Animal repellent methods, unmanned aerial vehicles and programs

Abstract

The present invention provides an animal repellent method comprising the steps of: installing a holder for holding an animal repellent at a predetermined location; and having an unmanned aerial vehicle (UAV) replenish the holder with the repellent. The present invention also provides an UAV comprising a container holding unit for holding a container for containing an animal repellent; a discharge unit for dispensing the repellent contained in the container; and a holder holding unit for holding any holder and releasing the held holder. The present invention also provides a program, when executed by a computer, that causes the UAV to install a holder for holding an animal repellent at a predetermined location and to replenish the holder with the repellent.

Description

Technical Field

[0001] The present invention relates to a method for repelling animals, a drone, and a program.

Background Art

[0002] Conventionally, a bird repellent for repelling birds has been known (for example, see Patent Document 1). [Prior Art Document] [Patent Document] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-152140

[0003] Provided is a method for repelling animals using a drone.

Summary of the Invention

[0004] In a first aspect of the present invention, there is provided a method for repelling animals, comprising: installing a holder for holding a repellent for animals at a predetermined installation location; and replenishing the repellent to the holder by a drone.

[0005] In the above method for repelling animals, the step of installing the holder at the installation location may include a step in which the drone moves while holding the holder and installs the holder at the installation location.

[0006] In any of the above methods for repelling animals, the holder may include a holding material capable of absorbing the repellent.

[0007] In any of the above methods for repelling animals, the step of replenishing the repellent to the holder may include a step of turning the discharge port of the drone toward the holder. The step of replenishing the repellent to the holder may include a step of discharging the repellent from the discharge port of the drone and replenishing the repellent to the holder.

[0008] In any of the above methods for repelling animals, the step of replenishing the repellent to the holder may include a step of inserting the discharge port into the holder.

[0009] In any of the above methods for repelling animals, the step of supplying the repellent to the holder may include the step of connecting the unmanned aerial vehicle for supplying the repellent to the holder. The step of supplying the repellent to the holder may include the step of discharging the repellent from the discharge port of the unmanned aerial vehicle while the unmanned aerial vehicle is connected to the holder, thereby supplying the repellent to the holder.

[0010] In any of the above methods for repelling animals, the holder may have a tray to prevent the repellent from leaking out of the holder.

[0011] In any of the above methods for repelling animals, the holder may have a guidance unit for guiding the unmanned aerial vehicle for supplying the repellent.

[0012] In any of the above methods for repelling animals, the step of supplying the repellent to the holder may include a step in which the unmanned aerial vehicle recognizes the guidance unit. The step of supplying the repellent to the holder may include a step in which the unmanned aerial vehicle autonomously approaches the holder in response to guidance from the guidance unit. The step of supplying the repellent to the holder may include a step in which the repellent is supplied to the holder after the unmanned aerial vehicle has approached the holder.

[0013] Any of the above methods for repelling animals may include a step in which an unmanned aerial vehicle retrieves the retaining body after the step of installing the retaining body at the installation location.

[0014] Any of the above methods for repelling animals may include a step after the step of retrieving the retaining body in which an unmanned aerial vehicle reinstalls a retaining body for reinstallation at the installation location.

[0015] The method for repelling any of the animals described above may include the steps of determining the completion of supplying the repellent to the holder based on the supply time, the amount supplied, or at least one of the images of the holder, and ending the supply of the repellent to the holder after determining that the supply is complete.

[0016] Any of the above methods for repelling animals may include a step of detecting the presence of an animal in the vicinity of the holder. Any of the above methods for repelling animals may include a step of notifying the user to replenish the holder with the repellent in response to the detection of the presence of an animal.

[0017] Any of the above methods for repelling animals may include the steps of detecting the presence of an animal in the vicinity of the holder, and, in response to detecting the presence of an animal, the unmanned aerial vehicle supplying the holder with the repellent.

[0018] A second embodiment of the present invention provides an unmanned aerial vehicle. The unmanned aerial vehicle may be provided with a container holding unit for holding a container for containing an animal repellent. The unmanned aerial vehicle may be provided with a discharge unit for dispensing the repellent contained in the container. The unmanned aerial vehicle may be provided with a holder holding unit that can hold any holder and release the held holder.

[0019] In any of the above-described unmanned aerial vehicles, the holder portion may include a separation portion for separating and releasing the holder from the holder portion.

[0020] Any of the above-mentioned unmanned aerial vehicles may be equipped with a retrieval unit for retrieving the holder installed at a predetermined location.

[0021] Any of the above-mentioned unmanned aerial vehicles may have a detection unit for detecting the amount of repellent to be replenished or the remaining amount held in the holder.

[0022] In any of the above unmanned aircraft, the detection unit may have an imaging unit for imaging an image of the holding body. The unmanned aircraft may include a notification unit that notifies a user of the detection result by the detection unit.

[0023] In a third aspect of the present invention, when executed by a computer, there is provided a program for causing an unmanned aircraft to install a holding body for holding a repellent for animals at a predetermined installation location and to replenish the repellent in the holding body.

[0024] Note that the above summary of the invention does not list all of the necessary features of the present invention. Also, sub-combinations of these feature groups can also be inventions.

Brief Description of the Drawings

[0025] [Figure 1A] An example of a method for repelling animals using an unmanned aircraft 100 is shown. [Figure 1B] An example of an installation location 300 is shown. [Figure 1C] An example of the effect of a holding body 200 that holds a repellent 45 is shown. [Figure 2] An example of the configuration of an unmanned aircraft 100 is shown. [Figure 3A] It is an example of a repelling method of a comparative example. [Figure 3B] It is a diagram for explaining the problem of the repelling method of the comparative example. [Figure 4] An example of an operation flowchart for executing a method for repelling animals 500 is shown. [Figure 5A] An example of a method for attaching a holding body 200 is shown. [Figure 5B] An example of a method for attaching a holding body 200 is shown. [Figure 6A] An example of a holding body 200 is shown. [Figure 6B] A modified example of the configuration of a holding body 200 is shown. [Figure 7A] A modified example of a holding body 200 is shown. [Figure 7B] An example of a cross-section of the holding body 200 in FIG. 7A is shown. [Figure 7C] An example of a method for supplying the repellent 45 to the retainer 200 is shown. [Figure 8A] A modified example of the holder 200 is shown. [Figure 8B] An example of a cross-section of the retainer 200 is shown. [Figure 9] An example of a method for supplying repellent 45 using an unmanned aerial vehicle 100 is shown. [Figure 10] An example of a method for supplying repellent 45 using an unmanned aerial vehicle 100 is shown. [Figure 11A] A modified example of the holder 200 is shown. [Figure 11B] Figure 11A shows an example of the cross-sectional structure of the retainer 200. [Figure 11C] This shows the connection between the discharge section 50 and the holder 200. [Figure 11D] An example of a method for replenishing the repellent 45 using the connecting part 250 is shown. [Figure 12A] An example of the configuration of the retainer 200 is shown. [Figure 12B] An example of a cross-section of the retainer 200 is shown in Figure 12A. [Figure 13A] An example of the configuration of the unmanned aerial vehicle 100 is shown. [Figure 13B] An example of a method for detecting the amount of repellent 45 to be replenished or the remaining amount is shown. [Figure 13C] An example of how to replenish the repellent 45 is shown. [Figure 14A] An example of a holder 200 having a guide portion 270 is shown. [Figure 14B] An example of a holder 200 having a guide portion 270 is shown. [Figure 14C] An example of a holder 200 having a guide portion 270 is shown. [Figure 14D] An example of a holder 200 having a guide portion 270 is shown. [Figure 14E] An example of a holder 200 having a guide portion 270 is shown. [Figure 15A] This shows an example of a guidance method for the unmanned aerial vehicle 100. [Figure 15B] The subsequent steps of the induction method shown in Figure 15A are illustrated. [Figure 16A] An example of the configuration of the retainer 200 is shown. [Figure 16B] Figure 16A shows an example of how the holder 200 operates. [Figure 16C] An example of a method for recovering the retaining body 200 using an unmanned aerial vehicle 100 is shown. [Figure 17] An example of a method for recovering the retaining body 200 using an unmanned aerial vehicle 100 is shown. [Figure 18A] An example of a method for recovering the retaining body 200 using an unmanned aerial vehicle 100 is shown. [Figure 18B] An example of how to install the holder 200b is shown. [Figure 19A] An example of how to install the holder 200 is shown. [Figure 19B] The following steps are shown for the installation method in Figure 19A. [Figure 19C] The subsequent steps in the installation method shown in Figure 19B are illustrated. [Figure 20A] An example of a method for recovering the retainer 200 is shown. [Figure 20B] The subsequent steps of the recovery method shown in Figure 20A are illustrated. [Figure 20C] The subsequent steps of the recovery method shown in Figure 20B are illustrated. [Figure 21] Here is an example of a method to repel 500 animals. [Figure 22] Here is an example of a method to repel 500 animals. [Figure 23] Here is an example of a method to repel 500 animals. [Figure 24] An example of a computer 1000 in which multiple aspects of the present invention may be embodied in whole or in part is shown. [Modes for carrying out the invention]

[0026] The present invention will be described below through embodiments of the invention, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0027] Figure 1A shows an example of an animal repellent method using an unmanned aerial vehicle 100. This figure shows the process by which the unmanned aerial vehicle 100 repellents the repellent 45 into the holder 200.

