Unmanned mobile systems, programs, and computer-readable storage media

Abstract

To provide an unmanned mobile vehicle system that enables control of at least one of the movement and functions of the main body of the unmanned mobile vehicle according to multiple modes. [Solution] The unmanned mobile vehicle system 100 comprises a main body 11 of the unmanned mobile vehicle 1, a flight-related control unit 5 that controls the main body 11, a mobile vehicle port unit 2 where the main body 11 returns and charges, and a mode setting unit 51 that can set a mode for at least one of the movement and functions of the main body 11. The mode setting unit 51 can be set in combination of multiple modes, and the flight-related control unit 5 controls at least one of the movement and functions of the main body 11 based on the mode set by the mode setting unit 51.

Description

Technical Field

[0001] The present disclosure relates to an unmanned mobile body system, a program, and a computer-readable storage medium.

Background Art

[0002] Conventionally, it is known to fly an unmanned mobile body such as an unmanned aerial vehicle called a drone by a person operating a remote controller (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, it is difficult for a person to control the movement and functions of an unmanned mobile body respectively.

[0005] The present disclosure has been made paying attention to the above problems, and an object thereof is to provide an unmanned mobile body system, a program, and a computer-readable storage medium that enable control of at least one of the movement and functions of the main body of the unmanned mobile body according to a plurality of modes.

Means for Solving the Problems

[0006] The unmanned mobile body system of the present disclosure includes a main body of an unmanned mobile body, a control unit that controls the main body, a port unit where the main body performs feedback and charging, and a mode setting unit capable of setting a mode related to at least one of the movement and functions of the main body.

[0007] The mode setting unit can set multiple modes in combination, and the control unit controls the main unit based on the modes set by the mode setting unit. The program of this disclosure causes a computer for an unmanned mobile system, which comprises a main body of an unmanned mobile system, a control unit for controlling the main body, and a port unit for the main body to return and charge, to function as a mode setting unit capable of setting modes relating to at least one of the movement and functions of the main body, and further, the mode setting unit is capable of setting a combination of multiple modes, and the control unit is capable of controlling the main body based on the modes set by the mode setting unit. The computer-readable storage medium of this disclosure stores the program. [Effects of the Invention]

[0008] According to this disclosure, an unmanned mobile vehicle system, a program, and a computer-readable storage medium can be provided that allow control of the movement and functions of the main body of the unmanned mobile vehicle according to multiple modes. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram shows the overall configuration of the unmanned mobile system according to Embodiment 1. [Figure 2] This is a block diagram showing the configuration of the mobile controller of the unmanned mobile system in Embodiment 1. [Figure 3] This is a block diagram showing the configuration of the main unit control section of the unmanned mobile system in Embodiment 1. [Figure 4] This is a block diagram showing the configuration of the port control unit of the unmanned mobile system in Embodiment 1. [Figure 5] This is a block diagram showing the server configuration of the unmanned mobile system in Embodiment 1. [Figure 6] This is a block diagram showing the configuration of the mobile terminal of the unmanned mobile system in Embodiment 1. [Figure 7]It is a block diagram showing the configuration of the flight-related control unit of the unmanned mobile body system according to Embodiment 1. [Figure 8] It is an explanatory diagram of the air circulation mode in the unmanned mobile body system according to Embodiment 1. [Figure 9] It is an explanatory diagram of the expulsion mode in the unmanned mobile body system according to Embodiment 1. [Figure 10] It is an explanatory diagram of the pursuit mode in the unmanned mobile body system according to Embodiment 1. [Figure 11] It is an explanatory diagram of the monitoring mode in the unmanned mobile body system according to Embodiment 1. [Figure 12] It is a flowchart showing the flow of the mode automatic setting process in the unmanned mobile body system according to Embodiment 1. [Figure 13] It is a flowchart showing an example of mode setting according to time zone. [Figure 14] It is a flowchart showing an example of mode setting according to season. [Figure 15] It is a flowchart showing the flow of processing when the remaining battery level becomes low. [Figure 16] It is a flowchart showing the flow of the operation information acquisition process by the operation information acquisition unit in the unmanned mobile body system according to Embodiment 1. [Figure 17] It is a flowchart showing the flow of the charging calculation process by the charging amount calculation unit in the unmanned mobile body system according to Embodiment 1.

Embodiments for Carrying out the Invention

[0010] Hereinafter, embodiments of the unmanned mobile body system of the present disclosure will be described based on the drawings.

[0011] [[ID=,41]] (Embodiment 1) Hereinafter, the unmanned mobile body system 100 according to Embodiment 1 will be described in detail. FIG. 1 is a diagram showing the overall configuration of the unmanned mobile body system 100 according to Embodiment 1. The unmanned mobile body system 100 of Embodiment 1 includes an unmanned mobile body 1, a mobile body port unit 2, a server 3, a mobile terminal 4, and a flight-related control unit 5 (see FIG. 7). The unmanned mobile body 1, the mobile body port unit 2, the server 3, the mobile terminal 4, and the flight-related control unit 5 are communicably connected to each other via a network 200. And the unmanned mobile body 1, the mobile body port unit 2, the server 3, the mobile terminal 4, and the flight-related control unit 5 preferably share information regarding the date and time via a network 20 or the like.

