imitating a gunshot.

[0217] Alternatively, when flying close to the crow 701, for example, it may output a recorded bark of a dog, or a synthesized sound imitating the bark of a dog. Also, when flying close to the crow 701, for example, it may output a recorded sound of a crow 701 that has been attacked, a crow 701 that is on alert, or a crow 701 that is frightened, or a synthesized sound imitating these sounds.

[0218] As described above, the flying robot 101 according to the first embodiment of the present invention includes a drone that flies by automatic control and a camera 103 mounted on the drone. When an object is recognized based on an image captured by the camera 103, it is characterized in that it flies close to the object.

[0219] According to the flying robot 101 of Embodiment 1 of the present invention, the flying robot 101 can be made to fly so as to approach an object such as a crow 701 recognized based on an image captured by the camera 103. As a result, the crow can be made to feel uncomfortable with the flying robot 101 flying towards it, and the crow 701 can be made to stay away from the garbage collection site 602. And by this, the crow 701 can be effectively driven away without harming humans, and the scattering damage of garbage by the crow 701 can be surely prevented.

[0220] Further, the flying robot 101 of Embodiment 1 of the present invention is characterized in that the camera 103 captures an image within a predetermined range.

[0221] According to the flying robot 101 of Embodiment 1 of the present invention, by capturing an image only within a predetermined range by the camera 103, the crow 701 within the desired range can be driven away without driving away the crow 701 over a too wide range. Thereby, a comfortable living environment for humans can be ensured without damaging the crow 701.

[0222] Further, the flying robot 101 of Embodiment 1 of the present invention is characterized in that the predetermined range is a preset garbage collection site 602.

[0223] According to the flying robot 101 of Embodiment 1 of the present invention, by capturing an image only within the preset garbage collection site 602 by the camera 103, the crow 701 approaching the garbage collection site 602 can be driven away without driving away the crow 701 over a too wide range. Thereby, a comfortable living environment for humans can be ensured without damaging the crow 701.

[0224] In addition, the flying robot 101 according to Embodiment 1 of the present invention is characterized in that after flying so as to approach an object, it returns to a station 301 installed within a predetermined range or in the vicinity of the predetermined range.

[0225] According to the flying robot 101 of Embodiment 1 of the present invention, by flying only when the crow 701 is recognized, power consumption can be suppressed. As a result, it is possible to avoid getting in the way of people or applying excessive pressure to the crow 701 by flying unnecessarily.

[0226] In addition, the flying robot 101 according to Embodiment 1 of the present invention is characterized in that it flies within a predetermined range at a speed equal to or lower than a set speed.

[0227] According to the flying robot 101 of Embodiment 1 of the present invention, instead of chasing the crow 701 at high speed, by flying so as to surely enter the field of vision of the crow 701, the crow 701 is discouraged from approaching the flying robot 101, and the crow 701 can be driven away. As a result, it is possible to ensure a comfortable living environment for people without hurting the crow 701.

[0228] In addition, the flying robot 101 according to Embodiment 1 of the present invention is characterized in that it hovers at an arbitrary position within a predetermined range.

[0229] According to the flying robot 101 of Embodiment 1 of the present invention, instead of chasing the crow 701 at high speed, by hovering in a way that attracts the attention of the crow 701, the crow 701 is discouraged from approaching the flying robot 101, and the crow 701 can be driven away. As a result, it is possible to ensure a comfortable living environment for people without hurting the crow 701.

[0230] In addition, the flying robot 101 according to Embodiment 1 of the present invention is characterized in that it flies up and down at an arbitrary position within a predetermined range.

[0231] According to the flying robot 101 of Embodiment 1 of the present invention, instead of chasing the crow 701 at high speed, by performing vertical flight that the crow 701 cannot do, the crow 701 is made to avoid approaching the flying robot 101, and the crow 701 can be driven away. Thereby, a comfortable living environment for humans can be ensured without damaging the crow 701.

[0232] Further, the flying robot 101 of Embodiment 1 of the present invention includes a speaker 204 mounted on an unmanned aerial vehicle, and when an object is recognized based on an image captured by the camera 103, a predetermined sound is output from the speaker 204, and it is characterized in that it flies so as to approach the object.

[0233] According to the flying robot 101 of Embodiment 1 of the present invention, the flying robot 101 can be flown to approach an object such as the crow 701 while outputting a predetermined sound that the crow 701 dislikes from the speaker 204. Thereby, the crow 701 can be driven away more effectively without harming humans, and the damage caused by the scattering of garbage by the crow 701 can be surely prevented.

[0234] Further, the flying robot 101 of Embodiment 1 of the present invention is characterized in that a predetermined sound is output from the speaker 204 to the object.

[0235] According to the flying robot 101 of Embodiment 1 of the present invention, in particular, by using a directional speaker or the like to output a predetermined sound only in the direction where the crow 701 is, the influence on objects other than the crow 701 such as surrounding humans is suppressed as much as possible, and the crow 701 can be effectively driven away. Thereby, the damage caused by the scattering of garbage by the crow 701 can be surely prevented.

[0236] In the flying robot 101 of Embodiment 1 of the present invention, the predetermined sound may be a recorded cry of a raptor or a synthesized sound imitating the cry of a raptor.

[0237] According to the flying robot 101 of Embodiment 1 of the present invention, while outputting the cries of raptors such as eagles or synthetic voices imitating the cries of raptors, which crows 701 are said to dislike, the flying robot 101 can be made to fly so as to approach an object such as the crow 701. Thereby, without causing harm to humans, the crow 701 can be driven away more effectively, and the scattering damage of garbage caused by the crow 701 can be surely prevented.

[0238] Also, in the flying robot 101 of Embodiment 1 of the present invention, the predetermined voice may be a recorded gunfire sound or a synthetic voice imitating the gunfire sound.

[0239] According to the flying robot 101 of Embodiment 1 of the present invention, while outputting the gunfire sound or a synthetic voice imitating the gunfire sound, which all animals including the crow 701 are said to dislike, the flying robot 101 can be made to fly so as to approach an object such as the crow 701. Thereby, without causing harm to humans, the crow 701 can be driven away more effectively, and the scattering damage of garbage caused by the crow 701 can be surely prevented.

[0240] Also, in the flying robot 101 of Embodiment 1 of the present invention, the predetermined voice may be a recorded barking sound of a dog or a synthetic voice imitating the barking sound of a dog.

[0241] According to the flying robot 101 of Embodiment 1 of the present invention, while outputting the barking sound of a dog or a synthetic voice imitating the barking sound of a dog, which the crow 701 is said to dislike, the flying robot 101 can be made to fly so as to approach an object such as the crow 701. Thereby, without causing harm to humans, the crow 701 can be driven away more effectively, and the scattering damage of garbage caused by the crow 701 can be surely prevented.

[0242] Further, in the flying robot 101 of Embodiment 1 according to the present invention, the predetermined sound may be a sound recorded from the voice of the crow 701 that has been attacked, the crow 701 that is on guard, or the crow 701 that is frightened, or a synthetic voice imitating these voices.

[0243] According to the flying robot 101 of Embodiment 1 according to the present invention, while outputting the voice of the crow 701 that has been attacked, the crow 701 that is on guard, or the crow 701 that is frightened, or a synthetic voice imitating these voices, the flying robot 101 can be made to fly so as to approach an object such as the crow 701. As a result, every time a crow 701 enters a predetermined area such as the garbage collection site 602, the uneasiness of the crow 701 is fanned, and it is learned that it is dangerous for a crow 701 with high learning ability to approach the garbage collection site 602. The crow 701 can be effectively driven away, and the approach of the crow 701 can be suppressed thereafter. And, thereby, it is possible to surely prevent the damage caused by the scattering of garbage by the crow 701 without causing harm to humans.

[0244] Further, the flying robot 101 of Embodiment 1 according to the present invention includes a light source such as an LED lamp 104 mounted on an unmanned aerial vehicle. When an object is recognized based on an image captured by the camera 103, the light source emits light and the flying robot flies so as to approach the object. It is characterized by doing so.

[0245] According to the flying robot 101 of Embodiment 1 according to the present invention, the flying robot 101 can be made to fly so as to approach an object such as the crow 701 while emitting light from the light source. As a result, the crow 701 can be more effectively driven away without causing harm to humans, and the damage caused by the scattering of garbage by the crow 701 can be surely prevented.

[0246] Further, the flying robot 101 of Embodiment 1 according to the present invention is characterized by having an appearance imitating a raptor. The flying robot 101 may be configured by attaching the feathers of a real raptor to its exterior.

[0247] According to the flying robot 101 of Embodiment 1 of the present invention, by having an appearance imitating a raptor such as a hawk that many crows 701 avoid, it is possible to more effectively drive away the crows 701 without harming humans, and it is possible to surely prevent the scattering damage of garbage caused by the crows 701.

[0248] <Embodiment 2> Next, the flying robot according to Embodiment 2 of the present invention will be described. In Embodiment 2, the same parts as those in Embodiment 1 described above are denoted by the same reference numerals, and the description thereof will be omitted.

[0249] (An example of the appearance of the flying robot) FIG. 10 is an explanatory diagram showing an example of the appearance of the flying robot according to Embodiment 2 of the present invention. As shown in FIG. 10, the flying robot 1001 has the form of a drone (unmanned aerial vehicle). As shown in FIG. 10, the drone may employ a quadcopter equipped with four propellers 102, or may employ a hexacopter, an octocopter, or the like.

[0250] The flying robot 1001 according to Embodiment 2 of the present invention recognizes, for example, birds and beasts that come to ravage agricultural products (agricultural and livestock products) in farms such as crop cultivation farms and livestock farms, and thieves who steal agricultural products (agricultural and livestock products) in farms as monitoring targets, and issues a warning to the monitoring target or takes a picture of the monitoring target.

[0251] When issuing a warning to the monitoring target or taking a picture of the monitoring target, the flying robot 1001 may track the monitoring target. The flying robot 1001 is housed in the frame 1001a so that the propeller 102 will not be caught or damaged by the surroundings or the monitoring target during the tracking of the monitoring target.

[0252] The flying robot 1001 is equipped with a plurality of cameras 103. Specifically, in the flying robot 1001, the cameras 103 are arranged so that they can capture images in a plurality of directions simultaneously. By having one flying robot 1001 capture images in a plurality of directions simultaneously, more information can be obtained in a short time, and the monitoring target can be recognized quickly.

[0253] Also, by having one flying robot 1001 capture images in a plurality of directions simultaneously, the number of monitoring targets that one flying robot 1001 can recognize increases. As a result, even when there are multiple monitoring targets or they are moving in different directions, the monitoring targets can be surely recognized with a small number of flying robots 1001.

[0254] The plurality of cameras 103 may each always perform imaging, or may be switched to operate any one of the cameras 103. Also, selectively, imaging may be performed using one or a plurality of cameras. Also, for example, within the imaging range of one camera 103 When a plurality of monitoring targets start moving in different directions during image capture, imaging using the plurality of cameras 103 may be started.

[0255] In the flying robot 1001, the LED lamp 104 is provided on the frame 1001a. A plurality of LED lamps 104 are arranged side by side. The LED lamp 104 emits, for example, white light. By arranging a plurality of LED lamps 104 that emit white light side by side, the monitoring target and the surroundings of the monitoring target can be illuminated extremely brightly. As a result, the monitoring target can be captured clearly.