[0028] The retainer 200 may be installed at any installation location 300. The retainer 200 holds the repellent 45. Because the retainer 200 holds the repellent 45, the repellent 45 remains for a longer period than when the repellent 45 is sprayed, and a longer repellent effect can be expected. The repellent 45 is diffused from the retainer 200 to repel animals 500. The animals 500 will be described later.

[0029] The unmanned aerial vehicle 100 discharges the repellent 45 toward the holder 200. The unmanned aerial vehicle 100 may be manually controlled by the user 400 or automatically controlled based on a predetermined program. In this example, the unmanned aerial vehicle 100 is manually controlled by a terminal device 410 owned by the user 400. Details of the unmanned aerial vehicle 100 will be described later.

[0030] Figure 1B shows an example of an installation location 300. In this example, installation location 300 is a warehouse. Installation location 300 in this example is just one example of a location for installing the holder 200, and is not limited to this.

[0031] The installation location 300 may be a place where you want to deter animals 500, such as a place where animals 500 might settle or build nests. The installation location 300 may be a place where you want to prevent damage from animal droppings. For example, the installation location 300 may be a warehouse, a train station, a parking lot, a stadium, a garden, or a bridge. More specifically, the installation location 300 may be a beam, column, wall, or ceiling of one of these structures. The installation location 300 may be a place that is difficult for humans to reach. The installation location 300 may be a high place, a narrow place, or a dangerous place.

[0032] Animal 500 can be any animal that can be repelled by the repellent 45. Animal 500 may be a bird, mammal, or reptile. For example, animal 500 may be a pigeon, crow, starling, bear, wild boar, monkey, deer, raccoon dog, civet, weasel, raccoon, badger, or mole, but is not limited to these. In this example, animal 500 is a bird.

[0033] Figure 1C shows an example of the effect of a holder 200 that holds the repellent 45. In this example, the holder 200 repels birds, which are animals 500, by diffusing the repellent 45.

[0034] The retainer 200 absorbs the repellent 45 using a material capable of absorbing the repellent 45, such as a sponge. In this example, the retainer 200 is installed on a beam in a warehouse, which is the installation location 300. As the absorbed repellent 45 gradually diffuses, animals 500 can be repelled from the installation location 300. By retaining the repellent 45 in the retainer 200, the effect of the repellent 45 can be sustained.

[0035] The material of installation location 300 may be arbitrary. The material of installation location 300 may be metal such as iron, concrete, wood, plastic, etc. Installation location 300 may be a natural object such as a tree or rock, or it may be an artificial structure.

[0036] Figure 2 shows an example of the configuration of an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 is an aircraft that flies in the air. The unmanned aerial vehicle 100 in this example comprises a main body 10, a propulsion unit 20, a container holding unit 40, a discharge unit 50, and a holder unit 60.

[0037] The main body 10 houses various control circuits and power supplies for the unmanned aerial vehicle 100. The main body 10 may also function as a structure connecting the components of the unmanned aerial vehicle 100. In this example, the main body 10 is connected to the propulsion unit 20.

[0038] The propulsion unit 20 propels the unmanned aerial vehicle 100. The propulsion unit 20 has a rotor blade 21 and a rotary drive unit 22. The unmanned aerial vehicle 100 in this example has four propulsion units 20. The propulsion units 20 are attached to the main body 10 via arm units 24.

[0039] The propulsion unit 20 obtains thrust by rotating the rotor blades 21. Although there are four rotor blades 21 centered around the main body 10, the arrangement of the rotor blades 21 is not limited to this example. That is, the unmanned aerial vehicle 100 may be a helicopter type with one rotor blade 21, or a bicopter type with two rotor blades 21, or a multicopter type with three or more rotor blades 21. In this example, the rotor blades 21 are provided at the tips of the arm sections 24 via a rotary drive unit 22.

[0040] The rotary drive unit 22 has a power source such as a motor and drives the rotor blade 21. The rotary drive unit 22 may have a braking mechanism for the rotor blade 21. The rotor blade 21 and the rotary drive unit 22 may be directly attached to the main body 10 without the arm portion 24.

[0041] The arms 24 are provided extending radially from the main body 10. The unmanned aerial vehicle 100 in this example has four arms 24, each corresponding to one of the four propulsion units 20. The arms 24 may be fixed or movable. Other components, such as cameras, may be fixed to the arms 24.

[0042] The container holder 40 holds a container 42 for holding an animal repellent 45. In one example, the container holder 40 is a cylindrical sleeve that houses the container 42. The container holder 40 may be attached to the leg portion 15 or to the main body portion 10.

[0043] The material of the container holding part 40 is not particularly limited as long as it can hold the container 42. For example, the material of the container holding part 40 may include metals such as aluminum, plastics, or strong and lightweight materials such as carbon fiber. Furthermore, the material of the container holding part 40 is not limited to hard materials, but may also include soft materials such as silicone rubber or rubber materials such as urethane foam.

[0044] The containment container 42 is a container for filling with repellent 45. In one example, the containment container 42 is an aerosol container that sprays the repellent 45 filled inside. The aerosol container ejects its contents by the gas pressure of the liquefied or compressed gas filled inside. In this example, the containment container 42 is a metal aerosol can, but it may also be a pressure-resistant plastic container.

[0045] The discharge unit 50 is connected to the containment container 42. The discharge unit 50 discharges the repellent 45 contained in the containment container 42. The discharge unit 50 discharges the repellent 45 from the discharge port 51. The discharge unit 50 may have a mechanism to freely change the direction of the discharge port 51.

[0046] The repellent 45 may be a liquid. A liquid includes liquids, gels, pastes, and other viscous states. The repellent 45 may be contained in the container 42 in a liquid state. The unmanned aerial vehicle 100 may replenish the holder 200 with the repellent 45 by discharging it from the discharge port 50.

[0047] The holder 60 may hold any holder 200 and release the held holder 200. In this example, the holder 60 is attached to the main body 10. The holder 60 will be described later. The method of holding the holder 200 by the holder 60 may be arbitrary. The holder 60 may grasp and hold the holder 200 with any gripping part, hold the holder 200 with a magnetic force generating part such as a magnet, hold the holder 200 with an adhesive member such as adhesive tape, or attract the holder 200 with an adsorption part such as a suction cup. In this example, the holder 60 has a separation part 65 for separating and releasing the holder 200 from the holder 60. The method of using the separation part 65 will be described later.

[0048] The legs 15 are connected to the main body 10 and maintain the attitude of the unmanned aerial vehicle 100 during landing. The legs 15 maintain the attitude of the unmanned aerial vehicle 100 with the propulsion unit 20 stopped. The unmanned aerial vehicle 100 in this example has two legs 15. Container holders 40 may be attached to the legs 15.

[0049] Figure 3A shows an example of a method to avoid a comparative example. In this example, user 400 uses an elevator 600 to install the support body 200 at the installation location 300. In this case, the range of installation locations 300 in which the support body 200 can be installed using the elevator 600 is limited. If the installation location 300 is a dangerous location such as a cliff, the work using the elevator 600 may be dangerous. In addition, there is the extra effort required to prepare the elevator 600.

[0050] Figure 3B illustrates the problems with the comparative example repellent method. When the effect of the repellent 45 held in the retainer 200 diminishes, the animals 500 return. Therefore, even after the retainer 200 is installed, work at height is required again for maintenance. Thus, the elevator 600 must be used periodically each time the retainer 200 is installed, the repellent 45 is replenished, or the retainer 200 is retrieved.

[0051] Figure 4 shows an example of an operation flowchart for implementing a method to repel animals 500. This example describes the case where steps S100 to S108 are performed, but the order of the animal 500 repelling methods is not limited to this.

[0052] In step S100, a holder 200 for holding an animal repellent 45 is installed at a predetermined installation location 300. The holder 200 may be installed by the user 400, or it may be installed using an unmanned aerial vehicle 100 as described later. The step of installing the holder 200 at the installation location 300 may include a step in which the unmanned aerial vehicle 100 moves while holding the holder 200 and installs the holder 200 at the installation location 300. The holder 200 may be installed at the installation location 300 with the repellent 45 already in it, or it may be installed at the installation location 300 without the repellent 45 and the repellent 45 is replenished later.

[0053] In step S102, the holder 200 is supplied with repellent 45. The repellent 45 may be supplied to the holder 200 by an unmanned aerial vehicle 100. The repellent 45 may be supplied to the holder 200 by a user 400. In step S104, the holder 200 may be supplied with repellent 45 again. The timing of supplying the holder 200 with repellent 45 may be determined according to the period of installation of the repellent 45, according to the remaining amount of repellent 45, or according to the effect of repelling animals 500. The holder 200 may be repeatedly supplied with repellent 45. The repellent 45 supplied to the holder 200 may be of one type or multiple types. Multiple types of repellent 45 may be supplied to the holder 200 in sequence so that animals 500 do not become accustomed to the repellent 45. The repellent 45 may be used differently depending on the type of animal (500 species).