[0012] As the unmanned mobile body 1, in this embodiment, an unmanned flying body called a drone is used, and this unmanned mobile body 1 includes a main body unit 11 and a remote controller 12. The main body unit 11 includes a plurality (for example, four) of propellers 11a, and the propellers 11a are rotated by a drive mechanism 11b (see FIG. 2) provided with a motor. Also, the drive mechanism 11b is driven by electric power supplied from a battery 11c shown in FIG. 2 and is controlled by a mobile body controller 13 mounted on the main body unit 11, whereby the flight of the main body unit 11 of the unmanned mobile body 1 is controlled. That is, by the control of the mobile body controller 13, in the flight of the main body unit 11, the traveling direction, speed, etc. in the front-rear, left-right, up-down directions are controlled.

[0013] The mobile body controller 13 includes a main body control unit 14 and a mobile body sensor group 16. The main body control unit 14 controls the flight (movement) and functions of the main body unit 11. Regarding the control of flight (movement), as described above, the main body unit 11 is made to fly in an arbitrary direction and at an arbitrary speed by controlling the drive of the drive mechanism 11b. On the other hand, regarding the control of functions, the output by a main body output unit 17 described later mounted on the main body unit 11 is controlled.

[0014] The main control unit 14, as shown in Figure 3, comprises one or more processors 141, memory 142, storage 143, a transceiver 144, an input / output unit 145, and a bus 146. The processor 141 is a central processing unit (CPU) and executes programs for this system stored in the storage 143. The memory 142 temporarily stores data using DRAM (Dynamic Random Access Memory) or the like. The transmitting / receiving unit 144 receives control signals related to flight and transmits information obtained from the mobile sensor group 16. In addition to wireless control signals from the remote controller 12, flight-related control signals also include wireless control signals from the port control unit 23 of the mobile port unit 2 and control signals from the server 3 via the network 200. Furthermore, the input / output unit 145 receives detection signals from the mobile sensor group 16 and outputs control signals to the drive mechanism 11b and the main unit output unit 17.

[0015] The mobile sensor group 16 collects information necessary for flight control and preferably includes at least a mobile camera 161 and a GPS (Global Positioning System) 162, as well as, for example, inertial sensors (accelerometer, gyroscope), LiDAR (Light Detection and Ranging), etc. Furthermore, it is preferable that the mobile camera 161 be a 360-degree camera capable of capturing images in all directions.

[0016] The main unit output unit 17 provides various outputs as a deterrent function while the main unit 11 is in flight. In this embodiment, it includes a light 171 that emits light, a sound output unit 172 that emits sound such as a buzzer or ultrasonic waves, and a scent output unit 173 that emits a predetermined scent.

[0017] The remote controller 12 remotely controls the flight of the main body 11 of the unmanned mobile unit 1. Specifically, the remote controller 12 communicates wirelessly with the transceiver 144 of the mobile unit controller 13 of the main body 11 and outputs command signals to the mobile unit controller 13 to control the main body 11 in the desired flight and functions. The remote controller 12 can also receive video footage captured by the mobile unit camera 161.

[0018] Next, we will describe the mobile port section 2 shown in Figure 1. The mobile unit port section 2 is a facility where the main body section 11 of the unmanned mobile unit 1 takes off and returns, and also charges. Therefore, the mobile unit port section 2 includes a flat takeoff and landing section 21 for the unmanned mobile unit 1 to take off and land, a charging device 22, and a port control section 23 as shown in Figure 4. The charging device 22 may be either a contact type or a non-contact type. Furthermore, the mobile port section 2 is designed to be portable and can be installed at any desired location. Furthermore, the mobile port section 2 is equipped with a rain-sheltering roof 26 and an opening / closing device 27 for opening and closing the roof 26 (see Figure 8). The opening / closing device 27 keeps the roof 26 closed when the main body 11 is located in the mobile port section 2, and opens the roof 26 when the main body 11 takes off and lands.

[0019] The port control unit 23 communicates with the mobile controller 13 of the unmanned mobile unit 1 and also transmits and receives data with the server 3 via the network 200. The port control unit 23 and / or the main unit control unit 14 control the flight (movement) and functions of the main unit 11, and the details thereof will be described later.

[0020] As shown in Figure 4, the port control unit 23 comprises one or more processors 231, memory 232, storage 233, a transceiver 234, an input / output unit 235, and a bus 236. The processor 231 is a central processing unit (CPU) and executes programs for this system stored in the storage 233. Memory 232 temporarily stores data using DRAM (Dynamic Random Access Memory), etc.

[0021] Furthermore, the transmitting / receiving unit 234 transmits and receives data wirelessly with the mobile controller 13 (main unit control unit 14 and mobile sensor group 16) of the main unit 11, and also transmits and receives data with the server 3 and mobile terminal 4 via the network 200.

[0022] The input / output unit 235 receives detection signals from the weather sensor 24 located in the mobile port unit 2, as well as video footage captured by the port camera 25. Bus 236 electrically connects the processor 231, memory 232, storage 233, transceiver 234, and input / output unit 235.

[0023] The weather sensor 24 detects at least the temperature and also measures one or all of the following: humidity, wind direction, wind speed, rainfall, and atmospheric pressure. One or more port cameras 25 are provided to photograph the area in which the main body 11 of the unmanned mobile vehicle 1 flies. Therefore, the conditions of the flight area can be detected even when the main body 11 is not flying. Preferably, the port cameras 25 are 360-degree cameras that can photograph in all directions.

[0024] Server 3 manages the entire unmanned mobile system 100 and may be a computer or be logically implemented through cloud computing. Like the port control unit 23, Server 3 includes at least a processor 31, memory 32, storage 33, a transceiver 34, an input / output unit 35, etc., as shown in Figure 5, and these are electrically connected to each other via a bus 36. Furthermore, the transmitting / receiving unit 34 can communicate with the mobile terminal 4, the mobile controller 13, and the port control unit 23 via the network 200. The input / output unit 35 receives input from input devices 351 such as keyboards and mice, and outputs to output devices 352 such as displays.