[0256] The LED lamps 104 may each be capable of emitting light while switching between a plurality of emission colors. As a result, by mixing lights of a plurality of colors, it is possible to emit light that is dimmed to a color that birds and beasts dislike. Further, a plurality of LED lamps 104 that each emit light of a different color 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.

[0257] Further, in the flying robot 1001, the LED lamps 104 are arranged in a plurality of locations, with a plurality of them arranged side by side at each location. As a result, even at night or the like, the flying robot 1001 can be made conspicuous and the position of the monitoring target can be notified to the surroundings. Further, even when there are a plurality of monitoring targets or when the monitoring targets are moving in different directions, each monitoring target can be clearly photographed.

[0258] (Functional configuration of the flying robot 1001) Next, the functional configuration of the flying robot 1001 will be described. The functions of the flying robot 1001 are realized by a storage unit 401, a detection unit 402, a photographing unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

[0259] The storage unit 401 stores various programs related to the control by the control unit 407 and various information including thresholds used for the execution of the programs. Specifically, the storage unit 401 stores, for example, information regarding the feature amounts of the monitoring targets related to pattern recognition (image recognition) used for the recognition of the monitoring targets. The storage unit 401 may further store voice information used for the recognition of the monitoring targets, information regarding the period during which monitoring is performed, and the like.

[0260] The monitoring target can be animals such as birds, beasts, or humans existing within a predetermined range. The predetermined range can be, for example, farms such as crop cultivation farms, livestock farms, beekeeping farms, etc. The farm can be a specific farm set in advance, or a place determined to be a farm based on an image captured by the imaging unit 403 or the like. That is, the monitoring target can be, for example, birds or beasts that possess or carry agricultural products in a farm or items presumed to be the agricultural products, or humans that possess or carry agricultural products in a farm or items presumed to be the agricultural products.

[0261] Specifically, the monitoring target can be, for example, birds or beasts that possess or carry cultivated crops in a crop cultivation farm or items presumed to be the cultivated crops, or humans that possess or carry cultivated crops in a crop cultivation farm or items presumed to be the cultivated crops. More specifically, for example, when conducting monitoring in an orchard, birds or beasts eating fruits, or humans carrying bags or boxes presumed to contain fruits, etc. become the monitoring targets. Further, more specifically, for example, humans carrying bags or boxes presumed to have a certain weight or more can also be set as the monitoring targets.

[0262] Also, specifically, the monitoring target can be, for example, livestock or poultry in a livestock farm, or birds or humans that possess or carry items presumed to be the livestock or poultry. Furthermore, the monitoring target can be, for example, livestock or poultry in a livestock farm, or humans that possess or carry items presumed to be the livestock or poultry. More specifically, for example, when conducting monitoring in a pig farm, pigs, or humans carrying bags or boxes presumed to contain pigs, etc. become the monitoring targets. Also, more specifically, for example, humans carrying bags or boxes presumed to have a certain weight or more, or humans possessing or carrying bags or boxes with moving contents can also be set as the monitoring targets.

[0263] Specifically, the object to be monitored can be, for example, a bird or animal that possesses or transports a beehive used for beekeeping in a beekeeping farm or an object presumed to be the beehive, or a human who possesses or transports a beehive used for beekeeping or an object presumed to be the beehive. More specifically, for example, when monitoring a beekeeping farm, a bear carrying a beehive, a human transporting a box-shaped or plate-shaped object, etc. can be the object to be monitored.

[0264] In addition, the storage unit 401 stores the image information captured by the imaging unit 403, the information acquired by the acquisition unit 404, etc. The storage unit 401 may store information regarding the position of the station 301 that serves as a charging spot for the battery. Specifically, the storage unit 401 can realize its function, for example, by a memory in the control circuit 207 shown in FIG. 2.

[0265] The detection unit 402 detects, for example, a signal output from a terminal device such as a smartphone installed with a predetermined application. Also, the detection unit 402 may detect, for example, that a predetermined input instruction to the flying robot 1001 has been received via an input device such as a key or a button performed by a user of the flying robot 1001. Specifically, the detection unit 402 can realize its function, for example, by the communication I / F 209 shown in FIG. 2.

[0266] In addition, the detection unit 402 detects the presence or absence of an obstacle existing within a predetermined range from the flying robot 1001. In this case, specifically, the detection unit 402 can realize its function, for example, by the object sensor 206 shown in FIG. 2. Also, in this case, specifically, the detection unit 402 can realize its function, for example, by replacing the object sensor 206 or in addition to the object sensor 206, by the camera 103 shown in FIGS. 1 and 2.

[0267] 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 determines the distance to the obstacle based on the parallax (the difference between each image) in each of a plurality of different images captured at different positions obtained by the movement of the flying robot 1001. By using the moving stereo method, it is possible to detect the presence or absence of an obstacle existing within a predetermined range from the flying robot 1001 using a monocular camera.

[0268] The imaging unit 403 captures images within a predetermined range such as a range including the inside of the farm and the surroundings of the farm. The imaging unit 403, for example, captures an image within the predetermined range from the outside of the predetermined range. Also, the imaging unit 403 may, for example, capture an image within the predetermined range within the predetermined range. Specifically, the imaging unit 403 can realize its function by, for example, the camera 103 shown in FIG. 3.

[0269] The above storage unit 401 stores the image information related to the image captured by the imaging unit 403. Instead of storing the image information related to the image captured by the imaging unit 403 in the storage unit 401, or in addition to storing it in the storage unit 401, it may be provided to an external device. Also, the storage unit 401 may store information regarding the location and time when the image related to the image information was captured in association with the image information in addition to the image information. The information regarding the location and time when the image was captured can be specified, for example, by using the GPS sensor 205 shown in FIG. 2. Instead of storing the image information related to the image captured by the imaging unit 403 in the storage unit 401, or in addition to storing it in the storage unit 401, it may be provided to an external device. Also, the storage unit 401 may store information regarding the location and time when the image related to the image information was captured in association with the image information in addition to the image information. The information regarding the location and time when the image was captured can be specified, for example, by using the GPS sensor 205 shown in FIG. 2.

[0270] The acquisition unit 404 acquires information external to the flying robot 1001. The acquisition unit 404, for example, uses the microphone 203 to acquire the sound around the flying robot 1001. Specifically, the acquisition unit 404 can realize its function by, for example, the microphone 203 shown in FIG. 2.

[0271] Further, the acquisition unit 404 may acquire predetermined information from an external device via, for example, the network N. 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 or the like acquires, for example, information learned by another flying robot 1001. Thereby, the information obtained by the learning of the single flying robot 1001 can be shared by a plurality of other flying robots 1001, and the flying robot 1001 can be made to perform actions more suitable for the recognition of crows and the expulsion of crows.

[0272] The acquisition unit 404 realized by the communication I / F 209 or the like may acquire information indicating that an event that may affect surrounding humans such as a disaster may occur within a predetermined time after the current time. Specifically, the acquisition unit 404 may acquire information indicating that a disaster, earthquake, tsunami, lightning strike, rainfall, strong wind, or sudden weather change may occur within a predetermined time after the current time.

[0273] The drive unit 405 controls the flight of the flying robot 1001. Specifically, the drive unit 405 can realize its function by, for example, the propeller 102 shown in FIG. 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in FIG. 2.

[0274] The output unit 406 is controlled by the control unit 407 to output a predetermined sound from, for example, the speaker 204. 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 sound of a speech warning or alerting against theft, or a synthesized sound imitating a speech warning or alerting against theft. Further, the predetermined sound can be, for example, the sound of a siren, police siren, horn or whistle, or a synthesized sound imitating at least any one of these sounds.

[0275] Also, the output unit 406 is controlled by the control unit 407 to turn on, for example, the LED lamp 104. Also, the output unit 406 blinks, for example, the LED lamp 104. In this case, specifically, the output unit 406 can realize its function by, for example, the LED lamp 104 shown in FIGS. 1 and 2.

[0276] Also, the output unit 406 may be controlled by the control unit 407 to transmit image information related to the image captured by the imaging unit 403 to a predetermined destination. In this case, specifically, the output unit 406 can realize its function by, for example, the communication I / F 209 shown in FIG. 2. The predetermined destination can be, for example, an email address set in a specific smartphone or a specific URL set on a cloud network.

[0277] Also, the output unit 406 may be controlled by the control unit 407 to output a request for support to another flying robot 1001 when, for example, the remaining amount of the battery 201 becomes equal to or less than a predetermined amount. Also in this case, specifically, the output unit 406 can realize its function by, for example, the communication I / F 209 shown in FIG. 2.

[0278] Also, when the acquisition unit 404 acquires information indicating that an event that may affect surrounding humans, such as a disaster, earthquake, tsunami, lightning strike, rainfall, strong wind, or sudden weather change, may occur, the output unit 406 may output a voice guiding that the event may occur, or cause the LED lamp 104 to emit light or blink in a specific pattern or emission color.

[0279] The control unit 407 controls the entire flying robot 1001. Specifically, for example, its functions can be realized by the control circuit 207 shown in FIG. 2. More specifically, for example, its functions can be realized by the CPU in the control circuit 207 shown in FIG. 2 by executing a program stored in a memory or the like.

[0280] For example, the control unit 407 causes the flying robot 1001 to fly by controlling the drive unit 405. The control unit 407 may cause the flying robot 1001 to fly by controlling the drive unit 405 when a specific sound is acquired based on the sound acquired by the acquisition unit 404.

[0281] Specifically, for example, when the acquisition unit 404 acquires sounds such as the footsteps of birds, beasts, or humans, sounds presumably made using scissors or a cutter, sounds presumably made when packing items in a bag or box, or engine sounds or tire sounds emitted by a vehicle, flight is started by controlling the drive unit 405. Thereby, while suppressing the consumption of the battery, the presence of the monitoring target can be surely grasped.

[0282] Also, the control unit 407 performs shooting by driving and controlling the shooting unit 403, for example. Further, the control unit 407 recognizes the monitoring target based on the image taken by the shooting unit 403. The recognition of the monitoring target is performed, for example, by determining whether or not the monitoring target is included in the image taken by the shooting unit 403.

[0283] Specifically, for example, when performing monitoring in an orchard, the control unit 407 determines whether or not the image taken by the shooting unit 403 includes birds or beasts eating fruits, or humans carrying bags or boxes presumably containing fruits. The fruits can be identified by image recognition. The bags or boxes presumably containing fruits may be estimated by image recognition of the bags or boxes themselves, or may be estimated based on being carried by two or more people.

[0284] Specifically, for example, when monitoring a pig farm, the control unit 407 determines whether an image captured by the imaging unit 403 includes pigs, or a person carrying a bag or box that is presumed to contain a pig. Pigs can be identified by image recognition. For a bag or box that is presumed to contain a pig, the bag or box itself may be estimated by image recognition, or it may be estimated based on being carried by two or more people.

[0285] Specifically, for example, when monitoring a beekeeping farm, the control unit 407 determines whether an image captured by the imaging unit 403 includes a bear holding a beehive box or a person carrying a box-shaped or plate-shaped object when monitoring a beekeeping farm.