[0054] In step S106, the retainer 200 is retrieved from the installation location 300. The retainer 200 may be retrieved by the unmanned aerial vehicle 100 or by the user 400. The step of the unmanned aerial vehicle 100 retrieving the retainer 200 may be performed after the step of installing the retainer 200 at the installation location 300. The timing of retrieving the retainer 200 may be determined according to the installation period of the retainer 200, the degree of deterioration of the retainer 200, or the duration of the effect of repelling animals 500.

[0055] In step S108, the retaining body 200 for reinstallation is installed at the installation site 300. The step of the unmanned aerial vehicle 100 reinstalling the retaining body 200 at the installation site 300 may be performed after the step of recovering the retaining body 200. The retaining body 200 recovered in step S106 may be installed at the installation site 300, or a different retaining body 200 from the one recovered in step S106 may be installed at the installation site 300. The retaining body 200 recovered in step S106 may be cleaned or its consumable parts replaced before being installed at the installation site 300.

[0056] The reason for retrieving the retainer 200 may be arbitrary. For example, the retainer 200 may be retrieved due to deterioration of the retainer 200, or it may be retrieved in order to change the type of repellent 45. The type of repellent 45 may be changed in order to repel a different type of animal 500, or in order to prevent the animal 500 from becoming accustomed to the repellent 45.

[0057] Here, the unmanned aerial vehicles 100 used in each step may be the same or different. That is, the unmanned aerial vehicle 100 used to install the retainer 200 may be the same or different as the unmanned aerial vehicle 100 used to replenish the repellent 45. Similarly, the unmanned aerial vehicle 100 used to retrieve the retainer 200 may be the same or different as the unmanned aerial vehicle 100 used to install the retainer 200 or the unmanned aerial vehicle 100 used to replenish the repellent 45.

[0058] Figure 5A shows an example of how to attach the holder 200. In this example, the unmanned aerial vehicle 100 approaches the installation site 300 from below and installs the holder 200 at the installation site 300. In this example, the unmanned aerial vehicle 100 attaches the holder 200 to the underside of the beam, which is the installation site 300. In this example, the unmanned aerial vehicle 100 may be controlled by a user 400 using a terminal device 410. The user 400 may control the unmanned aerial vehicle 100 while directly observing it, or while viewing the image from a camera mounted on the unmanned aerial vehicle 100.

[0059] Figure 5B shows an example of how to attach the holder 200. In this example, the unmanned aerial vehicle 100 approaches the installation location 300 from the side and installs the holder 200 at the installation location 300. In this example, the unmanned aerial vehicle 100 attaches the holder 200 to the side of the beam which is the installation location 300. In this example, the unmanned aerial vehicle 100 may be controlled by a user 400 using a terminal device 410. The user 400 may control the unmanned aerial vehicle 100 while directly viewing it, or while viewing the image from a camera mounted on the unmanned aerial vehicle 100.

[0060] The method of attaching the retainer 200 may be determined according to the type of retainer 200, according to the type of animal 500 to be repelled, and according to the structure of the installation location 300. When installing multiple retainers 200, multiple retainers 200 may be installed at the installation location 300 using different attachment methods.

[0061] Figure 6A shows an example of the retainer 200. In this example, the retainer 200 has a retaining material 210 and a mounting portion 220.

[0062] The retaining material 210 holds the repellent 45. The retaining material 210 in this example is capable of absorbing the repellent 45. The retaining material 210 may have a porous material, a fibrous material, or a resin material. The porous material may be a sponge, diatomaceous earth, or pumice. The fibrous material may be a cotton-like material, a paper-like material, a nonwoven fabric, or a cloth. The resin material may be a superabsorbent resin such as a superabsorbent polymer, or a superabsorbent resin. The retaining material 210 is not limited to anything that can hold the repellent 45. The material and structure of the retaining material 210 may be changed depending on the repellent 45 used. The retaining material 210 may be capable of gradually diffusing the held repellent 45 into the air.

[0063] The mounting portion 220 is used to attach the holder 200 to the installation location 300. The mounting surface 222 of the mounting portion 220 may be facing upward, downward, sideways, or diagonally when the holder 200 is attached to the installation location 300. The mounting portion 220 may be at least one of a magnet, adhesive, adhesive tape, or adsorbent. The type of mounting portion 220 may be determined according to the material of the installation location 300 to which the holder 200 is attached. In this example, the mounting portion 220 is directly attached to the retaining material 210 and forms an integral structure with the retaining material 210. The mounting portion 220 may be made of a material that does not absorb the repellent 45.

[0064] The holder 200, by having a retaining material 210, increases the surface area of ​​the repellent 45, thereby improving the diffusivity of the repellent 45. Furthermore, the provision of the retaining material 210 makes it easier to improve the persistence of the repellent effect of the repellent 45. The holder 200 in this example can be directly attached to the installation location 300 at the mounting portion 220, allowing for space-saving installation at the installation location 300. Additionally, the holder 200 in this example can be provided at a relatively low cost due to its simple structure.

[0065] Figure 6B shows a modified configuration of the holder 200. The holder 200 includes a retaining member 210, a mounting portion 220, a housing 230, a base 235, and a connecting portion 250. The holder 200 in this example has a pendant structure.

[0066] The retaining material 210 is housed in the housing 230. The outer circumference of the retaining material 210 is covered by the housing 230. The shape of the retaining material 210 may be disc-shaped or spherical. The retaining material 210 may be exposed from the housing 230. The percentage of the retaining material 210 that is exposed may be determined considering the effect and duration of the repellent 45.

[0067] The mounting portion 220 may be attached to the underside of the installation location 300. That is, the mounting surface 222 of the mounting portion 220 may be facing upward. The mounting portion 220 is connected to the base 235. The housing 230 is connected to the base 235 via the connecting portion 250.

[0068] The connecting portion 250 may be a string-like member such as a wire, or a chain-like member. In this example, the connecting portion 250 is a wire, and the housing 230 is suspended from the base 235. As a result, the retaining member 210 in this example is suspended from the installation location 300 and installed in mid-air. The length of the connecting portion 250 may be adjustable and can be adjusted depending on the installation location.

[0069] The holder 200 in this example has a pendant structure, which allows the holder material 210 to be installed in a hollow space. By suspending the holder material 210 from the connecting part 250, the diffusion effect of the repellent 45 is improved. In this example, the exposed area of ​​the holder material 210 is larger than that of the mounting part 220. Therefore, even with a small installation area, there is a sufficient diffusion effect of the repellent 45. The holder 200 in this example can improve the diffusion effect of the repellent 45 while also improving the design.

[0070] Figure 7A shows a modified example of the holder 200. The holder 200 has a mounting portion 220, a base 235, a holding container 240, and a connecting portion 250. The holder 200 in this example does not have a holding material 210.

[0071] The holding container 240 holds the repellent 45. In this example, the holder 200 may hold the repellent 45 inside the holding container 240 without absorbing it. The holding container 240 is suspended from the base 235 by a connecting part 250. The connecting part 250 may fix and connect the base 235 and the holding container 240 so that the holding container 240 does not shake.

[0072] The holding container 240 has openings 245. The holding container 240 may have multiple openings 245. The area of ​​the openings 245 may be determined considering the effect and duration of the repellent 45. The openings 245 may be supply ports for replenishing the repellent 45, or they may be diffusion ports for diffusing the repellent 45 held in the holding container 240. The multiple openings 245 may be the same size or different in size. The diffusion openings 245 may be smaller than the supply openings 245. Making the diffusion openings 245 smaller makes it easier to avoid scattering the repellent 45. The repellent 45 may be diffused from the opening at the top of the holding container 240.

[0073] Multiple openings 245 may be arranged along the outer circumference of the holding container 240 so that the repellent 45 can be supplied from various directions. This allows the repellent 45 to be supplied from an opening 245 that is in a position easily accessible to the unmanned aerial vehicle 100.

[0074] Figure 7B shows an example of a cross-section of the retainer 200 in Figure 7A. The repellent 45 is held inside the retaining container 240. In this example, the repellent 45 is stored at the bottom of the retaining container 240 without using a retaining material 210. The opening 245 may be positioned so that the repellent 45 does not overflow. The connecting part 250 may be connected to the bottom of the retaining container 240.

[0075] Figure 7C shows an example of a method for supplying the repellent 45 to the retainer 200. The repellent 45 is supplied into the retaining container 240 through the opening 245. In this example, the repellent 45 is delivered into the retaining container 240 in liquid form. The repellent 45 may also be supplied into the retaining container 240 by spraying it.

[0076] Figure 8A shows a modified example of the retainer 200. The retainer 200 in this example differs from the retainer 200 in Figure 7A in that it has a retaining material 210. In this example, the differences from the retainer 200 in Figure 7A will be explained in particular.