[0025] Next, we will explain the installation of the unmanned mobile unit 1 and the mobile unit port unit 2, as well as the flight of the main unit 11. In this embodiment, we take an example of an unmanned mobile system 100 in which the unmanned mobile unit 1 and the mobile unit port unit 2 are owned by the administrator and leased to users. Furthermore, the user can use the unmanned mobile unit 1 for purposes such as agriculture, logistics, facility inspection and maintenance, aerial photography, and surveying. In this embodiment, the example of the user's use in agriculture will be used for explanation. In this case, the user installs the mobile port unit 2 at a farm 300 (see Figure 8), and, as will be described in detail later, the unmanned mobile unit 1 can be used to suppress frost on the farm, drive away pests and harmful birds and animals, and monitor the farm. Furthermore, in this embodiment, the administrator can charge the user a fee depending on the operating status of the unmanned mobile unit 1.

[0026] The mobile terminal 4 (see Figure 1) is owned by the user and, as shown in Figure 6, is equipped with a processor 41, memory 42, storage 43, transceiver 44, input / output unit 45, etc. These are electrically connected to each other via a bus 46. This configuration is the same as that of the port control unit 23 and server 3, so a detailed explanation is omitted. The input / output unit 45 is accessed via the input / output screen 451.

[0027] Next, the control related to the flight of the main body 11 in the unmanned mobile system 100 of Embodiment 1 will be described. The unmanned mobile system 100 includes a flight-related control unit 5, as shown in Figure 7, which performs flight-related control. This flight-related control unit 5 may be composed of one of the following: a main unit control unit 14, a port control unit 23, or a server 3, all of which are so-called computers; or it may be composed of two of these or all of them.

[0028] As shown in Figure 7, the flight-related control unit 5 includes a mode setting unit 51, an operation information acquisition unit 52, a charge amount calculation unit 53, a unit to detect objects to be chased away 54, a unit to detect objects to be tracked 55, and a unit to detect objects to be monitored 56. The mode setting unit 51 sets the flight (movement) and function modes of the main unit 11, although this will be described in detail later. The operation information acquisition unit 52 acquires operation information, which is information that the main unit 11 and the mobile port unit 2 are operating. The charge amount calculation unit 53 calculates the charge amount based on the operational information. The object to be repelled detection unit 54 detects the object to be repelled 401. The tracking target detection unit 55 detects the tracking target object 402. The object detection unit 56 detects the object 403. Therefore, the program of this disclosure causes the computer of the unmanned mobile system 100, which has a flight-related control unit 5 composed of one, two, or all of the main unit control unit 14, port control unit 23, and server 3, to function as a mode setting unit 51 for setting modes related to the flight (movement) and functions of the main unit 11. Furthermore, the mode setting unit 51 is capable of setting multiple modes in combination, and the flight-related control unit 5 is caused to function to control the main unit 11 based on the modes set by the mode setting unit 51. In addition, the program of this disclosure causes the computer of the unmanned mobile system 100 to function as an operation information acquisition unit 52 that acquires operation information which is information that the main unit 11 and the mobile port unit 2 are operating, as a charge amount calculation unit 53 that calculates the charge amount based on the operation information, as a repelling target object detection unit 54 that detects the repelling target object 401, as a tracking target object detection unit 55 that detects the tracking target object 402, and as a monitoring target object detection unit 56 that detects the monitoring target object 403. The mode setting unit 51, operation information acquisition unit 52, charge amount calculation unit 53, object to be chased away detection unit 54, object to be tracked detection unit 55, and object to be monitored detection unit 56 will be described in detail below.

[0029] As described above, the mode setting unit 51 sets the modes related to the flight (movement) and functions of the main unit 11, and in this embodiment, these modes include air circulation mode, chase-away mode, monitoring mode, and tracking mode. The air circulation mode is a flight mode for frost prevention at farm 300. As shown by arrow 501 in Figure 8, this mode causes the main body 11 of the unmanned mobile unit 1 to fly over farm 300 thoroughly in a frost prevention flight. This frost prevention flight using the air circulation mode mixes the relatively warm air above farm 300 with the relatively cool air near the ground by the rotation of the propeller 11a of the main body 11, thereby suppressing the formation of frost. In this air circulation mode, the flight path may be set by the user or automatically set according to the dimensions of Farm 300. Furthermore, the start and end of flight of the main unit 11 in air circulation mode may be performed manually by the user using the remote controller 12, or it may be performed automatically based on the control of the mode setting unit 51. If performed automatically, for example, it may be performed below a predetermined temperature (for example, a temperature in the range of 2 to 5°C, preferably 3°C) based on ambient temperature, or it may be performed based on a predetermined season and time (for example, within the range of 3 to 10 a.m.).