[0286] Alternatively, the control unit 407 may recognize a monitoring target based on an image captured by the imaging unit 403 and audio acquired by the acquisition unit 404. Specifically, for example, in monitoring a pig farm, when a bear is captured in the image and the cries of pigs are collected, the control unit 407 may recognize the bear as a monitoring target.

[0287] By having an AI function, the control unit 407 can learn the monitoring target. In recent years, the miniaturization of computers equipped with artificial intelligence has advanced, and even a control circuit 207 (computer) equipped with artificial intelligence can smoothly fly the flying robot 1001. The control unit 407 may further share the characteristics and images of birds, beasts, and humans that have caused damage to farms, etc. by communicating with another flying robot 1001, and may learn based on the shared information.

[0288] The objects to be monitored are not limited to those that have come into contact with agricultural products, but may also include birds, beasts, or humans that have entered the farm, or birds, beasts, or humans that have entered within a predetermined range from the farm. As a result, before the agricultural products are actually damaged, it is possible to recognize the objects to be monitored and take measures such as issuing warnings by voice or light emission.

[0289] The taking of images and the recognition of objects to be monitored may be performed only during a preset time period. Specifically, for example, it can be set as "between 18:00 and 07:00", "between sunrise and sunset". The sunrise time and sunset time can be obtained by the acquisition unit 404 through communication via the network N.

[0290] The taking of images and the recognition of objects to be monitored may be performed only between receiving a predetermined input operation for the flying robot 1001 and receiving an operation that invalidates the predetermined input operation. Alternatively, the taking of images and the recognition of objects to be monitored may be performed only between receiving a predetermined signal transmitted from, for example, a smartphone to the flying robot 1001 and receiving a signal that invalidates the operation by the predetermined signal.

[0291] Specifically, for example, every day, at the timing when the work at the farm or the like is completed, the worker at the farm performs a predetermined input operation on the flying robot 1001 to enable the taking of images and the recognition of objects to be monitored, and at the timing when starting work at the farm the next day, the worker performs an operation to invalidate the predetermined input operation. In this way, even when the working hours vary daily according to conditions such as seasons, monitoring of farms and the like can be appropriately performed according to the working mode.

[0292] Alternatively, the image capturing and the recognition of the monitoring target may be performed throughout the day, and the operations of taking countermeasures such as giving warnings by voice or light emission associated with the recognition of the monitoring target may be performed only during a preset time period. Thereby, for example, during the day, workers working on the farm during the day can be learned, and only at night, warnings can be given to birds and beasts that ravage agricultural products or thieves who steal agricultural products.

[0293] Also, by performing image capturing even during the day, for example, during the day, a thief who visited for scouting for theft can be captured in a clear image in a bright state. Therefore, if theft occurs after scouting, the criminal can be identified using the clear image. In this way, by using the flying robot 1001 as a monitoring camera, the neighborhood security system can be strengthened. Also, by learning workers, etc., unnecessary warnings can be prevented when the worker visits the farm at night for some reason.

[0294] When the control unit 407 recognizes a monitoring target in the image based on the image captured by the imaging unit 403, the control unit 407 controls the drive unit 405 to fly the flying robot 101 so as to approach the target object. Further, when the control unit 407 recognizes a monitoring target in the image based on the image captured by the imaging unit 403, the control unit 407 may store the captured image of the monitoring target in the storage unit 401.

[0295] When the control unit 407 recognizes a monitoring target in the image based on the image captured by the imaging unit 403, the control unit 407 may fly the flying robot 101 so as to capture images of the monitoring target from all directions. Then, the images of the monitoring target captured from all directions may be stored in the storage unit 401.

[0296] The control unit 407 may fly so as to approach a position at a certain interval from the monitoring target by controlling the drive unit 405. Specifically, the drive unit 405 is controlled so as to approach a position at an interval at which the monitoring target cannot touch the flying robot 1001. Thereby, it is possible to avoid the flying robot 1001 from being damaged due to an impact being applied to the flying robot 1001 from the monitoring target or the like.

[0297] The flying robot 101 integrally equipped with the camera 103 can autonomously fly to a position where it is easy to photograph the monitoring target. Thereby, for example, it is possible to photograph the monitoring target without dead angles without being affected by environmental factors such as the position of the camera and the positions of surrounding trees and houses. Thereby, compared with the conventional technology of flying a drone based on an image captured by an installed camera, the monitoring target can be surely photographed.

[0298] In addition, the flying robot 101 integrally equipped with the camera 103 can autonomously fly to a position where it can surely photograph crows. Thereby, compared with the conventional technology of driving away crows from a garbage collection site or the like by flying a drone based on an image captured by an installed camera, it is possible to avoid losing sight of the crows, surely photograph the crows, and effectively drive away the crows from the garbage collection site.

[0299] The inventor named the flying robot 101 that monitors the presence or absence of a monitoring target in a predetermined range such as a farm and operates so as to prompt the monitoring target to disperse from the predetermined range as "Droguard". In addition, the inventor named the flying robot 101 that monitors the presence or absence of a monitoring target in a predetermined range such as a farm and operates so as to leave evidence that the monitoring target exists within the predetermined range as "Dro-Bo" or "Dro-Watcher".

[0300] The control unit 407 may execute a predetermined process while controlling the drive unit 405 to fly the flying robot 101 so as to approach the object. For example, when the output unit 406 is realized by the speaker 204 shown in FIG. 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to output a recorded voice of a speech for warning or alerting against theft, or to output a synthetic voice imitating the speech for warning or alerting against theft. The speeches for warning or alerting against theft may be set in a plurality of patterns.

[0301] Further, the control unit 407 may realize a predetermined process by controlling the output unit 406 to output, for example, the sound of a siren, a police siren, a horn or a whistle (recorded voice), or a synthetic voice imitating at least any one of these sounds.

[0302] The control unit 407 preferably outputs a voice with a sound pressure level of 80 dB or more. Or the control unit 407 preferably outputs a voice with a loudness level of 90 phons or more. For example, for an emergency vehicle such as an ambulance, it is legally required to measure the volume at a position 20 meters in front of the emergency vehicle and install a siren that can output a sound of 90 phons or more. By outputting a voice of such a magnitude, the presence of the monitoring target can be widely known, and it is possible to expect an effect of preventing damage to agricultural products or the like or suppressing further expansion of the damage.

[0303] When the speaker 204 is a directional speaker, even in a noisy environment, by flying while confirming the position of the monitoring target with the camera 103, the voice can be emitted only in the necessary direction. Thereby, even at night, the voice emitted by the speaker 204 can surely reach the monitoring target without disturbing the surrounding residents or the like.

[0304] In particular, since a person who steals agricultural products or the like is in a very tense psychological state so that the crime is not revealed, by suddenly outputting a loud voice, it is possible to make the criminal being monitored think that "the crime has been revealed" and "his own existence has been made clear". As a result, it is difficult for the criminal to continue the theft crime, and it is possible to prevent damage to agricultural products or the like or suppress further expansion of the damage.

[0305] 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).

[0306] When the object to be monitored is birds and beasts, the control unit 407 controls the output unit 406 so that, for example, a group of LED lamps 104 provided at a plurality of locations are sequentially turned on as if the light is rotating, or emit light in a color approaching the color of a flame. In this way, by performing an artificial operation that does not exist in nature, birds and beasts can be kept away from a predetermined range such as a farm.

[0307] When the object to be monitored is a person who aims to steal, the control unit 407 controls the output unit 406 so that the LED lamp 104 emits white light, for example. As a result, the object to be monitored and the surrounding area of the object to be monitored can be illuminated extremely brightly, and the object to be monitored can be clearly photographed.

[0308] The control unit 407 preferably causes a light source such as the LED lamp 104 to emit light with a luminous flux equal to or higher 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) indicating the amount of light per unit time. Further, the brightness of the LED lamp 104 itself may be specified based on the intensity of light (luminance) in a specific direction, which is expressed in candela (unit: cd).

[0309] Further, the control unit 407 may specify not by the brightness of the LED lamp 104 itself but by the brightness of the illuminated location, that is, the illuminance (unit: lx). In this case, if the illuminance of the location that has become brighter by turning on the LED lamp 104 is less than a predetermined threshold value, the control unit 407 approaches the target or causes the LED lamp 104 to emit light more brightly.

[0310] A person (i.e., a criminal) who acts for the purpose of theft generally does not prefer a bright environment and tends to act in a dark place. One of the reasons is that in a dark place, visibility is poor, making it difficult for others to see, and even if their presence is detected, the visibility itself is low, making it difficult to identify the person or the act of theft. Another reason is that, generally speaking, there are no ordinary people in a dark place.

[0311] In the flying robot 1001, by causing the LED lamp 104 to emit white light, in addition to being able to clearly photograph the monitoring target, it is possible to make the monitoring target feel that "the crime has been exposed" or "their own existence has become obvious". This makes it difficult for criminals to continue their theft crimes and can prevent damage to agricultural products, etc., or suppress further expansion of the damage.

[0312] Further, by causing the LED lamp 104 to emit white light, only the criminal and the surroundings of the criminal can be brightened, making it difficult to visually recognize the situation around the criminal, such as the feet of the criminal. This can slow down the escape of the criminal, and it is expected that the criminal can be apprehended at the scene before the criminal escapes from the scene.

[0313] When there is no monitoring target within a predetermined range such as a farm and its surroundings, the control unit 407 controls the drive unit 405 to fly the flying robot 101 so as to return to the station 301. Further, when the remaining amount of the battery 201 becomes equal to or less than a predetermined amount, the control unit 407 may control the drive unit 405 to fly the flying robot 101 so as to return to the station 301.

[0314] When monitoring the same farm or the like by a plurality of flying robots 1001, when the remaining amount of the battery 201 becomes equal to or less than a predetermined amount, a support request may be output to other flying robots 1001. The support request includes information regarding the current position of the flying robot 1001 that is the output source of the support request.

[0315] The support request may include information regarding the output date and time of the support request. The support request may include identification information of the flying robot 1001 that is the output source of the support request. The support request may include information regarding an image captured by the flying robot 1001 that is the output source of the support request. The information regarding the image may be the image itself, or may be a URL indicating a storage location on a cloud network where the image is stored.

[0316] 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 is the output source of the support request based on the information regarding the current position included in the support request. The flying robot 1001 that is the output source of the support request may continue to output information regarding the current position of the flying robot 1001 that is the output source of the support request until the flying robot 1001 that has received the support request arrives.

[0317] As a result, even when the remaining battery level of the flying robot 1001 that has previously recognized the monitoring target decreases, by requesting support from other flying robots 1001, the monitoring target can be continuously monitored and images can be captured. 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.

[0318] (Processing procedure of the flying robot 101) 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 Embodiment 2 of the present invention. In the flowchart of FIG. 11, first, wait until a living body is detected (step S1101: No). In step S1101, for example, wait in a stopped state at the station 301 or the like.