[0077] The retaining material 210 is housed inside the retaining container 240. In this example, the retainer 200 uses both the retaining material 210 and the retaining container 240 to hold the repellent 45. The retaining material 210 may be positioned so as to be visible from the opening 245 of the retaining container 240. Multiple openings 245 may include supply ports for replenishing the repellent 45 and diffusion ports for diffusing the repellent 45.

[0078] Figure 8B shows an example of a cross-section of the retainer 200. In this example, the retaining material 210 is arranged on the outer circumference of the connecting portion 250, but it may also be arranged on the bottom or inner wall of the retaining container 240. The length of the retaining material 210 may be determined considering the diffusion effect of the repellent 45. The retaining material 210 may be removable and replaceable from the connecting portion 250. The repellent 45 is absorbed and held by the retaining material 210. The repellent 45 may also be stored and held inside the retaining container 240. The repellent 45 accumulated at the bottom of the retaining container 240 may be drawn up by the retaining material 210 and diffused. By using the retaining material 210 and the retaining container 240 in combination, the diffusivity and persistence of the repellent 45 can be improved.

[0079] Figure 9 shows an example of a method for replenishing repellent 45 using an unmanned aerial vehicle 100. In step S900, the unmanned aerial vehicle 100 approaches the holder 200 installed at the installation site 300. The unmanned aerial vehicle 100 may be piloted by a user 400, or it may recognize the holder 200 and approach it autonomously.

[0080] In step S902, the unmanned aerial vehicle 100 directs its discharge port 51 toward the holder 200. The unmanned aerial vehicle 100 may adjust its discharge port 51 to face the holder 200 after approaching the vicinity of the holder 200. In this example, the unmanned aerial vehicle 100 adjusts its discharge port 51 to face the opening 245. In step S904, the unmanned aerial vehicle 100 discharges the repellent 45 from the discharge port 51 to repellent the holder 200. The unmanned aerial vehicle 100 may adjust the orientation of the discharge port 51 so that the repellent 45 is repelled from the opening 245. The unmanned aerial vehicle 100 may adjust the orientation of the discharge port 51 and the position of the aircraft so that the repellent 45 is not discharged onto the installation site 300.

[0081] Figure 10 shows an example of a method for supplying repellent 45 using an unmanned aerial vehicle 100. The dispensing section 50 in this example has an extension section 52.

[0082] The extension portion 52 has a cylindrical shape that is extended in a straight line. In this example, the shape of the extension portion 52 is straight, but it may also include curves. The extension portion 52 may have any shape that allows the repellent 45 discharged from the containment container 42 to be discharged to the outside through the discharge port 51. The extension portion 52 may be replaced depending on the type of repellent 45, or depending on the position where the holder 200 is placed.

[0083] In this example, the unmanned aerial vehicle 100 is stationary at a position where the tip of the extension 52 is located near the opening 245 of the holder 200. The unmanned aerial vehicle 100 may also be stationary at a position where the tip of the extension 52 is inserted into the interior of the holder 200 from the opening 245. That is, the step of supplying the repellent 45 to the holder 200 may include the step of inserting the discharge port 51 into the holder 200. In this example, by positioning the discharge port 51 near the opening 245, the unmanned aerial vehicle 100 can suppress the scattering of the repellent 45 around the holder 200. By suppressing the scattering of the repellent 45, contamination of the installation site 300 can be avoided, and an accurate amount of repellent 45 can be supplied to the holder 200.

[0084] Figure 11A shows a modified example of the holder 200. The holder 200 in this example differs from the holder 200 in Figure 8A in that it has a connecting portion 250. In this example, the differences from the holder 200 in Figure 8A will be explained in particular. The connecting portion 250 has a structure that connects to the discharge portion 50 of the unmanned aerial vehicle 100. By having the connecting portion 250, the holder 200 in this example can connect more reliably to the discharge portion 50 of the unmanned aerial vehicle 100, thereby suppressing the scattering of the repellent 45.

[0085] Figure 11B shows an example of the cross-sectional structure of the holder 200 in Figure 11A. The connecting portion 250 has a connecting portion 252 and a piping portion 254.

[0086] The connecting portion 252 has a structure into which the tip of the discharge portion 50 can be inserted. The connecting portion 252 may have a shape corresponding to the outer shape of the tip of the discharge portion 50. The connecting portion 252 may be formed integrally with the piping portion 254.

[0087] The piping section 254 extends from the connection section 252 to the inside of the retaining container 240. This allows the piping section 254 to guide the repellent 45 discharged from the discharge port 51 to the repellent location inside the retaining container 240. The piping section 254 may deliver the repellent 45 into the retaining container 240 in liquid form. Alternatively, the piping section 254 may directly supply the repellent 45 to the retaining material 210.

[0088] In this example, the connecting portion 250 has a connecting portion 252 and a piping portion 254, which allows the repellent 45 to be supplied to the holder 200 without being scattered outside the holder 200.

[0089] Figure 11C shows the connection between the discharge section 50 and the holder 200. In this example, the discharge section 50 has an extension section 52 and a tip section 54.

[0090] The tip portion 54 is provided at the tip of the extension portion 52. The tip portion 54 is inserted inside the connecting portion 252. The tip portion 54 has a shape that corresponds to the shape of the inside of the connecting portion 252. When the tip portion 54 is inserted inside the connecting portion 252, the discharge port 51 faces the piping portion 254. The tip portion 54 may be made of any material such as resin. In this example, the discharge portion 50 has a tip portion 54 with a shape that corresponds to the connecting portion 252 of the holder 200, which allows for a more reliable connection with the holder 200 and prevents the scattering of the repellent 45.

[0091] Figure 11D shows an example of a method for replenishing repellent 45 using the connecting part 250. In step S1100, the unmanned aerial vehicle 100 approaches the holder 200 installed at the installation site 300. In step S1102, the unmanned aerial vehicle 100 connects with the holder 200 to replenish the repellent 45. In this example, the tip 54 of the discharge part 50 connects with the connection part 252 of the holder 200. With the unmanned aerial vehicle 100 connected with the holder 200, the repellent 45 is discharged from the discharge port 51 of the unmanned aerial vehicle 100 to replenish the holder 200 with repellent 45.

[0092] Here, the method of connecting the unmanned aerial vehicle 100 and the holder 200 is not limited to this example. The unmanned aerial vehicle 100 may connect by gripping the holder 200, or it may connect by being joined to the holder 200 with magnets. To facilitate connection with the holder 200, the unmanned aerial vehicle 100 may grip a structure such as the installation site 300, or it may be joined to a structure with magnets.

[0093] Figure 12A shows an example of the configuration of the holder 200. The holder 200 in this example differs from the holder 200 in Figure 8A in that it has a receiving tray 260. In this example, the differences from the holder 200 in Figure 8A will be explained in particular.

[0094] The tray 260 prevents the repellent 45 from leaking from the holder 200. The tray 260 is provided below the holding container 240. The tray 260 may be provided integrally with the holding container 240 or integrally with the holding material 210. The tray 260 may prevent the repellent 45 from leaking from the holder 200 when replenishing the repellent 45, or it may prevent the repellent 45 from leaking from the holder 200 due to vibration or the like when the holder 200 is in use. In this example, the tray 260 is provided below the holding container 240 so as to cover the entire holding container 240. The tray 260 may be provided near the opening 245.

[0095] Figure 12B shows an example of a cross-section of the holder 200 in Figure 12A. In this example, the holder 200 also has a retaining material 210 on the inside of the tray 260. As a result, the retaining material 210 on the inside of the tray 260 can hold the repellent 45 that has leaked into the tray 260. By providing the retaining material 210 in the tray 260, it becomes easier to prevent the repellent 45 from leaking out of the tray 260.

[0096] Figure 13A shows an example of the configuration of the unmanned aerial vehicle 100. In this example, the unmanned aerial vehicle 100 includes a holder unit 60 and a detection unit 80.

[0097] The detection unit 80 detects the amount of repellent 45 to be replenished or the remaining amount held in the holder 200. The detection unit 80 may detect the amount of repellent 45 to be replenished or the remaining amount held in the holder 200 based on an image of the holder 200. The method for detecting the amount of replenishment or remaining amount is not limited to this, and may be detected based on the odor emitted by the repellent 45 held in the holder 200, based on the installation period of the holder 200, based on the weight of the holder 200, or based on the movements of the animal 500. When detecting the remaining amount of repellent 45 based on the movements of the animal 500, it may be detected that the remaining amount of repellent 45 has decreased based on the weakening of the repellent effect and the presence of the animal 500 in the vicinity of the holder 200. The detection unit 80 in this example is provided on the unmanned aerial vehicle 100, but part or all of it may be provided outside the unmanned aerial vehicle 100. In this example, the detection unit 80 includes an imaging unit 82 and a notification unit 84.