[0030] The repellent mode, as shown in Figure 9, is a mode in which the repellent function is used to repell pre-set targets 401 such as pests, vermin, and birds in the farm 300. In this repellent mode, based on the output of the main unit output unit 17 as the repellent function of the main unit output unit 15, the main unit 11 is made to fly away (see arrow 502) while emitting light, sound, or scent that the targets 401 dislike. In this case, the main unit 11 flies over the entire farm 300, similar to the air circulation mode, or flies around the detected targets 401. In this case, if the object to be repelled 401 is a moth, it can be repelled at night using light such as an LED from the light 171. This light can be on continuously or only when the object to be repelled 401 is detected. Furthermore, depending on the species, animals often have certain sound frequencies that startle or make them feel uncomfortable. It is possible to drive away the target object 401 by flying the main unit 11 while emitting sounds at frequencies that the target object 401 dislikes from the sound output unit 172 of the main unit output unit 15. Specifically, this can be done by threatening them with loud sounds such as buzzers or by emitting ultrasonic waves that are unpleasant to animals. Furthermore, since civets and raccoons are said to dislike the smell of garlic and mint, the main unit 11 may be flown while the scent output unit 173 emits a scent that the target object 401 dislikes, or the scent of a natural enemy of the target object. In this way, by emitting a predetermined scent from the main unit output unit 17 while flying the main unit 11, it is possible to drive away the predetermined target object 401.

[0031] The start and end of flight of the main unit 11 in this deterrent mode may be performed manually by the user using the remote controller 12, or it may be performed automatically based on the control of the mode setting unit 51. When automatically performing flight in deterrence mode, the operation may be carried out based on the detection of the object to be deterred 401 by the object to be deterred detection unit 54, or based on the season and time when the object to be deterred 401 appears (for example, within the range of 5 to 10 p.m. in a predetermined season). Furthermore, the detection of the object to be repelled 401 can be performed by the object to be repelled detection unit 54. For example, based on parameters including images and videos of the object to be repelled 401 that are pre-recorded in memory, artificial intelligence can be used to detect the object based on images captured by the port camera 25 or the mobile camera 161.

[0032] As shown in Figure 10, the tracking mode is a mode in which, when a pre-set tracking target object 402 such as pests, vermin, or harmful birds in the farm 300 is detected, the main unit 11 flies to track the detected tracking target object 402 and drives it away. Furthermore, at this time, the main unit output unit 15 provided in the main unit 11 may output light that the tracking target 402 dislikes, sound (including ultrasonic waves) that the tracking target 402 dislikes, or odor that the tracking target 402 dislikes. For example, if a fixed speaker emits sound or flashes light, pest birds may be startled at first but gradually get used to it. However, the main unit 11 can reliably drive away the target object 402 by tracking it. In other words, the difference between the deterrent mode and the tracking mode is that in deterrent mode, the deterrent mode drives away objects 401 that are numerous or spread over a wide area, while in tracking mode, the tracking mode tracks a specific individual object 402.

[0033] The start and end of flight of the main unit 11 in this tracking mode may be performed manually by the user using the remote controller 12, or it may be performed automatically based on the control of the mode setting unit 51. If performed automatically, it may be performed based on the detection of the tracking target object 402 by the mobile camera 161 or the port camera 25, or it may be performed based on the time when the tracking target object 402 appears or disappears (for example, within the range of 10 a.m. to 5 p.m.). Furthermore, the detection of the tracking target object 402 can be performed by the tracking target object detection unit 55. For example, based on parameters including images and videos of the tracking target object 402 that have been pre-recorded in memory, artificial intelligence can be used to detect it from images captured by the port camera 25 or the mobile camera 161. Furthermore, when the tracking object detection unit 55 detects the tracking object 402, it may be configured to notify the user's mobile terminal 4 of the intrusion detection of the tracking object 402. This notification can be made by any of the transmission / reception units 144, 234, or 34, which act as notification units.

[0034] The monitoring mode is a mode in which the main unit 11 monitors the farm 300 (see arrow 504) as shown in Figure 11, while detecting whether or not a designated target object 403, such as a suspicious person or a pest, has entered the farm 300. In this monitoring mode, the start, end, and monitoring of the main unit 11's flight may be performed manually by the user using the remote controller 12, or it may be performed automatically based on the control of the mode setting unit 51. If performed automatically, the process may be based on the detection of the object to be monitored 403 by the mobile camera 161 or the port camera 25. Furthermore, if the intrusion of the monitored object 403 is detected, the system may be configured to notify or output an alarm. The detection of the monitored object 403 can be performed by the monitored object detection unit 56, and for example, it can be detected from images captured by the port camera 25 or mobile camera 161 using artificial intelligence based on parameters including images and videos of the monitored object 403 that are pre-recorded in memory. Furthermore, notification may be provided to the user's mobile terminal 4 when an intrusion of the monitored object 403 is detected. Additionally, alarms may be provided by outputting an alarm sound such as a siren from the mobile port unit 2, or by outputting light, sound, or fuel from the main unit output unit 15 of the main unit 11. Furthermore, notification of intrusion by the monitored object 403 can be sent using either the transmitting / receiving unit 144, the transmitting / receiving unit 234, or the transmitting / receiving unit 34.

[0035] Next, an example of automatic setting of multiple modes by the mode setting unit 51 will be explained based on the flowchart of the automatic mode setting process shown in Figure 12. Note that the process shown in this flowchart is executed repeatedly at a predetermined interval. In step S101, it is determined whether the temperature detected by the weather sensor 24 is below a predetermined temperature threshold for starting an air circulation mode (for example, a temperature within the range of 2 to 5°C, preferably 3°C). If it is below the threshold temperature, the process proceeds to step S102 to set the system to air circulation mode. In this air circulation mode, the main unit 11 is made to fly in a frost prevention mode, flying over the entire area above the farm 300 as shown in Figure 8. This allows the air over the farm 300 to circulate vertically, suppressing the formation of frost.