[0319] In step S1101, for example, a living body is detected using the object sensor 206 (infrared sensor) shown in FIG. 2. Also, in step S1101, for example , a living body may be detected based on the sound collected using the microphone 203 shown in FIG. 2. Also, in step S1101, for example, a living body may be detected based on the image captured using the camera 103 shown in FIGS. 1 and 2. The detection of a living body is not limited to being performed by one type of method, and may be performed using a plurality of types of methods. Thereby, a living body can be detected with high accuracy.

[0320] In step S1101, when a living body is detected (step S1101: Yes), flight is started (step S1102), and image capture is started (step S1103). Note that the detection of a living body and the image capture for detecting a living body are not limited to being performed while waiting at the station 301, and may be performed while constantly flying in a predetermined range such as a farm. In this case, the processes of step S1102 and step S1103 are not performed, and flight is started and images are captured before a living body is detected.

[0321] Next, based on the captured image, it is determined whether the monitoring target has been recognized (step S1104). In step S1104, if the monitoring target has not been recognized (step S1104: No), while moving, the image capturing is continued until the monitoring target is recognized, and the captured image is analyzed.

[0322] In step S1104, when the monitoring target has not been recognized, the LED lamp 104 may be lit to brightly illuminate the surroundings. Thereby, for example, if the monitoring target is a bird or an animal, it can be expected to startle the bird or animal and make it retreat from a farm or the like. Also, if the monitoring target is a criminal aiming to steal agricultural products, since it is highly assumed that the criminal will reflexively hide their face or body by illuminating brightly, it becomes easier to find the monitoring target in the captured image.

[0323] On the other hand, in step S1104, when the monitoring target has been recognized (step S1104: Yes), the recording of the captured image is started (step S1105). In step S1105, the captured image is stored, for example, in the memory in the control circuit 207 shown in FIG. 2.

[0324] The images captured by the camera 103 may be recorded not only when the monitoring target is recognized but also all of them. In this case, the captured images are stored, for example, in the memory in the control circuit 207 shown in FIG. 2. When the memory capacity is full, the images with older dates are overwritten with the images with newer dates.

[0325] Alternatively, the captured images may be temporarily stored in the memory in the control circuit 207 shown in FIG. 2, and then stored on the cloud network via the communication I / F 209 as appropriate. The images temporarily stored in the memory in the control circuit 207 shown in FIG. 2 may be erased from the memory after being stored on the cloud network, or may be continuously stored until the memory capacity is full, and when the memory capacity is full, the images with older dates may be overwritten with the images with newer dates.

[0326] Next, a predetermined process is executed (step S1106). In step S1106, for example, voice recording of a speech for notifying or warning of theft is output from the speaker 204 shown in FIG. 2, or a synthesized voice imitating the speech for notifying or warning of theft is output.

[0327] When a plurality of patterns of speeches for notifying or warning of theft are set, in step S1106, instead of continuously outputting the voices of speeches of the same pattern, the voices of speeches of a plurality of patterns may be combined and output. This can make the monitored object think that it is not the recorded voice but a human being monitoring remotely and issuing warnings in real time. This can make the monitored object think that it is not the recorded voice but a human being monitoring remotely and issuing warnings in real time.

[0328] In particular, when the monitored object is a criminal aiming at theft of agricultural products or the like, it can be made to think that "won't people such as farm-related personnel come to arrest me soon?", thereby preventing damage to agricultural products or the like or expecting an effect of suppressing further expansion of the damage.

[0329] Also, in step S1106, for example, the voice of a siren, a police siren, a horn or a whistle, or a synthesized voice imitating at least any one of these voices may be output from the speaker 204 shown in FIG. 2. Also, in step S1106, for example, the LED lamp 104 shown in FIGS. 1 and 2 may be turned on or blinked.

[0330] In step S1106, either one of the process of outputting voice from the speaker 204 shown in FIG. 2 and the process of causing the LED lamp 104 shown in FIGS. 1 and 2 to emit light may be performed, both processes may be performed in parallel, or a plurality of processes may be performed in order.

[0331] In step S1106, all of the predetermined processes performed may be processes of outputting sound from the speaker 204 shown in FIG. 2, and the types of sound to be output may be plural. Specifically, for example, after outputting the sound of a siren, sound obtained by recording a speech for warning or alerting against theft may be output.

[0332] In step S1106, a process of transmitting an image captured by the camera 103 to a predetermined destination such as an e-mail address set in a specific smartphone or a specific URL set on a cloud network via the communication I / F 209 shown in FIG. 2 may be performed.

[0333] Then, it is determined whether or not the monitoring target recognized in step S1104 has moved outside a predetermined range such as a farm (step S1107). In step S1107, if the monitoring target has not moved outside the predetermined range (step S1107: No), the process proceeds to step S1106 to continue the execution of the predetermined process.

[0334] On the other hand, if the monitoring target has moved outside the predetermined range (step S1107: Yes), it flies back to the station 301 (step S1108) to end the series of processes. Note that in step S1108, even during the return flight, if an image is captured and the monitoring target is recognized, the processes after step S1105 may be performed.

[0335] Alternatively, in step S1108, during the return flight, a living body may be detected using the object sensor 206 or the microphone 203, and if a living body is actually detected, the processes after step S1103 may be performed.

[0336] (An example of the usage mode of the flying robot 101) Next, an example of the usage mode of the flying robot 1001 will be described. FIGS. 12 and 13 are explanatory diagrams showing an example of the usage mode of the flying robot 1001 according to Embodiment 2 of the present invention.

[0337] The flying robot 1001 and the station 301 are arranged in any number from one to multiple according to the area of the farm or the like to be monitored, such as the terrain. Specifically, for example, the larger the farm to be monitored, the more flying robots 1001 are arranged.

[0338] The number of flying robots 1001 arranged and the number of stations 301 arranged do not have to be the same. Specifically, for example, the number of stations 301 arranged may be more than the number of flying robots 1001 arranged. Thereby, since the flying robot 1001 can immediately move to the nearest station 301, it is possible to avoid falling due to the battery 201 running out or failing to photograph a criminal or the like.

[0339] Alternatively, specifically, for example, the number of flying robots 1001 arranged may be less than the number of stations 301 arranged. Thereby, a plurality of flying robots 1001 can be made to fly so as to charge alternately, and the power consumed by the station 301 while waiting can be suppressed to a small amount in the whole farm or the like.

[0340] Also, for example, when monitoring a place where there are many trees 1201 with branches and leaves 1201a spread out, such as an orchard as shown in FIG. 12, and the visibility is poor, it is preferable to arrange a plurality of flying robots 1001 and stations 301 even if the area is not so large.

[0341] Also, in the orchard, a human (criminal) 1203 having a box 1202 presumed to contain fruits 1201b is recognized as a monitoring target. In FIG. 12, a state where the fruits 1201b can be seen from the box is shown, but even in a state where the contents such as the fruits 1201b cannot be seen, it may be estimated based on the shape, the weight of the luggage that can be assumed from the carrying posture, etc.

[0342] This eliminates so-called blind spots where the offender 1203 hides in the shade of the tree 1201 and surveillance cannot reach, ensuring the reliability of surveillance. Also, even when the offender 1203 cannot fly well around the tree 1201, multiple flying robots 1001 can photograph the offender 1203 from multiple directions, thereby also ensuring the reliability of surveillance.

[0343] Also, for example, when monitoring a place where objects to be monitored (such as pigs 1301 and chickens) are scattered in various places and each moves separately, like a pig farm or a chicken coop as shown in FIG. 13, it is preferable to arrange multiple flying robots 1001 and a station 301.

[0344] Thus, for example, even when livestock and poultry such as pigs 1301 run around and escape in various directions when an offender 1203 who aims to steal livestock and poultry such as pigs 1301 invades a pig farm or a chicken coop, multiple flying robots 1001 fly in different directions to photograph the offender 1203, and can take images without losing sight of the offender 1203.

[0345] The multiple flying robots 1001 can cooperate by communicating with each other via, for example, a communication I / F 209. Alternatively, any one of the multiple flying robots 1001 may determine the flight routes and photographing directions of the remaining flying robots 1001, and send flight instructions from the any one flying robot 1001 to the remaining flying robots 1001.

[0346] As described above, the flying robot 1001 according to the second embodiment of the present invention is an unmanned aircraft (drone) that flies by automatic control, and a camera 10 3, and when an object such as an offender 1203 is recognized based on an image captured by the camera 103, it is characterized by flying so as to approach the object.

[0347] According to the flying robot 1001 of Embodiment 2 of the present invention, the flying robot 1001 can be flown to approach a monitoring target recognized based on an image captured by the camera 103. By recognizing the monitoring target based on the image captured by the camera 103, the monitoring target can be recognized with higher accuracy compared to the case of detecting the monitoring target using only an infrared sensor. Thereby, for example, it is possible to surely monitor the monitoring target without being misled by causes other than the monitoring target, such as a heat source installed separately for the purpose of a decoy.

[0348] Further, according to the flying robot 1001 of Embodiment 2 of the present invention, since the flying robot 1001 integrally includes the camera 103, it can autonomously fly to a position where it is easy to photograph the monitoring target. Thereby, for example, it is possible to photograph the monitoring target without dead angles without being affected by environmental factors such as the structure of trees 1201 and buildings around the flying robot 1001. And thereby, compared with the conventional technology of detecting a monitoring target using an installation type sensor and dispatching a drone based on the detection result, it is possible to surely photograph and monitor the monitoring target with a simple configuration.

[0349] As described above, according to the flying robot 1001 of Embodiment 2 of the present invention, the monitoring target can be surely monitored with a simple configuration. Further, according to the flying robot 1001 of Embodiment 2 of the present invention, it is possible to make the monitoring target recognize that it is being monitored and arouse the attention of the monitoring target.

[0350] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that when recognizing a monitoring target based on an image captured by a camera, it flies so as to capture images from all directions of the monitoring target.

[0351] According to the flying robot 1001 of Embodiment 2 of the present invention, by capturing images from all directions of the monitoring target, the monitoring target can be surely identified based on the captured images. Further, in order to capture images from all directions of the monitoring target, it flies around the monitoring target, so that the monitoring target can surely recognize that it is being monitored, and the attention of the monitoring target can be attracted. Thereby, the monitoring target can be surely monitored with a simple configuration.

[0352] In particular, when the criminal 1203 who acts for the purpose of theft of agricultural products or the like is the monitoring target, by informing the monitoring target that it is being monitored and recorded, and impressing that its crime has been noticed and evidence has been taken, it is possible to induce the criminal to leave the agricultural products or the like that were about to be stolen and escape. Thereby, damage to agricultural products on the farm can be prevented with a simple configuration.

[0353] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that it recognizes a monitoring target based on an image captured by the camera 103 within a predetermined range set in advance.

[0354] According to the flying robot 1001 of Embodiment 2 of the present invention, instead of monitoring an infinitely vast range as the monitoring target, by recognizing the monitoring target within a predetermined range set in advance, the desired range can be surely monitored. Thereby, the monitoring accuracy of the monitoring target within the predetermined range can be ensured, and the monitoring target can be surely monitored with a simple configuration.

[0355] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined range is a farm.

[0356] According to the flying robot 1001 of Embodiment 2 of the present invention, the intrusion of the monitoring target into the farm that is unmanned at night or the like can be surely monitored with a simple configuration.