[0098] The imaging unit 82 captures an image of the holder 200. The imaging unit 82 may also capture an image of the retaining material 210 or the repellent 45 held by the holder 200. The remaining amount of repellent 45 can be predicted from the appearance of the retaining material 210 or from the image of the repellent 45. If the retaining material 210 is diatomaceous earth or pumice, the amount of repellent 45 held can be predicted from the appearance of the retaining material 210. For example, the amount of repellent 45 held can be predicted from the area or color intensity of the retaining material 210 coated with repellent 45. The imaging unit 82 may also capture an image of the surroundings of the unmanned aerial vehicle 100 in order to control the unmanned aerial vehicle 100. The imaging unit 82 is, for example, a camera. In this example, the imaging unit 82 is provided on the unmanned aerial vehicle 100, but it may also be provided on the outside of the unmanned aerial vehicle 100.

[0099] The notification unit 84 notifies the user 400 of the detection result from the detection unit 80. The notification unit 84 may also notify the user 400 of the detection result from the detection unit 80 to a terminal device 410. The notification unit 84 may transmit the image captured by the imaging unit 82 to the terminal device 410, or it may transmit to the terminal device 410 the predicted amount or remaining amount of repellent 45 to be replenished based on the image captured by the imaging unit 82. In this example, the notification unit 84 is provided in the main body 10 of the unmanned aerial vehicle 100, but it may also be provided outside the unmanned aerial vehicle 100, such as on a terminal device 410.

[0100] Figure 13B shows an example of a method for detecting the amount of repellent 45 to be replenished or the remaining amount. In this example, the detection unit 80 detects the amount of repellent 45 to be replenished or the remaining amount from an image of the holder 200. That is, the detection unit 80 determines the degree to which the repellent 45 has soaked into the retaining material 210 from an image of the holder 200 and detects the amount of repellent 45. The detection unit 80 may also detect the amount of repellent 45 held in the retaining material 210 based on the color of the retaining material 210. For example, the detection unit 80 may detect the amount of repellent 45 to be replenished based on the fact that the color of the retaining material 210 becomes darker as the repellent 45 is replenished into the retaining material 210. Alternatively, the detection unit 80 may detect the remaining amount of repellent 45 based on the fact that the color of the retaining material 210 becomes lighter as the holder 200 is used. The color criteria used by the detection unit 80 may be changed depending on the combination of the retaining material 210 and the repellent 45. The repellent 45 may be pre-colored to make it easier for the detection unit 80 to detect.

[0101] Figure 13C shows an example of a method for replenishing the repellent 45. The unmanned aerial vehicle 100 may determine when the repellent 45 has been replenished to the holder 200 based on the repellent 45 replenishment time, the amount replenished, or at least one of the images of the holder 200. The unmanned aerial vehicle 100 may terminate the repellent 45 replenishment to the holder 200 after determining that the repellent 45 replenishment is complete. The unmanned aerial vehicle 100 may autonomously terminate the repellent 45 replenishment in accordance with the detection result of the detection unit 80. The unmanned aerial vehicle 100 may terminate the repellent 45 replenishment in accordance with the instructions of the user 400 who has received the detection result of the detection unit 80. The unmanned aerial vehicle 100 can replenish a predetermined amount of repellent 45 to the holder 200 using the detection unit 80.

[0102] In this example, the unmanned aerial vehicle 100 completes the repellent supply of the repellent 45 to the holder 200 based on the supply time of the repellent 45 to the holder 200. In this example, the unmanned aerial vehicle 100 determines that the repellent supply of the repellent 45 is complete by supplying the repellent 45 to the holder 200 for 20 seconds under predetermined conditions. The unmanned aerial vehicle 100 may determine the supply time of the repellent 45 based on the image of the holder 200 acquired by the imaging unit 82. In this example, the unmanned aerial vehicle 100 is equipped with a detection unit 80, but the supply time determined by an externally provided detection unit 80 may also be acquired. The unmanned aerial vehicle 100 may determine the completion of the supply in response to the repellent 45 overflowing from the holder container 240 or the tray 260.

[0103] Figure 14A shows an example of a holder 200 having a guide portion 270. In this example, the holder 200 has a pattern 271 as the guide portion 270.

[0104] The guidance unit 270 guides the unmanned aerial vehicle 100 to the holder 200. For example, the guidance unit 270 guides the unmanned aerial vehicle 100 to replenish the repellent 45. The guidance unit 270 may guide the position of the unmanned aerial vehicle 100 or guide the operation of the unmanned aerial vehicle 100. The guidance unit 270 may guide the unmanned aerial vehicle 100 to approach the holder 200. The guidance unit 270 may guide the unmanned aerial vehicle 100 to begin replenishing the repellent 45 or to retrieve the holder 200.

[0105] The pattern 271 is provided at any location on the holder 200. In this example, the guide unit 270 is provided on the side surface of the holder 200, but it may be provided on the top or bottom surface of the holder 200. In this example, the pattern 271 is provided on the tray 260, but is not limited thereto. The pattern 271 may be provided on the retaining material 210, or on the retaining container 240. The pattern 271 may be the shape of the retaining material 210 itself, or the shape of the retaining container 240 itself. The pattern 271 should be recognizable by the unmanned aerial vehicle 100. In this example, the pattern 271 is triangular, but is not limited thereto. It is preferable that the pattern 271 is easily identifiable by image analysis. The color of the pattern 271 may be different from the color of the surrounding area. The pattern 271 may be formed to be retroreflective using retroreflective paint or the like. Pattern 271 may also serve as a pattern to repel animals 500.

[0106] Figure 14B shows an example of a holder 200 having a guide unit 270. In this example, the guide unit 270 has a read code 272.

[0107] The read code 272, when read, provides information about the holder 200. In this example, the read code 272 is a two-dimensional code, but it may be another code such as a barcode. The read code 272 may include information about the retaining material 210. The read code 272 may include identification information for each individual holder 200.

[0108] The reading code 272 may be linked to any database. For example, the database linked to the reading code 272 may include the amount of repellent 45 that the retaining material 210 can hold, and the type of repellent 45 suitable for the retaining material 210. The database linked to the reading code 272 may also include past repellent 45 replenishment records. Past repellent 45 replenishment records may include the expiration date of the repellent 45. The unmanned aerial vehicle 100 may refer to past repellent 45 replenishment records to determine whether or not to replenish.

[0109] Figure 14C shows an example of a holder 200 having a guide unit 270. In this example, the guide unit 270 has a light-emitting unit 273.

[0110] The light-emitting unit 273 guides the unmanned aerial vehicle 100 by emitting light. The light-emitting unit 273 may emit light of a wavelength that the unmanned aerial vehicle 100 can detect. The light-emitting unit 273 may emit light at wavelengths of visible light or other wavelengths. For example, the light-emitting unit 273 is an LED or a laser. The light-emitting unit 273 may repel animals 500 by emitting light. The light-emitting unit 273 may emit light when it detects the movement of the unmanned aerial vehicle 100 or animals 500 using an infrared sensor or the like.

[0111] The light-emitting unit 273 may communicate with the unmanned aerial vehicle 100 by emitting light. The light-emitting unit 273 may transmit identification information of individual holders 200. The light-emitting unit 273 may communicate with the unmanned aerial vehicle 100 and provide it with records of past repellent 45 repellent

[0112] Figure 14D shows an example of a holder 200 having a guide unit 270. In this example, the guide unit 270 has a communication unit 274.

[0113] The communication unit 274 may communicate with the unmanned aerial vehicle 100. The communication unit 274 may communicate with a terminal device 410 owned by the user 400, or with other devices such as a server. The communication unit 274 may be a wireless communication device. The communication unit 274 may transmit information about the holder 200, such as the remaining amount of repellent 45. For example, the communication unit 274 may transmit identification information of an individual holder 200. The communication unit 274 may communicate with the unmanned aerial vehicle 100 and provide the unmanned aerial vehicle 100 with records of past repellent 45 repellents. The communication unit 274 may acquire information about the holder 200 from sensors provided on the holder 200.

[0114] Figure 14E shows an example of a holder 200 having a guide portion 270. In this example, the guide portion 270 has a generation portion 275.

[0115] The generating unit 275 generates sound, ultrasound, or vibration to guide the unmanned aerial vehicle 100. The generating unit 275 may be a speaker, an ultrasound generator, or a vibration generator. The generating unit 275 may transmit information about the holder 200 by generating sound, ultrasound, or vibration. The generating unit 275 may repel animals 500 by generating sound, ultrasound, or vibration. The unmanned aerial vehicle 100 may have a microphone as a detection unit 80 to detect sound from the generating unit 275. The unmanned aerial vehicle 100 may have an ultrasound receiver as a detection unit 80 to detect ultrasound from the generating unit 275.

[0116] Furthermore, the components of the guidance unit 270 disclosed herein may be used in appropriate combinations. That is, the unmanned aerial vehicle 100 may be equipped with at least two combinations of the pattern 271, the read code 272, the light-emitting unit 273, and the communication unit 274 or the generation unit 275. For example, the light-emitting unit 273 guides the unmanned aerial vehicle 100 to the vicinity of the holder 200, and then provides information to the unmanned aerial vehicle 100 using the read code 272.

[0117] Figure 15A shows an example of a guidance method for the unmanned aerial vehicle 100. In this example, the stage in which the unmanned aerial vehicle 100 replenishes the repellent 45 is explained.