[0036] Flight of the main unit 11 in air circulation mode ends when predetermined termination conditions are met (step S103), and the main unit 11 returns to the mobile port unit 2 (step S116). The termination conditions include, for example, when the temperature rises above the starting temperature, when the flight time exceeds a predetermined time, or when the battery level falls below a predetermined amount. Furthermore, if the battery level falls below a predetermined amount, this may not be used as the termination condition. Instead, the device may return to the mobile port unit 2 to recharge, and once charging is complete, it may resume flight in air circulation mode. Details of this process will be described later based on Figure 15. Furthermore, weather conditions may be included in the termination conditions. That is, if weather conditions such as rain or wind are unsuitable for the flight of the main unit 11, the flight of the main unit 11 in air circulation mode may be prevented even if the conditions for executing the air circulation mode are met. Furthermore, the operation of the air circulation mode may be predetermined for a set period, such as the winter season, or specifically from December to February.

[0037] In step S101, if the temperature is higher than the temperature used to determine the start of the air circulation mode, the system proceeds to step S104, where it is determined whether or not the object to be repelled 401 has been detected. If it has been detected, the system proceeds to step S105 and sets the system to repel mode. In the repellent mode, the main unit 11 is made to perform a repellent flight as shown in Figure 9, while the main unit 11 is made to output light, sound, or scent, or a combination thereof, using the functions of the main unit output unit 17 of the main unit 11. Furthermore, the detection of the object to be repelled 401 can be performed by the object to be repelled detection unit 54, using artificial intelligence based on parameters including images and videos of the object to be repelled that have been pre-recorded in memory, and based on images captured by the port camera 25 or the mobile camera 161.

[0038] The flight of the main unit 11 in the chase-away mode ends when predetermined termination conditions are met (step S106), and the main unit 11 returns to the mobile port unit 2 (step S116). Termination conditions include, for example, when the object to be chased away 401 is chased away from the farm 300, when the flight time in chase-away mode exceeds a predetermined time, or when the battery level falls below a predetermined amount. Furthermore, if the battery level falls below a predetermined amount, this may not be used as the termination condition. Instead, the device may return to the mobile port 2 to recharge and continue the chase-away mode. Details of this process will be described later based on Figure 15. Furthermore, similar to the air circulation mode, if weather conditions such as rain or wind are unsuitable for the flight of the main unit 11, the system may immediately terminate the deterrent mode even if the conditions for its execution are met, preventing the main unit 11 from flying.

[0039] If no object to be chased away 401 is detected in step S104, step S107 proceeds to determine whether or not an object to be tracked 402 has been detected. If it has been detected, the process proceeds to step S108 to set the system to track mode. In this tracking mode, the main unit 11 performs tracking flight to track the target object 402, as shown in Figure 10, while the main unit output unit 17 outputs either light, sound, or scent, or a combination thereof. Furthermore, the tracking target object 402 can be detected by the tracking target object detection unit 55 using artificial intelligence based on parameters including images and videos of the object to be chased, which are pre-recorded in memory, from images captured by the port camera 25 or the mobile camera 161. Furthermore, the flight of the main unit 11 in tracking mode ends when predetermined termination conditions are met (step S109), and the main unit 11 returns to the mobile port unit 2 (step S116). Termination conditions include, for example, when the tracked object 402 is driven out of the farm 300, when the flight time in tracking mode exceeds a predetermined time, or when the battery level falls below a predetermined amount.

[0040] Furthermore, if the battery level falls below a predetermined amount, this may not be used as the termination condition. Instead, the device may return to the mobile port unit 2 to recharge and continue the tracking mode. The processing flow in this case will be described later based on Figure 15. Furthermore, similar to the air circulation mode and the deterrent mode, if weather conditions such as rain or wind are unsuitable for the flight of the main unit 11, the tracking mode may be terminated immediately even if the conditions for execution are met, and the main unit 11 may not be allowed to fly. Furthermore, the execution of tracking mode may be limited to the season in which the object to be tracked 402 appears, for example, spring.

[0041] If the tracking target object 402 is not detected in step S107, step S110 is performed to determine whether the conditions for executing the monitoring mode have been met. If the conditions for executing the monitoring mode have been met, the process proceeds to step S111; otherwise, the processing for one cycle ends. The conditions for executing the monitoring mode vary depending on the object being monitored 403. For example, it can be set to the time when the object being monitored 403 appears, or to weather conditions. If the object being monitored 403 is a suspicious person or a pest, the conditions for executing the monitoring mode can be set to nighttime hours, such as from 9 p.m. to 4 a.m., during which time the main unit 11 will be continuously or at predetermined intervals to monitor the system. Alternatively, the conditions for execution can be set to when the user is not present, and the main unit 11 can be monitored while the user is not at the farm 300.

[0042] If the conditions for executing the monitoring mode are met, the process proceeds to step S111, in which the main unit 11 is made to perform a monitoring flight as shown in Figure 11, and the object to be monitored 403 is detected. Then, in the next step S112, it is determined whether or not the monitored object 403 has been detected. If it has not been detected, the process proceeds to step S113; if it has been detected, the process proceeds to step S114. In step S113, which proceeds if no object 403 is detected, it is determined whether the termination condition for the monitoring mode has been met. If the termination condition is met, the monitoring mode is terminated (S113), and the main unit 11 is returned to the mobile port unit 2 (step S116). If the termination condition is not met, the process returns to step S111, and the monitoring mode is continued. The conditions for ending the monitoring mode vary depending on the object being monitored 403, but examples include when the time for the object being monitored 403 to appear has passed, when certain weather conditions are met that prevent the object being monitored 403 from appearing, or when the battery level falls below a predetermined amount. Furthermore, if the battery level falls below a predetermined amount, this may not be used as the termination condition. Instead, the device may return to the mobile port unit 2 to charge, and once charging is complete, it may continue in monitoring mode. The processing flow in this case will be described later based on Figure 15.