[0357] Further, the flying robot 1001 according to Embodiment 2 of the present invention is characterized in that the object to be monitored is a bird, an animal, or a human who holds or transports agricultural products or articles presumed to be the agricultural products on a farm.

[0358] According to the flying robot 1001 of Embodiment 2 of the present invention, by limiting the object to be monitored to a bird, an animal, or a human who holds or transports agricultural products or articles presumed to be the agricultural products on a farm, and monitoring the object that has invaded the farm where there is no one at night or the like, the object to be monitored can be surely monitored with a simple configuration.

[0359] Further, the flying robot 1001 according to Embodiment 2 of the present invention is characterized in that the predetermined range is a crop cultivation farm.

[0360] According to the flying robot 1001 of Embodiment 2 of the present invention, since there is almost no sunlight at night or the like, it is often almost unmanned, and in a crop cultivation farm where there is a concern about a decrease in visibility and public order due to being unmanned, the intrusion of the object to be monitored can be surely monitored with a simple configuration. Thereby, the object to be monitored in the crop cultivation farm can be monitored safely and surely with a simple configuration.

[0361] Further, the flying robot 1001 according to Embodiment 2 of the present invention is characterized in that the object to be monitored is a bird, an animal, or a human who holds or transports cultivated crops or articles presumed to be the cultivated crops in a crop cultivation farm.

[0362] According to the flying robot 1001 of Embodiment 2 of the present invention, by limiting the monitoring target to birds, beasts or humans that possess or carry crops cultivated in a crop cultivation farm or articles presumed to be such crop cultivation, and monitoring the monitoring target that has invaded a crop cultivation farm that is almost certainly unmanned at night or the like, the monitoring target can be surely monitored with a simple configuration. That is, by limiting the monitoring target, the processing burden related to the recognition of the monitoring target is reduced, and the monitoring target can be quickly recognized, so that the monitoring target can be surely monitored with a simple configuration.

[0363] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that a predetermined range is a livestock farm.

[0364] According to the flying robot 1001 of Embodiment 2 of the present invention, by limiting the monitoring range to a livestock farm and monitoring the inside of the livestock farm, the intrusion of the monitoring target can be surely monitored with a simple configuration. Thereby, it is often unmanned at night or the like, and the intrusion of the monitoring target into a livestock farm that is difficult to notice due to the sounds made by livestock and poultry can be surely monitored with a simple configuration.

[0365] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the monitoring target is a bird, a beast or a human that possesses or carries livestock or poultry in a livestock farm, or an article presumed to be such livestock or poultry.

[0366] According to the flying robot 1001 of Embodiment 2 of the present invention, by limiting the monitoring target to birds, beasts or humans that possess or carry livestock or poultry in a livestock farm or articles presumed to be such livestock or poultry, and monitoring the monitoring target that has invaded a livestock farm that is unmanned at night or the like, the monitoring target can be surely monitored with a simple configuration. That is, by limiting the monitoring target, the processing burden related to the recognition of the monitoring target is reduced, and the monitoring target can be quickly recognized, so that the monitoring target can be surely monitored with a simple configuration.

[0367] In addition, the flying robot 1001 according to the second embodiment of the present invention is characterized in that a predetermined range is a beekeeping field.

[0368] According to the flying robot 1001 of the second embodiment of the present invention, by limiting the monitoring range to a beekeeping field and monitoring the inside of the beekeeping field, it is possible to reliably monitor the intrusion of a monitoring target with a simple configuration. As a result, it is possible to reliably monitor the intrusion of a monitoring target into a beekeeping field, which is often unmanned at night, with a simple configuration.

[0369] In addition, the flying robot 1001 according to the second embodiment of the present invention is characterized in that the monitoring target is a bird, animal, or human who possesses or transports a beehive used for beekeeping or an article presumed to be the beehive.

[0370] According to the flying robot 1001 of the second embodiment of the present invention, by limiting the monitoring target to a bird, animal, or human who possesses or transports a beehive used for beekeeping or an article presumed to be the beehive and monitoring the monitoring target that has invaded a beekeeping field that is unmanned at night, etc., it is possible to reliably monitor the monitoring target with a simple configuration. That is, by limiting the monitoring target, the processing burden related to the recognition of the monitoring target can be reduced, and the monitoring target can be recognized quickly, so that the monitoring target can be reliably monitored with a simple configuration.

[0371] In addition, the flying robot 1001 according to the second embodiment of the present invention is characterized in that when the monitoring target is recognized based on an image captured by the camera 103 in a preset time zone, it flies so as to approach the monitoring target.

[0372] According to the flying robot 1001 of Embodiment 2 of the present invention, by recognizing a monitoring target based on an image captured by the camera 103 in a preset time period, for example, a person with legitimacy or necessity such as business convenience can be excluded from the monitoring target, and monitoring can be performed in an unmanned time period such as at night. In this way, by limiting the monitoring period, a person with legitimacy or necessity can be excluded from the monitoring target, so that the processing burden for recognizing the monitoring target due to unnecessary monitoring can be reduced, and the monitoring target can be surely monitored with a simple configuration.

[0373] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that, after receiving a predetermined input operation or a predetermined signal, until receiving an operation for invalidating the predetermined input operation or a signal for invalidating the predetermined signal, when recognizing a monitoring target based on an image captured by the camera 103, it flies so as to approach the monitoring target.

[0374] According to the flying robot 1001 of Embodiment 2 of the present invention, by performing monitoring only in a specified situation, for example, monitoring is not performed while there is a person with legitimacy or necessity such as business convenience, and monitoring can be performed in an unmanned time period such as at night. In this way, by limiting the monitoring period, a person with legitimacy or necessity can be excluded from the monitoring target, so that the processing burden for recognizing the monitoring target due to unnecessary monitoring can be reduced, and the monitoring target can be surely monitored with a simple configuration.

[0375] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that, when recognizing a monitoring target, it flies so as to approach the monitoring target and outputs a predetermined voice toward the monitoring target.

[0376] According to the flying robot 1001 of Embodiment 2 of the present invention, it flies so as to approach the monitoring target, and outputs a predetermined voice toward the monitoring target, thereby attracting the attention of the monitoring target, ensuring that the monitoring target recognizes that it is being monitored, and can notify the surroundings of the intrusion of the monitoring target, and can surely prevent theft damage such as agricultural products.

[0377] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined voice is a voice obtained by recording a speech for warning or cautioning against theft, or a synthesized voice imitating a speech for warning or cautioning against theft.

[0378] According to the flying robot 1001 of Embodiment 2 of the present invention, by outputting a synthesized voice imitating a speech for warning or cautioning against theft, it is possible to make the monitoring target feel as if a person is nearby or anticipate the approach of a person. Further, according to the flying robot 1001 of Embodiment 2 of the present invention, by outputting a predetermined voice from the speaker 204 integrally provided in the flying robot 1001, even when the monitoring target moves away by running away or the like, it is possible to always output a voice near the monitoring target in accordance with the movement of the monitoring target. Thereby, a warning can be given to the monitoring target, and the position of the monitoring target can be surely notified to the surroundings. And thereby, it is possible to surely prevent further damage from being added to agricultural products or the like.

[0379] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined voice is a voice of a siren, a police siren, a horn or a whistle, or a synthesized voice imitating at least any one of these voices.

[0380] According to the flying robot 1001 of Embodiment 2 of the present invention, by outputting the sound of a siren, a police siren, a horn or a whistle, or a synthetic sound simulating at least any one of these sounds, it can make the monitoring target feel that a person is nearby or anticipate the approach of a person.

[0381] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that it outputs a predetermined sound while the recognized monitoring target exists within a preset monitoring range.

[0382] According to the flying robot 1001 of Embodiment 2 of the present invention, by continuously outputting a predetermined sound while the monitoring target exists within the monitoring range, a warning can be given to the monitoring target and the position of the monitoring target can be reliably notified to the surroundings. As a result, the monitoring target can be driven out of the monitoring range at an early stage, and further damage to agricultural products and the like can be surely prevented.

[0383] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined sound has a sound pressure level of 80 dB or more.

[0384] According to the flying robot 1001 of Embodiment 2 of the present invention, a sound of a size that can be heard over a wide range can be output. As a result, a clear warning can be given to the monitoring target, the position of the monitoring target can be reliably notified over a wide range, and further damage to agricultural products and the like can be surely prevented.

[0385] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined sound has a loudness level of 90 phons or more.

[0386] ​According to the flying robot 1001 of Embodiment 2 of the present invention, by outputting a sound with a loudness level of 90 phons or more, which is defined as the volume of a disaster prevention siren, a clear warning can be given to the monitoring target, the position of the monitoring target can be reliably notified over a wide range, and further damage to agricultural products and the like can be reliably prevented.

[0387] In addition, the flying robot 1001 of Embodiment 2 of the present invention includes an LED lamp 104 which is a light source mounted on an unmanned aerial vehicle, and is characterized by flying while emitting light from the LED lamp 104.

[0388] According to the flying robot 1001 of Embodiment 2 of the present invention, it flies so as to approach the monitoring target, and by emitting light from the LED lamp 104 which is a light source, it attracts the attention of the monitoring target, reliably makes the monitoring target recognize that it is being monitored, and can notify the surrounding area of the intrusion of the monitoring target, and can reliably prevent theft damage to agricultural products and the like.

[0389] In addition, the flying robot 1001 of Embodiment 2 of the present invention is characterized by flying while blinking the LED lamp 104 which is a light source.

[0390] According to the flying robot 1001 of Embodiment 2 of the present invention, by blinking the LED lamp 104 which is a light source, it attracts the attention of the monitoring target, reliably makes the monitoring target recognize that it is being monitored, and can reliably notify the surrounding area of the intrusion of the monitoring target, and can reliably prevent theft damage to agricultural products and the like.

[0391] In addition, the flying robot 1001 of Embodiment 2 of the present invention is characterized by flying while blinking the LED lamp 104 which is a light source with light having a luminous flux equal to or higher than a predetermined threshold value.

[0392] According to the flying robot 1001 of Embodiment 2 of the present invention, by flying while flashing light with a light beam equal to or greater than a predetermined threshold value, it attracts the attention of the monitoring target, ensures that the monitoring target recognizes that it is being monitored, and can more reliably notify the surroundings of the intrusion of the monitoring target, and can reliably prevent theft damage to agricultural products and the like.

[0393] Further, the flying robot 1001 of Embodiment 2 of the present invention includes a communication I / F 209 which is a wireless communication interface mounted on an unmanned aerial vehicle, and when recognizing a monitoring target based on an image captured by a camera 103, it is characterized in that the image is transmitted to a predetermined destination via the communication I / F 209.

[0394] According to the flying robot 1001 of Embodiment 2 of the present invention, by transmitting an image of a monitoring target recognized based on an image captured by a camera 103 to a predetermined destination, damage to agricultural products and the like can be quickly and reliably notified to the administrator of the agricultural products and the like.

[0395] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined destination is an email address set in a specific smartphone.

[0396] According to the flying robot 1001 of Embodiment 2 of the present invention, by sending an image of a monitoring target recognized based on an image captured by a camera 103 to, for example, the email address set in the smartphone of a stakeholder such as a farm administrator, the administrator and the like can be quickly and reliably notified. Thereby, the administrator can grasp early damage such as the destruction of agricultural products by animals and the theft of agricultural products by humans, and prompt measures to prevent the spread of the damage can be taken.