[0118] In step S1500, the unmanned aerial vehicle 100 recognizes the guidance unit 270. In this example, the unmanned aerial vehicle 100 recognizes the guidance unit 270 by reading the image of the reading code 272 with the imaging unit 82. In step S1502, the unmanned aerial vehicle 100 obtains past repellent 45 replenishment records based on the reading code 272. The unmanned aerial vehicle 100 may obtain past repellent 45 replenishment records from a database linked to the reading code 272. The database may be stored in the memory unit of the unmanned aerial vehicle 100, or it may be stored on an external server. If the database is stored on an external server, the unmanned aerial vehicle 100 may communicate with the server to read the data. In this example, the unmanned aerial vehicle 100 obtains information that the repellent 45 was last replenished in the holder 200 on April 1, 2024.

[0119] The unmanned aerial vehicle 100 may recognize the guidance unit 270 and autonomously approach the holder 200. After approaching the holder 200, the unmanned aerial vehicle 100 may replenish the holder 200 with the repellent 45 and retrieve the holder 200.

[0120] Figure 15B shows the subsequent steps of the guidance method in Figure 15A. In step S1504, the unmanned aerial vehicle 100 autonomously approaches the holder 200 in response to guidance from the guidance unit 270. The unmanned aerial vehicle 100 may autonomously approach the holder 200 if it determines that replenishment to the holder 200 is necessary in response to guidance from the guidance unit 270, and may not approach the holder 200 if it determines that replenishment to the holder 200 is unnecessary.

[0121] In step S1506, the unmanned aerial vehicle 100 approaches the holder 200 and then replenishes the holder 200 with repellent 45. After approaching the holder 200, the unmanned aerial vehicle 100 acquires an image of the holder 200 and, if it determines that replenishment of repellent 45 is unnecessary, it may cancel the replenishment. The unmanned aerial vehicle 100 may adjust the direction of the discharge port 51 so that the repellent 45 does not scatter onto the read code 272.

[0122] Figure 16A shows an example of the configuration of the holder 200. The holder 200 in this example has a retaining member 210, a mounting portion 220, a housing 230, and a separation mechanism 280. The retaining member 210 and the mounting portion 220 are provided on the housing 230. The holder 200 in this example is attached to the installation location 300 by attaching the mounting surface 222 of the mounting portion 220 to the installation location 300.

[0123] The separation mechanism 280 has a projection 282. The separation mechanism 280 separates the mounting portion 220 from the installation location 300 when the projection 282 is pressed. This allows the holder 200 to be removed from the installation location 300 and recovered. Details of the separation mechanism 280 will be described later. The separation mechanism 280 may be operated by an unmanned aerial vehicle 100 or by a user 400.

[0124] Figure 16B shows an example of how the holder 200 in Figure 16A operates. This figure shows a cross-sectional view of the holder 200. The separation mechanism 280 has a projection 282, a spring 284, and an extrusion part 286. Note that the configuration of the separation mechanism 280 is an example and is not limited thereto.

[0125] Step S1600 shows the state in which the holder 200 is installed at the installation location 300. The mounting surface 222 of the mounting portion 220 may be bonded to the installation location 300. The projection 282 fixes the spring 284 so that it remains in a compressed state. In this state, the extrusion portion 286 is housed inward from the mounting surface 222.

[0126] Step S1602 indicates that the projection 282 is pressed and the spring 284 is released. The release of the spring 284 pushes the extrusion portion 286 outward from the mounting surface 222. This detaches the mounting portion 220 from the installation location 300, allowing the holder 200 to be recovered. The projection 282 may be pressed by the unmanned aerial vehicle 100 or by the user 400.

[0127] Figure 16C shows an example of a method for recovering the holder 200 using an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 in this example is used to recover the holder 200 shown in Figures 16A and 16B. However, the recovery method in this example can also be applied to holders 200 other than those shown in Figures 16A and 16B. The unmanned aerial vehicle 100 in this example is equipped with a recovery unit 70.

[0128] Step S1600 corresponds to step S1600 in Figure 16B, in which the holder 200 is attached to the installation location 300. In this example, the unmanned aerial vehicle 100 approaches the holder 200 from the side, but it may also approach from below or from above. The retrieval unit 70 is used to retrieve the holder 200 installed at the installation location 300. In this example, the retrieval unit 70 has a pressing unit 72. The pressing unit 72 has a structure capable of pressing the projection 282. In this example, the pressing unit 72 has a spherical structure, but is not limited to this.

[0129] In step S1602, the unmanned aerial vehicle 100 presses the projection 282 with the pressing part 72 to retrieve the holder 200. In this example, the unmanned aerial vehicle 100 presses the projection 282 with the pressing part 72 by moving its body. The unmanned aerial vehicle 100 may also press the projection 282 by moving the pressing part 72, provided with an extension mechanism that extends the rod supporting the pressing part 72. The unmanned aerial vehicle 100 may press the projection 282 in response to instructions from the guidance unit 270, or in response to instructions from the user 400.

[0130] The projection 282 may have a shape that can be recognized by the unmanned aerial vehicle 100, and may function as a guidance unit 270. The unmanned aerial vehicle 100 may, without using the separation mechanism 280, press the housing 230 of the holder 200 to detach the holder 200 from the installation location 300. In this example, the unmanned aerial vehicle 100 has a mechanism for retrieving the holder 200, but it may also have a mechanism for supplying the holder 200 with repellent 45, or a mechanism for installing the holder 200 at the installation location 300.

[0131] Figure 17 shows an example of a method for recovering a holder 200 using an unmanned aerial vehicle 100. In this example, the unmanned aerial vehicle 100 recovers the holder 200 shown in Figures 16A and 16B. However, the recovery method in this example can also be applied to holders 200 other than those shown in Figures 16A and 16B. The recovery unit 70 in this example has a pressing unit 72 and a recovery member 73.

[0132] In step S1700, the unmanned aerial vehicle 100 equipped with the recovery unit 70 approaches the holding body 200. In this example, the unmanned aerial vehicle 100 approaches the holding body 200 from the side. The method by which the unmanned aerial vehicle 100 approaches the holding body 200 may be determined according to the structure of the unmanned aerial vehicle 100 and the holding body 200, and may also be determined according to the surrounding environment such as the installation location 300.

[0133] In step S1702, the unmanned aerial vehicle 100 retrieves the holder 200. In this example, the method for separating the holder 200 from the installation site 300 is the same as the method described in Figure 16C, but it may be different.

[0134] The recovery member 73 recovers the retaining body 200 that has been detached from the installation site 300 and fallen. In this example, the recovery member 73 is a recovery net for recovering the retaining body 200. The recovery member 73 is not limited to this, as long as it is capable of recovering the retaining body 200. By recovering the retaining body 200 before it falls to the ground or elsewhere, the recovery member 73 prevents the scattering of the repellent 45 and allows for the safe recovery of the retaining body 200. Furthermore, the recovery member 73 can recover the retaining body 200 without damaging it. This makes it possible to reuse the retaining body 200.

[0135] The retrieval member 73 may be a retrieval box. The retrieval member 73 may retrieve the holder 200 by grasping it with any gripping part, by retrieving the holder 200 with a magnetic force generating part such as a magnet, by retrieving the holder 200 with an adhesive member such as adhesive tape, or by retrieving the holder 200 with an adsorption part such as a suction cup. In this example, the unmanned aerial vehicle 100 has a mechanism for retrieving the holder 200, but it may also have a mechanism for supplying the repellent 45 to the holder 200, or a mechanism for installing the holder 200 at the installation location 300.

[0136] Figure 18A shows an example of a method for recovering the holder 200 using an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 in this example has a mechanism for recovering the holder 200a and a mechanism for installing the holder 200b at the installation location 300. The unmanned aerial vehicle 100 in this example differs from the unmanned aerial vehicle 100 in Figure 17 in that it has a holder holding section 60. In this example, the differences from the unmanned aerial vehicle 100 in Figure 17 will be explained in particular.

[0137] In step S1800, the unmanned aerial vehicle 100, which is equipped with a holder holding unit 60 and a recovery unit 70, approaches the holder 200a. The holder 200a is installed at the installation location 300. The holder 200b is held by the holder holding unit 60 of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 approaches the holder 200a with the holder 200b being held by the holder holding unit 60.

[0138] In step S1802, the unmanned aerial vehicle 100 retrieves the holder 200. In this example, the method for retrieving the holder 200 is the same as the method described in Figure 17, but it may be different. In this example, the pressing part 72 is positioned above the main body 10. This makes it easier to maintain distance between the main body 10 and the installation location 300 when removing the holder 200, and to avoid contact between the unmanned aerial vehicle 100 and the installation location 300, compared to when the pressing part 72 is positioned below the main body 10. Thus, the positions for attaching the holder holder part 60 and the retrieval part 70 may be appropriately determined considering the structure of the unmanned aerial vehicle 100 and the installation location 300.