[0043] If the object to be monitored 403 is detected in step S112, step S114 proceeds to perform notification and / or alarm. Notifications can be sent to the user's pre-configured mobile terminal 4, or to the user's office or other location via sound, voice, light, etc. Notifications to the mobile terminal 4 can be sent by any of the notification units: the transmitting / receiving unit 144, 234, or 34. Furthermore, the alarm outputs a warning directly to the monitored object 403 by setting the main unit output unit 17 of the main unit 11 to light output mode or sound output mode. For example, if the monitored object 403 is a suspicious person, the alarm can be warned by voice that it has been detected or by shining a light on the suspicious person. If the monitored object 403 is an animal, it may be deterred by sound, light, or smell. Then, in the next step S115, it is determined whether the termination conditions for the notification and / or alarm have been met. If the termination conditions are met, the notification and / or alarm is terminated. If the termination conditions are not met, the process returns to S114 and the notification and / or alarm continues.

[0044] The conditions for terminating the notification and / or alarm include, for example, if a notification is sent to the mobile terminal 4, the user confirming the notification from the mobile terminal 4, or sending a signal to stop the alarm, or if the notification or alarm continues for a predetermined time, or if the monitored object 403 moves a predetermined distance away from the farm 300. Furthermore, similar to the air circulation mode, deterrence mode, and tracking mode, if weather conditions such as rain or wind are unsuitable for the flight of the main unit 11, the monitoring mode may be terminated immediately even if the conditions for its execution are met, and the main unit 11 may not be allowed to fly.

[0045] Furthermore, the start condition for the monitoring mode can also be the detection of the object to be monitored 403. In this case, the main unit 11 is launched simultaneously with the detection of the object to be monitored 403, and notification and / or alarm are executed at the same time. Furthermore, the detection of the object to be monitored 403 can be performed using artificial intelligence based on parameters, including images and videos of the object to be chased, that have been pre-recorded in memory, similar to the detection of the object to be chased 401 and the object to be tracked 402. The detection can be performed from images captured by the port camera 25 or the mobile camera 161.

[0046] The automatic mode setting process shown in the flowchart of Figure 12 described above is an example in which the mode setting unit 51 constantly determines whether or not to execute the air circulation mode, expulsion mode, tracking mode, and monitoring mode. However, the air circulation mode, expulsion mode, and tracking mode may be limited to certain times of the year, such as season. For example, the air circulation mode may be set to run only during the winter months, specifically from November to April or from December to March. Similarly, the repellent mode, tracking mode, and monitoring mode may be limited to the period when the object to be repelled 401, the object to be tracked 402, or the object to be monitored 403 appears, or during the period when crops are growing in the farm 300.

[0047] Examples of variations in mode settings, such as setting modes by time of day and by season, are shown in the flowcharts of Figure 13 and Figure 14. Figure 13 shows an example of the processing flow when the mode setting unit 51 switches modes depending on the time of day. In the first step S121, it is determined whether the current time is within the first time zone, which is between 5:00 AM and 10:00 AM. If the answer is affirmative (Y), the process proceeds to step S122; otherwise, the process proceeds to step S123. In step S122, which proceeds if the current time is within the first time period between 5:00 AM and 10:00 AM, the system is set to air circulation mode. In this air circulation mode, the main unit 11 may be set to perform frost prevention flight when the starting conditions based on temperature (temperature ≤ 3°C) shown in the flowchart of Figure 12 are met, or the main unit 11 may be set to perform frost prevention flight during the period between 5:00 AM and 10:00 AM.

[0048] In step S123, if the current time is outside the range of 5:00 AM to 10:00 AM in step S121, it is determined whether the current time is in the second time zone within the range of 10:00 AM to 5:00 PM. If the answer is affirmative (Y), proceed to step S124; otherwise, proceed to step S125. In step S124, which proceeds if the current time falls within the second time zone between 10:00 AM and 5:00 PM, the system switches to tracking mode. In this tracking mode, as shown in the flowchart in Figure 12, once the object to be tracked 402 is detected, the main unit 11 is set to fly in tracking mode. If step S123 determines that the current time is outside the range of 10am to 5pm, step S125 proceeds to determine whether the current time is within the third time zone within the range of 5pm to 10pm. If affirmative (Y), proceed to step S126; otherwise, end the processing cycle. If the current time falls within the third time zone between 5 PM and 10 PM, step S126 proceeds, and the system is set to chase away mode. In this deterrent mode, the light 171 may be kept on at all times during this period, or, as shown in the flowchart in Figure 12, the light 171 may be turned on only when the object to be deterred 401 is detected. If all of steps S121, S123, and S125 are negative (N), the mode setting unit 51 will not set to any mode and will not operate the unmanned mobile unit 1.

[0049] Figure 14 shows an example of the processing flow when the mode setting unit 51 switches modes according to the season. In the first step S131, it is determined whether the current season is winter (December to February). If the answer is affirmative (Y), proceed to step S132; otherwise, proceed to step S133. Then, in step S122, which proceeds if the current season is winter (December to February), once the predetermined starting conditions (temperature ≤ 3°C) are met, the system is set to air circulation mode and the main unit 11 is put into frost-prevention flight mode.