[0397] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that the predetermined destination is a specific URL set on a cloud network.

[0398] According to the flying robot 1001 of Embodiment 2 of the present invention, by sending the image of the monitoring target recognized based on the image captured by the camera 103 to a specific URL set on the cloud network, regardless of the capacity of the image to be sent, it can be surely stored on the cloud network. Thereby, the record of the monitoring target can be surely saved, and after recognizing the monitoring target, the monitoring target can be specified at a later date.

[0399] Further, the flying robot 1001 of Embodiment 2 of the present invention is characterized in that when recognizing a monitoring target based on the image captured by the camera 103, the image is stored in a predetermined storage area.

[0400] According to the flying robot 1001 of Embodiment 2 of the present invention, for example, by storing the recognized image of the monitoring target in a predetermined storage area such as the memory in the control circuit 207 shown in FIG. 2, when theft damage such as agricultural products occurs, the recorded image can be used to identify the criminal.

[0401] Note that the control method of the flying robot described in this embodiment can be realized by a computer provided in the flying robot executing a program prepared in advance. This program is recorded on a computer-readable recording medium such as a memory provided in the flying robot, and is executed by being read from the recording medium by the computer. Further, this program may be stored and distributed in a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc., or may be a transmission medium that can be distributed via a network such as the Internet.

[0402] Hereinafter, the content of Embodiment 1 will be described as an appendix.

[0403] (Appendix 1) An unmanned aircraft that flies by automatic control, The camera mounted on the unmanned aircraft, and when an object is recognized based on an image captured by the camera, it is characterized in that it flies so as to approach the object. A flying robot.

[0404] (Appendix 2) The flying robot according to Appendix 1, characterized in that the camera captures an image within a predetermined range.

[0405] (Appendix 3) The flying robot according to Appendix 2, characterized in that the predetermined range is a preset garbage collection site.

[0406] (Appendix 4) After flying so as to approach the object, it returns to a station installed within or near the predetermined range. The flying robot according to Appendix 2 or 3.

[0407] (Appendix 5) The flying robot according to any one of Appendices 2 to 4, characterized in that it flies within the predetermined range at a speed not exceeding a set speed.

[0408] (Appendix 6) The flying robot according to any one of Appendices 2 to 4, characterized in that it hovers at an arbitrary position within the predetermined range.

[0409] (Appendix 7) The flying robot according to any one of Appendices 2 to 4, characterized in that it flies up and down at an arbitrary position within the predetermined range.

[0410] (Appendix 8) It is equipped with a speaker mounted on the unmanned aircraft, When the object is recognized based on the image captured by the camera, a predetermined voice is output from the speaker, and the flying robot according to any one of Appendices 1 to 7, characterized in that it flies so as to approach the object.

[0411] (Appendix 9) The flying robot according to Appendix 8, characterized in that the predetermined voice is output from the speaker to the object.

[0412] (Appendix 10) The flying robot according to Appendix 8 or 9, characterized in that the predetermined voice is a recorded cry of a raptor or a synthetic voice imitating the cry of a raptor.

[0413] (Appendix 11) The flying robot according to Appendix 8 or 9, characterized in that the predetermined voice is a recorded gunshot or a synthetic voice imitating a gunshot.

[0414] (Appendix 12) The flying robot according to Appendix 8 or 9, characterized in that the predetermined voice is a recorded bark of a dog or a synthetic voice imitating the bark of a dog.

[0415] (Appendix 13) The flying robot according to Appendix 8 or 9, characterized in that the predetermined voice is a recorded voice of a crow that has been attacked, a crow on alert, or a frightened crow, or a synthetic voice imitating these voices.

[0416] (Appendix 14) Equipped with a light source mounted on the unmanned aircraft, When the object is recognized based on the image captured by the camera, the light source emits light, and the flying robot according to any one of Appendices 1 to 13, characterized in that it flies so as to approach the object.

[0417] (Appendix 15) A flying robot according to any one of Appendices 1 to 14, characterized by having an appearance imitating a raptor.

[0418] (Appendix 16) A control program for a flying robot comprising a drone equipped with a camera and flown by automatic control, causing the camera to take a photograph, and when an object is recognized based on the image taken by the camera, causing the robot to fly so as to approach the object. The control program is characterized by executing the process.

[0419] (Appendix 17) A control program for the flying robot according to Appendix 16, characterized by causing the camera to take a photograph within a predetermined range.

[0420] (Appendix 18) A control program for the flying robot according to Appendix 17, characterized by causing the camera to take a photograph of a preset garbage collection site.

[0421] (Appendix 19) A control program for the flying robot according to Appendix 16 or 18, characterized by flying back to a station installed within or near the predetermined range after flying so as to approach the object.

[0422] (Appendix 20) A control program for the flying robot according to any one of Appendices 17 to 19, characterized by flying within the predetermined range at a speed not exceeding a set speed.

[0423] (Appendix 21) A control program for the flying robot according to any one of Appendices 17 to 19, characterized by performing hovering flight at an arbitrary position within the predetermined range.

[0424] (Appendix 22) A control program for a flying robot according to any one of Appendices 17 to 19, characterized by flying up and down at an arbitrary position within the predetermined range.

[0425] (Appendix 23) In the computer of the flying robot equipped with the speaker mounted on the unmanned aircraft, When the object is recognized based on the image captured by the camera, a control program for a flying robot according to any one of Appendices 16 to 22, characterized by outputting a predetermined voice from the speaker and flying so as to approach the object.

[0426] (Appendix 24) A control program for a flying robot according to Appendix 23, characterized by outputting the predetermined voice from the speaker to the object.

[0427] (Appendix 25) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined voice is a recorded cry of a raptor or a synthetic voice imitating the cry of a raptor.

[0428] (Appendix 26) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined voice is a recorded gunshot or a synthetic voice imitating a gunshot.

[0429] (Appendix 27) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined voice is a recorded bark of a dog or a synthetic voice imitating the bark of a dog.

[0430] (Appendix 28) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined voice is a recorded voice of a crow that has been attacked, a crow that is on guard, or a crow that is frightened, or a synthetic voice imitating these voices.

[0431] (Appendix 29) In the computer of the flying robot equipped with the light source mounted on the unmanned aircraft, When an object is recognized based on the image captured by the camera, the light source is caused to emit light, and the flying robot is caused to fly so as to approach the object. The control program of the flying robot according to any one of Appendices 16 to 28, characterized in that.

[0432] (Appendix 30) In the computer of the flying robot equipped with an unmanned aircraft equipped with a camera and flying by automatic control, Causing the camera to perform shooting, When an object is recognized based on the image captured by the camera, causing the flying robot to fly so as to approach the object, A control method for a flying robot, characterized by executing a process.

[0433] (Appendix 31) The control method of the flying robot according to Appendix 30, characterized in that the camera is caused to shoot within a predetermined range.

[0434] (Appendix 32) The control method of the flying robot according to Appendix 31, characterized in that the camera is caused to shoot a preset garbage collection site.

[0435] (Appendix 33) After flying so as to approach the object, flying back to a station installed within the predetermined range or in the vicinity of the predetermined range. The control method of the flying robot according to Appendix 31 or 32, characterized in that.

[0436] (Appendix 34) The control method of the flying robot according to any one of Appendices 31 to 33, characterized in that flying within the predetermined range at a speed equal to or lower than the set speed.

[0437] (Appendix 35) A method for controlling a flying robot according to any one of Appendices 31 to 33, characterized by performing hovering flight at an arbitrary position within the predetermined range.

[0438] (Appendix 36) A method for controlling a flying robot according to any one of Appendices 31 to 33, characterized by performing vertical flight at an arbitrary position within the predetermined range.

[0439] (Appendix 37) In the computer of the flying robot equipped with the speaker mounted on the unmanned aircraft, When the object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker, and the robot is made to fly so as to approach the object. A method for controlling a flying robot according to any one of Appendices 30 to 36.

[0440] (Appendix 38) A method for controlling a flying robot according to Appendix 37, characterized by outputting the predetermined sound from the speaker to the object.

[0441] (Appendix 39) The predetermined sound is a recorded cry of a raptor or a synthetic sound imitating the cry of a raptor. A method for controlling a flying robot according to Appendix 37 or 38.

[0442] (Appendix 40) The predetermined sound is a recorded gunshot or a synthetic sound imitating a gunshot. A method for controlling a flying robot according to Appendix 37 or 38.

[0443] (Appendix 41) The predetermined sound is a recorded bark of a dog or a synthetic sound imitating the bark of a dog. A method for controlling a flying robot according to Appendix 37 or 38.

[0444] (Appendix 42) The control method of the flying robot according to appended note 37 or 38, characterized in that the predetermined voice is a voice obtained by recording the voice of a crow that has been attacked, a crow that is on alert, or a crow that is frightened, or a synthetic voice imitating these voices.

[0445] (Appended note 43) In the computer of the flying robot equipped with a light source mounted on the unmanned aircraft, When an object is recognized based on the image captured by the camera, the control method of the flying robot according to any one of appended notes 30 to 42, characterized in that the light source is caused to emit light and the robot is made to fly so as to approach the object.

[0446] Hereinafter, the content of Embodiment 2 will be described as an appended note.

[0447] (Appended note 1) An unmanned aircraft that flies by automatic control, A camera mounted on the unmanned aircraft, Comprising, When a monitoring target is recognized based on the image captured by the camera, the flying robot is characterized in that it flies so as to approach the monitoring target. target.

[0448] (Appended note 2) When the monitoring target is recognized based on the image captured by the camera, the flying robot according to appended note 1, characterized in that it flies so as to capture images from all directions of the monitoring target.

[0449] (Appended note 3) The flying robot according to appended note 1 or 2, characterized in that a monitoring target is recognized based on an image captured by the camera within a preset predetermined range.

[0450] (Appended note 4) The flying robot according to appended note 3, characterized in that the predetermined range is a farm.

[0451] (Appendix 5) The flying robot according to Appendix 4, wherein the object to be monitored is a bird, animal or human who possesses or transports agricultural products or articles presumed to be such agricultural products on the farm.

[0452] (Appendix 6) The flying robot according to Appendix 3 or 4, wherein the predetermined range is a crop cultivation farm.

[0453] (Appendix 7) The flying robot according to Appendix 6, wherein the object to be monitored is a bird, animal or human who possesses or transports cultivated crops or articles presumed to be such cultivated crops on the crop cultivation farm.

[0454] (Appendix 8) The flying robot according to Appendix 3 or 4, wherein the predetermined range is a livestock farm.

[0455] (Appendix 9) The flying robot according to Appendix 8, wherein the object to be monitored is a bird, animal or human who possesses or transports livestock or poultry on the livestock farm, or articles presumed to be such livestock or poultry.

[0456] (Appendix 10) The flying robot according to Appendix 3 or 4, wherein the predetermined range is a beekeeping farm.

[0457] (Appendix 11) The flying robot according to Appendix 10, wherein the object to be monitored is a bird, animal or human who possesses or transports a beehive used for beekeeping or articles presumed to be such beehive.