[0139] Figure 18B shows an example of how to install the holder 200b. In this example, after performing the retrieval method shown in Figure 18A, the same unmanned aerial vehicle 100 installs the holder 200b at the installation location 300. However, the unmanned aerial vehicle 100 may perform only the step of installing the holder 200b without retrieving the holder 200a.

[0140] In step S1804, the unmanned aerial vehicle 100 moves below the installation location 300 and attaches the holder 200b to the installation location 300. In step S1806, after installing the holder 200b at the installation location 300, the unmanned aerial vehicle 100 may separate the holder 200b from the holder holding section 60 and move it. In one example, the unmanned aerial vehicle 100 moves to the collection location for used holders 200a. A specific example of the method for installing the holder 200 will be described later.

[0141] Figure 19A shows an example of how to install the holder 200. In step S1900, the unmanned aerial vehicle 100 moves below the installation location 300 and brings the mounting portion 220 into contact with the installation location 300. The unmanned aerial vehicle 100 may grip the holder 200 by clamping it with the projection of the separation portion 65. In this example, the separation portion 65 grips the housing 230 of the holder 200. The method of holding the holder 200 is not limited to this.

[0142] The unmanned aerial vehicle 100 in this example has a holder 60 above the main body 10, but depending on the location of the installation site 300, the holder 60 may be located below or to the side of the main body 10. The location of the holder 60 may be determined according to the structure of the holder 200 and the installation site 300. The unmanned aerial vehicle 100 in this example is equipped with a discharge unit 50 for supplying the repellent 45, but it is not required to be equipped with a discharge unit 50.

[0143] Figure 19B shows the subsequent steps of the installation method shown in Figure 19A. In step S1902, the unmanned aerial vehicle 100 separates the holder 200 from the unmanned aerial vehicle 100 by operating the separation unit 65 to release the holder 200. The separation unit 65 may have an actuator for switching whether or not to separate the holder 200. In this example, the separation unit 65 switches whether or not to grip the holder 200 by opening and closing the actuator. The separation unit 65 may also use a motor for opening and closing. If the holder 200 is attached to the holder holder unit 60 by magnetic force, the separation unit 65 may separate the holder 200 from the holder holder unit 60 by turning off the magnetic force.

[0144] Figure 19C shows the subsequent steps of the installation method shown in Figure 19B. In step S1904, after releasing the holder 200, the unmanned aerial vehicle 100 moves away from the holder 200 by moving downward, so as not to come into contact with the holder 200. After moving away from the holder 200, the unmanned aerial vehicle 100 may move to any return location.

[0145] Figure 20A shows an example of a method for recovering the holder 200. In step S2000, the unmanned aerial vehicle 100 moves below the installation location 300 to a height where the holder 200 can be recovered. In this example, the unmanned aerial vehicle 100 moves to a position where it can grasp the holder 200 by gripping it with the projection of the separation unit 65. The unmanned aerial vehicle 100 may have an imaging unit for detecting the position of the holder 200. The unmanned aerial vehicle 100 may also have a sensor for detecting the relative positional relationship between the holder 200 and the holder holding unit 60. For example, the unmanned aerial vehicle 100 and the holder 200 can be aligned by detecting the projection 282 with an optical sensor. In this example, the holder holding unit 60 has a recovery member 62 for recovering the holder 200. The recovery member 62 will be described later. The separation unit 65 may be attached to the recovery member 62.

[0146] Figure 20B shows the subsequent steps of the retrieval method shown in Figure 20A. In step S2002, the unmanned aerial vehicle 100 activates the separation unit 65 to press the projection 282 of the holder 200, thereby separating the holder 200 from the installation location 300. In this example, the holder 200 operates according to the principle described in Figure 16B and separates from the installation location 300. The separation unit 65 may physically separate the holder 200 from the installation location 300 by pressing the holder 200, or it may separate the holder 200 from the installation location 300 by magnetically coupling with the holder 200.

[0147] Figure 20C shows the subsequent steps of the retrieval method shown in Figure 20B. In step S2004, the unmanned aerial vehicle 100 separates the holder 200 from the installation site 300 and then holds the holder 200 with the holder holder section 60. The holder holder section 60 may hold the holder 200, which has been removed from the installation site 300, by sandwiching it with the separation section 65.

[0148] The recovery member 62 recovers the holder 200 that has been removed from the installation location 300 and fallen. The recovery member 62 may be a box capable of housing the mounting portion 220. The recovery member 62 may have a simple structure that only supports the lower end of the mounting portion 220. After recovering the holder 200, the unmanned aerial vehicle 100 may move to any return location.

[0149] Figure 21 shows an example of a method for repelling animals 500. In this example, the presence of animals 500 in the vicinity of the retainer 200 is detected.

[0150] The sensor unit 290 detects the presence of the animal 500. The sensor unit 290 may be installed near the installation location 300. The sensor unit 290 may be mounted on the holder 200 or installed outside the holder 200. The sensor unit 290 in this example may have an infrared sensor for detecting the presence of the animal 500, and may also have an imaging unit such as a camera. The sensor unit 290 may notify the terminal device 410 whether or not it has detected the presence of the animal 500. The sensor unit 290 may notify the terminal device 410 only if it has detected the presence of the animal 500.

[0151] Here, in response to the detection of the presence of an animal 500, the user 400 may be notified to replenish the repellent 45 in the holder 200. For example, the sensor unit 290 may notify the user 400 via the terminal device 410 that it has detected the presence of an animal 500, and start the repellent 45 supply by the unmanned aerial vehicle 100. By providing the sensor unit 290, the repellent effect of the animal 500 can be maintained more reliably.

[0152] Figure 22 shows an example of a method for repelling animals 500. This example describes the response when an animal 500 is detected in a situation where multiple retainers 200 are installed. Two retainers 200, retainer 200c and retainer 200d, are installed at installation location 300. Two sensor units 290, sensor unit 290c and sensor unit 290d, are installed at installation location 300.

[0153] Both retainer 200c and retainer 200d hold repellent 45. The remaining amount of repellent 45 in retainer 200c is less than the remaining amount of repellent 45 in retainer 200d. The type of repellent 45 in retainer 200c may be the same as or different from the type of repellent 45 in retainer 200d.

[0154] The sensor unit 290c is located near the holder 200c. The sensor unit 290c may be used to determine the timing for supplying the repellent 45 to the holder 200c. The sensor unit 290d is located near the holder 200d. The sensor unit 290d may be used to determine the timing for supplying the repellent 45 to the holder 200d. In this example, the sensor unit 290c is associated with the holder 200c, and the sensor unit 290d is associated with the holder 200d. However, one sensor unit 290 may be associated with multiple holders 200. Conversely, multiple sensor units 290 may be associated with one holder 200.

[0155] The sensor unit 290 notifies the user of information regarding the holder 200. In this example, when the sensor unit 290c detects an animal 500, it notifies the user 400 of the holder information of the holder 200c via the terminal device 410. The holder information may include that the presence of an animal 500 has been detected and may include information regarding the remaining amount of repellent 45 in the holder 200. In response, the user 400 may operate the unmanned aerial vehicle 100 via the terminal device 410 to begin replenishing the repellent 45 to the holder 200c.

[0156] Figure 23 shows an example of an animal 500 repellent method. In this example, the sensor unit 290 provides the holder information detected by the sensor unit 290 to the unmanned aerial vehicle 100 and the user 400. The sensor unit 290 is installed at the installation location 300 and is associated with the holder 200.

[0157] In step S2300, the sensor unit 290 detects the presence of the animal 500 in the vicinity of the holder 200. When the sensor unit 290 detects the presence of the animal 500, it may directly notify the unmanned aerial vehicle 100. When the sensor unit 290 detects the presence of the animal 500, it may notify the user 400 through the terminal device 410. For safety reasons, the user 400 may or may not monitor the unmanned aerial vehicle 100 and the holder 200.

[0158] In step S2302, in response to the sensor unit 290 detecting the presence of the animal 500, the unmanned aerial vehicle 100 replenishes the holder 200 with repellent 45. In this example, the unmanned aerial vehicle 100 is controlled by the user 400 using a terminal device 410. The unmanned aerial vehicle 100 may autonomously replenish the holder 200 with repellent 45 upon receiving notification from the sensor unit 290. If the unmanned aerial vehicle 100 operates autonomously, the user 400 does not need to monitor it.

[0159] Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where a block may represent (1) a stage in a process in which an operation is performed or (2) a section of a device having the role of performing the operation. Specific stages and sections may be implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable medium, and / or processors supplied with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits, including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, memory elements such as field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc.

[0160] Computer-readable media may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, computer-readable media having instructions stored therein will comprise a product containing instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated circuit card, etc.

[0161] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0162] Computer-readable instructions are provided locally or via a wide area network (WAN) such as a local area network (LAN) or the internet to the processor or programmable circuit of a programmable data processing device such as a computer, and may be executed to create means for performing operations specified in a flowchart or block diagram. Here, the computer may be a PC (personal computer), tablet computer, smartphone, workstation, server computer, general-purpose computer, or special-purpose computer, and may also be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system and is a computer in a broad sense. In a distributed computing system, multiple computers execute a program collectively by each computer executing a part of the program and passing data during program execution between computers as needed.