[0050] In step S133, if the current season is not winter (December to February) in step S131, it is determined whether the current season is spring (March to May). If the answer is positive (Y), the process proceeds to step S134; otherwise, the process for one cycle ends. In step S134, which proceeds when the current season is spring (March to May), once the predetermined starting conditions are met (the object to be tracked 402 is detected), the system is set to tracking mode and the main unit 11 is made to perform tracking flight.

[0051] Next, based on Figure 15, we will explain the processing flow when the battery level of battery 11c becomes low. For example, the process shown in the flowchart of Figure 15 is to be executed in parallel with the process shown in the flowchart of Figure 12 in the mode setting unit 51. In the first step S141, it is determined whether the battery level has fallen below a first threshold. If it has fallen below a first predetermined value, the process proceeds to step S142. If the battery level is equal to or greater than the first threshold, the process for one cycle is completed, and the process from the start is repeated. Note that instead of directly measuring the remaining battery level in step S141, the process may be determined by whether or not the flight time exceeds a threshold.

[0052] In step S142, which proceeds when the battery level falls below the first threshold, the flight based on the currently set mode is aborted. Then, in the next step S143, the main unit 11 is returned to the mobile port unit 2, and in the next step S144, the battery 11c of the main unit 11 is charged by the charging device 22. In the next step, S145, it is determined whether the battery level exceeds the second threshold. If the battery level exceeds the second threshold, the process proceeds to step S146. If the battery level does not exceed the second threshold, the process returns to step S144 and charging continues. In step S145, instead of directly detecting the remaining battery level, it is also possible to determine whether the charging time has exceeded the set time. In step S146, which proceeds when the battery level exceeds the second threshold, the process returns to the automatic mode setting process shown in Figure 12, and the control returns to flying in a mode according to the predetermined conditions, thus ending one cycle of processing.

[0053] Next, the operational information acquisition unit 52 will be explained. The operation information acquisition unit 52 acquires and stores information on the operation of the main unit 11 and the mobile port unit 2, acquiring operation information separately for each of the multiple modes described above. This operation information includes information on the operating time, the time period during which it was operated, and the mode switching for each of the multiple modes. Furthermore, it is preferable that the operational information includes events that occurred in each mode. For example, in the deterrence mode, it is preferable to include the date and time when the object to be deterred 401 was detected, as well as the type and number of the object to be deterred 401. Similarly, in the tracking mode, it is preferable to include the date and time when the object to be tracked 402 was detected, as well as the type and number of the object to be tracked 402. Likewise, in the monitoring mode, it is preferable to include the date and time when the object to be monitored 403 was detected, as well as the type and number of the object to be monitored 403. In other words, it is preferable that the operational information includes detection information from the object to be deterred detection unit 54, the object to be tracked detection unit 55, and the object to be monitored detection unit 56. Furthermore, the operation information acquisition unit 52 may record operation information for each mode, divided into predetermined periods (for example, one week, one month), and output this operation information for each predetermined period to the user as report data (for example, in report format). Furthermore, since the aforementioned operational information is accumulated moment by moment, it is preferable to record and manage it on Server 3.

[0054] Figure 16 is a flowchart showing an example of the flow of the operation information acquisition process by the operation information acquisition unit 52. This process is executed at predetermined intervals. In step S201, it is determined whether the main body 11 or the mobile port 2 of the unmanned mobile unit 1 is operational. If it is operational, the process proceeds to step S202; otherwise, the processing for one cycle is completed. In step S202, which proceeds when the main unit 11 or the mobile port unit 2 is activated, the operating time and time period for each activated mode, as well as operation information including mode switching, are acquired. In the next step, S203, operational information is accumulated and recorded. This operational information is recorded in predetermined periods (e.g., one week, one month), and report data is created for each predetermined period and sent to the user's mobile terminal 4.

[0055] Next, we will explain the billing amount calculation unit 53 shown in Figure 7. This billing calculation unit 53 calculates the billing amount according to the operation of the unmanned mobile unit 1 and the mobile unit port unit 2. In this embodiment, usage fees are pre-set for multiple modes. The charge amount calculation unit 53 calculates the charge amount for each mode based on the operational information acquired by the operational information acquisition unit 52, using at least the pre-set usage fees and operating time, and records the calculated charge amount.

[0056] Then, after calculating the charge amount for each mode, it may be sent to the user's mobile device 4. In this case, the charge amount for each predetermined period (for example, one week, one month) may be sent. Furthermore, a predetermined upper limit on the amount charged for each period (for example, one month) may be set, and the system may be configured to stop operating when the amount charged reaches that limit. Alternatively, a threshold for the amount charged for each period (for example, one month) may be predetermined, and the system may be configured to notify the user's device when the threshold is reached. Furthermore, since the information regarding the above-mentioned billing amounts is accumulated moment by moment, it is preferable to record and manage it on server 3. Furthermore, control based on an upper limit and control based on a threshold may be implemented by only one of them. However, if both types of control are used, and the calculation period for the billing amounts being compared is the same, the threshold should be set lower than the upper limit. If the calculation period for the billing amounts being compared differs for the threshold and the upper limit, the threshold and the upper limit may be set independently.

[0057] Figure 17 is a flowchart showing an example of the billing calculation process performed by the billing amount calculation unit 53. This process is executed at predetermined intervals. In step S301, the operation information acquired by the operation information acquisition unit 52 is read. In the next step, S302, the charge amount for each mode is calculated and recorded based on the loaded operating information.