[0458] (Appendix 12) The flying robot according to any one of Appendices 1 to 11, wherein when the object to be monitored is recognized based on an image captured by the camera in a preset time period, the robot flies so as to approach the object to be monitored.

[0459] (Appendix 13) When the monitoring target is recognized based on the image captured by the camera during the period from receiving a predetermined input operation or a predetermined signal to receiving an operation that invalidates the predetermined input operation or a signal that invalidates the predetermined signal, the flying robot according to any one of Appendices 1 to 12, characterized in that it flies so as to approach the monitoring target.

[0460] (Appendix 14) The flying robot according to any one of Appendices 1 to 13, characterized in that when the monitoring target is recognized, it flies so as to approach the monitoring target and outputs a predetermined voice toward the monitoring target.

[0461] (Appendix 15) The flying robot according to Appendix 14, characterized in that the predetermined voice is a voice recording a speech warning or cautioning against theft or a synthetic voice imitating a speech warning or cautioning against theft.

[0462] (Appendix 16) The flying robot according to Appendix 14, characterized in that the predetermined voice is a voice of a siren, a police siren, a whistle or a horn, or a synthetic voice imitating at least any one of these voices.

[0463] (Appendix 17) The flying robot according to any one of Appendices 14 to 16, characterized in that the predetermined voice is output while the recognized monitoring target exists within a preset monitoring range.

[0464] (Appendix 18) The flying robot according to any one of Appendices 14 to 17, characterized in that the predetermined voice has a sound pressure level of 80 dB or more.

[0465] (Appendix 19) The flight-type robot according to any one of Appendices 14 to 17, wherein the predetermined voice has a loudness level of 90 phons or more.

[0466] (Appendix 20) Equipped with a light source mounted on the unmanned aircraft, The flight-type robot according to any one of Appendices 1 to 19, which is characterized by flying while emitting light from the light source.

[0467] (Appendix 21) The flight-type robot according to Appendix 20, which is characterized by flying while blinking the light source.

[0468] (Appendix 22) The flight-type robot according to Appendix 21, which is characterized by flying while blinking the light source with light having a luminous flux equal to or higher than a predetermined threshold value.

[0469] (Appendix 23) Equipped with a wireless communication interface mounted on the unmanned aircraft, When the monitoring target is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface, as described in any one of Appendices 1 to 22. The flight-type robot described in any one of them.

[0470] (Appendix 24) The flight-type robot according to Appendix 23, wherein the predetermined destination is an email address set in a specific smartphone.

[0471] (Appendix 25) The flight-type robot according to Appendix 23, wherein the predetermined destination is a specific URL set on a cloud network.

[0472] (Appendix 26) The flying robot according to any one of appendices 1 to 25, wherein when the monitoring target is recognized based on the image captured by the camera, the image is stored in a predetermined storage area.

[0473] (Appendix 27) In a computer of a flying robot equipped with a camera and flying by automatic control, Causing the camera to perform shooting, When the monitoring target is recognized based on the image captured by the camera, causing it to fly so as to approach the object. A control program for a flying robot, characterized by executing processing.

[0474] (Appendix 28) The control program for the flying robot according to appendix 27, wherein when the monitoring target is recognized based on the image captured by the camera, causing it to fly so as to capture images from all directions of the monitoring target.

[0475] (Appendix 29) The control program for the flying robot according to appendix 27 or 28, characterized by recognizing the monitoring target based on the image captured by the camera within a preset predetermined range.

[0476] (Appendix 30) The control program for the flying robot according to appendix 29, wherein the predetermined range is a farm.

[0477] (Appendix 31) The control program for the flying robot according to appendix 30, wherein the monitoring target is a bird, animal or human that holds or transports agricultural products in the farm or articles presumed to be the agricultural products.

[0478] (Appendix 32) The control program for the flying robot according to appendix 29 or 30, wherein the predetermined range is a crop cultivation farm.

[0479] (Appendix 33) The control program of the flying robot described in Appendix 32, wherein the object to be monitored is a bird, animal, or human who possesses or transports the cultivated crop or an article presumed to be the cultivated crop in the crop cultivation farm.

[0480] (Appendix 34) The control program of the flying robot described in Appendix 29 or 30, wherein the predetermined range is a livestock farm.

[0481] (Appendix 35) The control program of the flying robot described in Appendix 34, wherein the object to be monitored is a bird, animal, or human who possesses or transports livestock or poultry in the livestock farm, or an article presumed to be the livestock or poultry.

[0482] (Appendix 36) The control program of the flying robot described in Appendix 29 or 30, wherein the predetermined range is a beekeeping farm.

[0483] (Appendix 37) The control program of the flying robot described in Appendix 36, wherein the object to be monitored is a bird, animal, or human who possesses or transports a beehive used for beekeeping or an article presumed to be the beehive.

[0484] (Appendix 38) The control program of the flying robot according to any one of Appendices 27 to 37, wherein when the object to be monitored is recognized based on the image captured by the camera in a preset time zone, the robot is made to fly so as to approach the object to be monitored.

[0485] (Appendix 39) A control program for a flying robot according to any one of Appendices 27 to 38, characterized in that when the monitoring target is recognized based on an image captured by the camera between receiving a predetermined input operation or a predetermined signal and receiving an operation for invalidating the predetermined input operation or a signal for invalidating the predetermined signal.

[0486] (Appendix 40) A control program for a flying robot according to any one of Appendices 27 to 39, characterized in that when the monitoring target is recognized, the robot flies so as to approach the monitoring target and outputs a predetermined voice toward the monitoring target.

[0487] (Appendix 41) A control program for a flying robot according to Appendix 40, characterized in that the predetermined voice is a voice obtained by recording a statement for alerting or warning of theft or a synthetic voice imitating the statement for alerting or warning of theft.

[0488] (Appendix 42) A control program for a flying robot according to Appendix 40, characterized in that the predetermined voice is a voice of a siren, a police siren, a horn or a whistle, or a synthetic voice imitating at least any one of these voices.

[0489] (Appendix 43) A control program for a flying robot according to any one of Appendices 40 to 42, characterized in that the predetermined voice is output while the recognized monitoring target exists within a preset monitoring range.

[0490] (Appendix 44) A control program for a flying robot according to any one of Appendices 40 to 43, characterized in that the predetermined voice has a sound pressure level of 80 dB or more.

[0491] (Appendix 45) The predetermined voice is a control program for the flying robot according to any one of Appendices 40 to 43, characterized in that the loudness level is 90 phons or more.

[0492] (Appendix 46) Equipped with a light source mounted on the unmanned aircraft, A control program for the flying robot according to any one of Appendices 27 to 45, characterized in that the light source is made to emit light while flying.

[0493] (Appendix 47) A control program for the flying robot according to Appendix 46, characterized in that the light source is made to blink while flying.

[0494] (Appendix 48) A control program for the flying robot according to Appendix 47, characterized in that the light source is made to blink while flying with light having a luminous flux equal to or greater than a predetermined threshold value.

[0495] (Appendix 49) Equipped with a wireless communication interface mounted on the unmanned aircraft, When the monitoring target is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface. A control program for the flying robot according to any one of Appendices 27 to 48.

[0496] (Appendix 50) The predetermined destination is an email address set in a specific smartphone. A control program for the flying robot according to Appendix 49.

[0497] (Appendix 51) The predetermined destination is a specific URL set on a cloud network. A control program for the flying robot according to Appendix 49.

[0498] (Appendix 52) A control program for a flying robot according to 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 predetermined storage area.

[0499] (Appendix 53) In a computer of a flying robot equipped with a camera and flying by automatic control, Cause the camera to take a picture, When the monitoring target is recognized based on the image captured by the camera, cause it to fly so as to approach the object. A control method for a flying robot, characterized by executing processing.

[0500] (Appendix 54) A control method for a flying robot according to Appendix 53, characterized in that when the monitoring target is recognized based on the image captured by the camera, it is caused to fly so as to capture images from all directions of the monitoring target.

[0501] (Appendix 55) A control method for a flying robot according to Appendix 53 or 54, characterized by recognizing a monitoring target based on an image captured by the camera within a predetermined range set in advance.

[0502] (Appendix 56) A control method for a flying robot according to Appendix 55, characterized in that the predetermined range is a farm.

[0503] (Appendix 57) A control method for a flying robot according to Appendix 56, characterized in that the monitoring target is a bird, animal or human that holds or transports agricultural products or articles presumed to be the agricultural products on the farm.

[0504] (Appendix 58) A control method for a flying robot according to Appendix 55 or 56, characterized in that the predetermined range is a crop cultivation farm.

[0505] (Appendix 59) The method for controlling the flying robot according to Appendix 58, wherein the object to be monitored is a bird, animal, or human who possesses or transports the cultivated crop in the crop cultivation farm or an article presumed to be the cultivated crop.

[0506] (Appendix 60) The method for controlling the flying robot according to Appendix 55 or 56, wherein the predetermined range is a livestock farm.

[0507] (Appendix 61) The method for controlling the flying robot according to Appendix 60, wherein the object to be monitored is a bird, animal, or human who possesses or transports livestock or poultry in the livestock farm or an article presumed to be the livestock or poultry.

[0508] (Appendix 62) The method for controlling the flying robot according to Appendix 55 or 56, wherein the predetermined range is a beekeeping farm.

[0509] (Appendix 63) The method for controlling the flying robot according to Appendix 62, wherein the object to be monitored is a bird, animal, or human who possesses or transports a beehive used for beekeeping or an article presumed to be the beehive.

[0510] (Appendix 64) The method for controlling the flying robot according to any one of Appendices 55 to 63, wherein when the object to be monitored is recognized based on the image captured by the camera in a preset time period, the robot is made to fly so as to approach the object to be monitored.

[0511] (Appendix 65) When the monitoring target is recognized based on an image captured by the camera between receiving a predetermined input operation or a predetermined signal and receiving an operation for invalidating the predetermined input operation or a signal for invalidating the predetermined signal, the flight type robot is controlled to fly so as to approach the monitoring target, which is a control method for a flight type robot according to any one of Appendices 53 to 64.

[0512] (Appendix 66) When the monitoring target is recognized, the flight type robot is controlled to fly so as to approach the monitoring target and output a predetermined voice toward the monitoring target, which is a control method for a flight type robot according to any one of Appendices 55 to 65.

[0513] (Appendix 67) The predetermined voice is a voice obtained by recording a speech for warning or alerting against theft or a synthetic voice imitating a speech for warning or alerting against theft, which is a control method for a flight type robot according to Appendix 66.

[0514] (Appendix 68) The predetermined voice is a voice of a siren, a police siren, a horn or a whistle, or a synthetic voice imitating at least any one of these voices, which is a control method for a flight type robot according to Appendix 66.

[0515] (Appendix 69) While the recognized monitoring target exists within a preset monitoring range, the predetermined voice is output, which is a control method for a flight type robot according to any one of Appendices 66 to 68.

[0516] (Appendix 70) The predetermined voice has a sound pressure level of 80 dB or more, which is a control method for a flight type robot according to any one of Appendices 66 to 69.

[0517] (Appendix 71) The control method of the flying robot according to any one of Appendices 66 to 69, wherein the predetermined voice has a loudness level of 90 phons or more.