[0163] Examples of processors include computer processors, central processing units (CPUs), processing units, microprocessors, digital signal processors, controllers, and microcontrollers. A computer may have one or more processors. In a multiprocessor system with multiple processors, each processor executes a portion of the program, and the processors collectively execute the program by passing program execution data between them as needed. For example, in the execution of multitasking, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at each time slice. In this case, which part of a program each processor executes changes dynamically. Which part of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.

[0164] Figure 24 shows an example of a computer 1000 in which multiple aspects of the present invention may be embodied in whole or in part. A program installed on the computer 1000 can cause the computer 1000 to function as an operation or one or more sections of an apparatus according to an embodiment of the present invention, or to execute such operation or one or more sections, and / or to cause the computer 1000 to execute a process or a stage of such process according to an embodiment of the present invention. Such a program may be executed by the CPU 1012 to cause the computer 1000 to perform a particular operation associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0165] The computer 1000 according to this embodiment includes a CPU 1012, RAM 1014, a graphics controller 1016, and a display device 1018, which are interconnected by a host controller 1010. The computer 1000 also includes input / output units such as a communication interface 1022, a hard disk drive 1024, a DVD-ROM drive 1026, and an IC card drive, which are connected to the host controller 1010 via an input / output controller 1020. The computer 1000 also includes legacy input / output units such as a ROM 1030 and a keyboard 1042, which are connected to the input / output controller 1020 via an input / output chip 1040.

[0166] The CPU 1012 operates according to programs stored in the ROM 1030 and RAM 1014, thereby controlling each unit. The graphics controller 1016 acquires image data generated by the CPU 1012 from a frame buffer provided in RAM 1014 or from itself, and displays the image data on the display device 1018.

[0167] The communication interface 1022 communicates with other electronic devices via a network. The hard disk drive 1024 stores programs and data used by the CPU 1012 in the computer 1000. The DVD-ROM drive 1026 reads programs or data from the DVD-ROM 1027 and provides them to the hard disk drive 1024 via the RAM 1014. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.

[0168] The ROM 1030 stores boot programs and / or programs that depend on the hardware of the computer 1000, which are executed by the computer 1000 when activated. The input / output chip 1040 may also connect various input / output units to the input / output controller 1020 via parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0169] The program is provided on a computer-readable medium such as a DVD-ROM 1027 or an IC card. The program is read from the computer-readable medium and installed on a hard disk drive 1024, RAM 1014, or ROM 1030, which are also examples of computer-readable medium, and executed by the CPU 1012. The information processing described within these programs is read by the computer 1000, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the manipulation or processing of information in accordance with the use of the computer 1000.

[0170] For example, when communication is performed between computer 1000 and an external device, CPU 1012 may execute a communication program loaded into RAM 1014 and instruct communication interface 1022 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1012, communication interface 1022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as RAM 1014, hard disk drive 1024, DVD-ROM 1027, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a receive buffer processing area provided on the recording medium.

[0171] Furthermore, the CPU 1012 may read all or necessary parts of a file or database stored on an external storage medium such as a hard disk drive 1024, a DVD-ROM drive 1026 (DVD-ROM 1027), or an IC card into the RAM 1014, and perform various types of processing on the data in the RAM 1014. The CPU 1012 then writes the processed data back to the external storage medium.

[0172] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1012 may perform various types of processing on the data read from RAM 1014, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1014. The CPU 1012 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1012 may search among the multiple entries for an entry that matches the condition where the attribute value of the first attribute is specified, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0173] The program or software module described above may be stored on or near computer 1000 on a computer-readable medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable medium, thereby providing the program to computer 1000 via the network.

[0174] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0175] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0176] 10...Main body, 15...Legs, 20...Propulsion unit, 21...Rotor blade, 22...Rotating drive unit, 24...Arms, 40...Container holder, 42...Storage container, 45...Repellent, 50...Discharge unit, 51...Discharge port, 52...Extending unit, 54...Tip, 60...Holder unit holder, 62...Recovery member, 65...Separation unit, 70...Recovery unit, 72...Pressing unit, 73...Recovery member 80...Detection unit, 82...Imaging unit, 84...Notification unit, 100...Unmanned aerial vehicle, 200...Holder, 210...Holding material, 220...Mounting unit, 222...Mounting surface, 230...Housing, 235...Base, 240...Holding container, 245...Opening, 250...Connecting unit, 252...Connection unit, 254...Piping unit, 260...Receiving tray, 270...Guidance unit, 271...Pattern, 2 72...Reading code, 273...Light-emitting part, 274...Communication part, 275...Generating part, 280...Separation mechanism, 282...Protrusion, 284...Spring, 286...Extrusion part, 290...Sensor part, 300...Installation location, 400...User, 410...Terminal device, 500...Animal, 600...Elevator, 1000...Computer, 1010...Host controller, 1012... ...CPU, 1014...RAM, 1016...Graphics controller, 1018...Display device, 1020...Input / Output controller, 1022...Communication interface, 1024...Hard disk drive, 1026...DVD-ROM drive, 1027...DVD-ROM, 1030...ROM, 1040...Input / Output chip, 1042...Keyboard

Claims

1. The process involves setting up a holder for the animal repellent at a predetermined location, The steps include: the unmanned aerial vehicle supplying the repellent to the holder, A method for repelling animals that includes the following features.

2. The step of installing the holder at the installation location includes the step of an unmanned aerial vehicle moving while holding the holder and installing the holder at the installation location. The method for repelling animals as described in claim 1.

3. The retainer comprises a retaining material capable of absorbing the repellent. The method for repelling animals as described in claim 1.

4. The step of supplying the repellent to the holder is: The steps include directing the ejection port of the unmanned aerial vehicle towards the holder, The steps include: discharging the repellent from the discharge port of the unmanned aerial vehicle to replenish the holding body with the repellent; has The method for repelling animals as described in claim 1.

5. The step of supplying the repellent to the holder includes the step of inserting the discharge port into the holder. The method for repelling animals as described in claim 4.

6. The step of supplying the repellent to the holder is: The steps include: connecting the unmanned aerial vehicle for supplying the repellent with the holder, With the unmanned aerial vehicle connected to the holder, the repellent is discharged from the discharge port of the unmanned aerial vehicle to replenish the holder with the repellent; has The method for repelling animals according to claim 4.

7. The holder has a tray to prevent the repellent from leaking out of the holder. The method for repelling animals as described in claim 1.

8. The holder has a guidance unit for guiding the unmanned aerial vehicle for supplying the repellent. The method for repelling animals as described in claim 1.

9. The step of supplying the repellent to the holder is: The steps include: the step of the unmanned aerial vehicle recognizing the guidance unit, The steps include: the unmanned aerial vehicle autonomously approaching the holding body in response to guidance from the guidance unit; The step of approaching the holder and then supplying the holder with the repellent is also included. The method for repelling animals according to claim 8.

10. The process includes the step of installing the holder at the installation location, followed by the step of the unmanned aerial vehicle retrieving the holder. A method for repelling animals according to any one of claims 1 to 9.

11. After the step of retrieving the holder, the unmanned aerial vehicle has a step of reinstalling the holder for reinstallation at the installation location. The method for repelling animals according to claim 10.

12. A step of determining the completion of supplying the repellent to the holder based on the supply time, the amount supplied, or at least one of the images of the holder, After determining that the replenishment has been completed, the step of ending the repellent supply to the holder, Equipped with A method for repelling animals according to any one of claims 1 to 9.

13. The steps include detecting the presence of an animal in the vicinity of the holder, The steps include: notifying the user to replenish the repellent in the holder in response to the detection of the presence of the animal; Equipped with A method for repelling animals according to any one of claims 1 to 9.

14. The steps include detecting the presence of an animal in the vicinity of the holder, In response to detecting the presence of the animal, the unmanned aerial vehicle replenishes the repellent to the holder, Equipped with A method for repelling animals according to any one of claims 1 to 9.

15. A container holder for holding a container for housing animal repellent, A dispensing section for dispensing the repellent contained in the aforementioned container, A holder holding part that can hold any holder and release the held holder, An unmanned aerial vehicle equipped with [unspecified] features.

16. The holder portion includes a separation portion for separating and releasing the holder from the holder portion. The unmanned aerial vehicle according to claim 15.

17. The system includes a recovery unit for retrieving the holder that has been installed at a predetermined location. The unmanned aerial vehicle according to claim 15 or 16.

18. The holder has a detection unit for detecting the amount of replenishment or remaining amount of the repellent held in the holder. The unmanned aerial vehicle according to claim 15 or 16.

19. The detection unit has an imaging unit for capturing an image of the holder, The system includes a notification unit that notifies the user of the detection results obtained by the aforementioned detection unit. The unmanned aerial vehicle according to claim 18.

20. When executed by a computer, the unmanned aerial vehicle will The holder for the animal repellent is to be installed in a predetermined location. The holder is to be supplied with the repellent. program.

Images