[0518] (Appendix 72) Comprising a light source mounted on the unmanned aerial vehicle, The control method of the flying robot according to any one of Appendices 55 to 71, characterized by flying while emitting the light source.

[0519] (Appendix 73) The control method of the flying robot according to Appendix 72, characterized by flying while blinking the light source.

[0520] (Appendix 74) The control method of the flying robot according to Appendix 73, characterized by flying while blinking the light of the light source with a luminous flux equal to or higher than a predetermined threshold value.

[0521] (Appendix 75) Comprising a wireless communication interface mounted on the unmanned aerial vehicle, When the monitoring target is recognized based on the image captured by the camera, the control method of the flying robot according to any one of Appendices 53 to 74, characterized by transmitting the image to a predetermined destination via the wireless communication interface.

[0522] (Appendix 76) The control method of the flying robot according to Appendix 75, characterized in that the predetermined destination is an email address set in a specific smartphone.

[0523] (Appendix 77) The control method of the flying robot according to Appendix 75, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0524] (Appendix 78) When the monitoring target is recognized based on the image captured by the camera, the method for controlling a flying robot according to any one of Appendices 53 to 77, characterized in that the image is stored in a predetermined storage area.

Industrial Applicability

[0525] As described above, the flying robot, the control program for the flying robot, and the method for controlling the flying robot according to the present invention are useful for a flying robot that monitors a desired location, a control program for a flying robot, and a method for controlling a flying robot. In particular, they are suitable for a flying robot that monitors a farm that produces agricultural products, a control program for a flying robot, and a method for controlling a flying robot.

Explanation of Signs

[0526] 101 Flying robot 102 Propeller 103 Camera 104 LED lamp 201 Battery 202 Motor 203 Microphone 204 Speaker 205 GPS sensor 206 Object sensor 207 Control circuit 208 Acceleration sensor 209 Communication I / F 210 Solar cell 301 Station 302 Exterior part 303 Battery 304 Power transmission coil 305 Solar cell 401 Storage unit 402 Detection unit 403 Shooting unit 404 Acquisition unit 405 Driving unit 406 Output unit 407 Control unit 601 Support column 602 Garbage collection site 701 Crows 1001 Flying Robot 1201 Trees 1201a Branches and Leaves 1201b Fruits 1202 Boxes 1203 Criminals 1301 Pigs

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 a monitoring target is recognized based on an image captured by the camera, the flying robot flies so as to approach the monitoring target.

2. 2. The flying robot according to claim 1, wherein when the surveillance target is recognized based on the images captured by the camera, the flying robot flies so as to capture images of the surveillance target from all directions.

3. 3. The flying robot according to claim 1, wherein the flying robot recognizes a monitoring target based on an image captured by the camera within a preset range.

4. 4. The flying robot according to claim 3, wherein the predetermined area is a farm.

5. 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 products on the farm or an item that is presumed to be the agricultural product.

6. 5. The flying robot according to claim 3, wherein the predetermined area is a crop cultivation farm.

7. 7. The flying robot according to claim 6, wherein the monitoring target is a bird, animal, or human being that possesses or carries a cultivated crop in the crop cultivation farm or an item that is presumed to be the cultivated crop.

8. 5. The flying robot according to claim 3, wherein the predetermined area is a livestock farm.

9. The flying robot according to claim 8, characterized in that the subject of monitoring is a livestock or poultry on the livestock farm, or a bird, animal, or human being that possesses or carries an item that is presumed to be a livestock or poultry.

10. 5. The flying robot according to claim 3, wherein the predetermined area is a beehive.

11. 11. The flying robot according to claim 10, wherein the monitoring target 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 beehive.

12. The flying robot according to any one of claims 1 to 11, characterized in that when the flying robot recognizes a monitoring target based on images taken by the camera during a predetermined time period, the flying robot flies so as to approach the monitoring target.

13. The flying robot according to any one of claims 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.

14. The flying robot according to any one of claims 1 to 13, characterized in that when the flying robot recognizes the monitoring target, the flying robot flies so as to approach the monitoring target and outputs a predetermined sound toward the monitoring target.

15. 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.

16. 15. 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.

17. The flying robot according to any one of claims 14 to 16, characterized in that the predetermined sound is output while the recognized monitoring target is present within a preset monitoring range.

18. 18. The flying robot according to claim 14, wherein the predetermined sound has a sound pressure level of 80 dB or more.

19. 18. The flying robot according to claim 14, wherein the predetermined sound has a loudness level of 90 phon or more.

20. A light source mounted on the unmanned aerial vehicle; The flying robot according to any one of claims 1 to 19, characterized in that it flies while emitting light from the light source.

21. 21. The flying robot according to claim 20, which flies while blinking the light source.

22. 22. The flying robot according to claim 21, wherein the flying robot flies while blinking the light source with a luminous flux equal to or greater than a predetermined threshold value.

23. A wireless communication interface is provided on the unmanned aerial vehicle; The flying robot according to any one of claims 1 to 22, characterized in that when the surveillance target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

24. 24. The flying robot according to claim 23, wherein the predetermined destination is an email address set in a specific smartphone.

25. 24. The flying robot according to claim 23, wherein the predetermined destination is a specific URL set on a cloud network.

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 specified memory area.

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.

28. The control program for a flying robot according to claim 27, characterized in that when the surveillance target is recognized based on images taken by the camera, the flying robot is caused to fly so as to capture images of the surveillance target from all directions.

29. 29. The flying robot control program according to claim 27 or 28, characterized in that a monitoring target is recognized based on an image captured by the camera within a preset range.

30. 30. The flying robot control program according to claim 29, wherein the predetermined area is a farm.

31. 31. The flying robot control program according to claim 30, wherein the subject of monitoring is a bird, animal, or human being that possesses or carries agricultural products on the farm or an item that is presumed to be the agricultural product.

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

33. The control program for a flying robot according to claim 32, characterized in that the monitored object is a bird, animal, or human being that possesses or carries a cultivated crop in the crop cultivation farm or an item that is presumed to be the cultivated crop.

34. 31. The control program for an flying robot according to claim 29 or 30, wherein the predetermined area is a livestock farm.

35. The control program for a flying robot as described in claim 34, characterized in that the subject of monitoring is livestock or poultry on the livestock farm, or a bird, animal, or human being that possesses or carries an item that is presumed to be livestock or poultry.

36. 31. The control program for an flying robot according to claim 29 or 30, wherein the predetermined area is a beehive.

37. 37. The control program for a flying robot according to claim 36, 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 beehive.

38. A control program for a flying robot as described in any one of claims 27 to 37, characterized in that when the surveillance 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 surveillance target.

39. A control program for a flying robot as described in any one of claims 27 to 38, characterized in that if the surveillance target is recognized based on an image taken 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.

40. A control program for a flying robot described in any one of claims 27 to 39, characterized in that when the monitoring target is recognized, the flying robot is caused to fly close to the monitoring target and a predetermined sound is output toward the monitoring target.

41. The flying robot control program according to claim 40, characterized in that 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.

42. 41. 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.

43. The control program for a flying robot according to any one of claims 40 to 42, characterized in that the predetermined sound is output while the recognized monitoring target is within a preset monitoring range.

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.

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.

46. A light source mounted on the unmanned aerial vehicle; A control program for a flying robot according to any one of claims 27 to 45, characterized in that the flying robot is flown while the light source is illuminated.

47. The control program for a flying robot according to claim 46, characterized in that the flying robot is caused to fly while blinking the light source.

48. The control program for a flying robot according to claim 47, characterized in that the flying robot is caused to fly while flashing the light source with a luminous flux equal to or greater than a predetermined threshold value.

49. A wireless communication interface is provided on the unmanned aerial vehicle; A control program for a flying robot described in any one of claims 27 to 48, characterized in that when the monitoring target is recognized based on an image taken by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

50. The flying robot control program according to claim 49, characterized in that the specified destination is an email address set in a specific smartphone.

51. 50. The flying robot control program according to claim 49, wherein the predetermined destination is a specific URL set on a cloud network.

52. A control program for a flying robot as described in any one of claims 27 to 51, characterized in that when the monitoring target is recognized based on an image taken by the camera, the image is stored in a specified memory area.

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 drone is caused to fly so as to approach the target. A control method for a flying robot, comprising: executing a process.

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 flown so as to take images of the monitoring target from all directions.

55. 55. A method for controlling an 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 preset range.

56. 56. The method for controlling an flying robot according to claim 55, wherein the predetermined area is a farm.

57. The flying robot control method according to claim 56, characterized in that the subject of monitoring 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.

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

59. The flying robot control method according to claim 58, characterized in that the monitored object is a bird, animal, or human being that possesses or carries a cultivated crop in the crop cultivation farm or an item that is presumed to be the cultivated crop.

60. 57. The method for controlling an flying robot according to claim 55 or 56, wherein the predetermined area is a livestock farm.

61. The method for controlling a flying robot described in claim 60, characterized in that the subject of monitoring is livestock or poultry at the livestock farm, or a bird, animal, or human being that possesses or carries an item that is suspected to be livestock or poultry.

62. 57. The method for controlling an flying robot according to claim 55 or 56, wherein the predetermined area is a beehive.

63. 63. The method for controlling an airborne robot 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 beehive.

64. A control method for a flying robot described in any one of claims 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.

65. A method for controlling a flying robot described in any one of claims 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.

66. A method for controlling a flying robot described in any one of claims 55 to 65, characterized in that when the monitoring target is recognized, the flying robot is flown so as to approach the monitoring target and a predetermined sound is output toward the monitoring target.

67. The flying robot control method according to claim 66, characterized in that the specified voice is a recorded voice giving a caution or warning against theft, or a synthesized voice imitating an utterance giving a caution or warning against theft.

68. The method for controlling an flying robot as described in claim 66, characterized in that the predetermined sound is a siren, a warning horn, a signal horn or a whistle, or a synthesized sound imitating at least any of these sounds.

69. A method for controlling an flying robot as described in any one of claims 66 to 68, characterized in that the predetermined sound is output while the recognized monitoring target is present within a predetermined monitoring range.

70. The method for controlling an flying robot according to any one of claims 66 to 69, characterized in that the predetermined sound has a sound pressure level of 80 dB or more.

71. The method for controlling an flying robot according to any one of claims 66 to 69, characterized in that the predetermined sound has a loudness level of 90 phon or more.

72. A light source mounted on the unmanned aerial vehicle; The 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.

73. The method for controlling a flying robot according to claim 72, characterized in that the flying robot is caused to fly while blinking the light source.

74. The method for controlling a flying robot according to claim 73, characterized in that the light source is caused to fly while flashing light with a luminous flux equal to or greater than a predetermined threshold.

75. A wireless communication interface is provided on the unmanned aerial vehicle; A method for controlling an airborne robot according to any one of claims 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.

76. 76. The method for controlling an flying robot according to claim 75, wherein the specified destination is an email address set in a specific smartphone.

77. 76. The method for controlling an flying robot according to claim 75, wherein the predetermined destination is a specific URL set on a cloud network.

78. A method for controlling an flying robot described in any one of claims 53 to 77, characterized in that when the monitoring target is recognized based on an image taken by the camera, the image is stored in a specified memory area.

Images