[0058] In the next step, S303, it is determined whether the amount charged exceeds a predetermined upper limit for a set period (for example, one month or one week). If the amount charged exceeds the upper limit, the process proceeds to step S304; otherwise, the process proceeds to step S305. In step S304, which is followed when the billing amount exceeds the upper limit, the operation of the unmanned mobile device 1 is stopped, and a message is sent to the user's mobile terminal 4 indicating that the billing amount has reached the upper limit and operation has been stopped.

[0059] In step S305, which proceeds if the charge amount has not reached the upper limit, it is determined whether the charge amount has exceeded a predetermined threshold for a set period (for example, one month or one week, and in this example, this period is the same as the period for calculating the charge amount to be compared with the upper limit). If the charge amount has exceeded the threshold, in step S306, a message is sent to the user's mobile terminal 4 indicating that the charge amount has exceeded the threshold. In step S307, which proceeds if the charge amount does not exceed the threshold, it is determined whether a predetermined period (for example, one month or one week) has elapsed to inform the user of the charge amount. If the predetermined period has elapsed, the process proceeds to step S308; otherwise, the processing for one cycle ends. In step S308, which proceeds when a predetermined period for notifying the charge amount has elapsed, the charge amount for that period (e.g., weekly charge amount, monthly charge amount) is sent to the user's mobile terminal 4, and the processing for one cycle is completed.

[0060] The effects of Embodiment 1 are listed below. 1) The unmanned mobile system 100 of one embodiment is The main body 11 of the unmanned mobile unit 1, A flight-related control unit 5 controls the main unit 11, The main unit 11 includes a mobile port unit 2 for returning and charging, The system includes a mode setting unit 51 that can set a mode relating to at least one of the movement and functions of the main unit 11, The mode setting unit 51 can set multiple modes in combination, and the flight-related control unit 5 controls the main unit 11 based on the mode set by the mode setting unit 51. Therefore, the movement and functions of the main body 11 of the unmanned mobile unit 1 can be controlled according to multiple modes.

[0061] Furthermore, the unmanned mobile vehicle 1 may be an unmanned aerial vehicle known as a drone. In this case, the above effects can be obtained with the unmanned aerial vehicle. Furthermore, the unmanned mobile unit 1 may be an autonomous walking robot. In this case, the effects described in 1) above can be obtained with the autonomous walking robot.

[0062] 2) In the unmanned mobile system 100 of Embodiment 1, the unmanned mobile unit 1 includes a remote controller 12 that can remotely control the movement of the main unit 11. Therefore, the movement and functions of the main unit 11 can also be controlled by operation of the remote controller 12.

[0063] 3) In the unmanned mobile system 100 of Embodiment 1, the flight-related control unit 5 performs control to return the main unit 11 to the mobile port unit 2, and control to charge the main unit 11 when it returns to the mobile port unit 2. Therefore, the battery 11c of the main unit 11 can be automatically charged, making it more user-friendly compared to when a person has to perform return operations or charging operations. In addition, repeated operation and charging are possible, making long-term operation easy.

[0064] 4) In the unmanned mobile system 100 of Embodiment 1, the unmanned mobile body 1 is an unmanned aerial vehicle, and the flight-related control unit 5 can set the flight path and / or flight range of the main body 11. Therefore, the main body 11 of the unmanned aerial vehicle flies along a set flight path and / or within a set flight range, enabling stable flight control.

[0065] 5) In the unmanned mobile system 100 of Embodiment 1, the flight-related control unit 5 can automatically control all of the movement and functions of the main unit 11. Therefore, it can automatically switch between multiple modes and perform all functions, making it more user-friendly compared to manually operating multiple modes.

[0066] 6) In the unmanned mobile system 100 of Embodiment 1, the mobile port section 2 is formed to be installable at any position. Therefore, the mobile port unit 2 can be transported and operated in various locations together with the unmanned mobile unit 1, thus achieving high versatility.

[0067] 7) In the unmanned mobile system 100 of Embodiment 1, the mobile port section 2 includes a rain-sheltering roof 26 and an opening / closing device 27 for the roof 26. Therefore, when the main body 11 of the unmanned mobile unit 1 is returning to the mobile unit port 2, the main body 11 can be prevented from getting wet in the rain.

[0068] 8) In the unmanned mobile system 100 of Embodiment 1, the mode setting unit 51 can set either only one mode of movement or function (for example, setting only the flight path) or a combination of multiple modes of movement and function (for example, a flight path and a deterrent function). Therefore, numerous combinations of movement and functions are possible, and many modes can be set. As a result, it offers superior usability and high versatility compared to systems with a limited number of modes.

[0069] 9) In the unmanned mobile system 100 of Embodiment 1, the main unit 11 and the mobile port unit 2 are capable of communication. Therefore, information can be shared between the main unit 11 and the mobile port unit 2. Compared to cases where information is not shared, the means for obtaining information can be omitted, resulting in reduced costs and weight, and enabling high-quality control. Furthermore, by connecting the main unit 11 and the mobile port unit 2 to the network 200 and enabling communication with the mobile terminal 4 and / or server 3, it becomes possible to provide information to users who possess the mobile terminal 4, and information requiring large amounts of data can be stored on the server 3. In addition, cost and weight can be reduced, and high-quality control can be achieved. Furthermore, due to the aforementioned communication capability, the flight-related control unit 5 may be mounted on either the main unit 11 or the mobile port unit 2. Alternatively, it may be mounted separately on the main unit 11 and the mobile port unit 2. In other words, the flight-related control unit 5 may be located in the main unit 11 that actually flies, or it may be located in the mobile port unit 2 that communicates with the main unit 11. This increases the degree of design flexibility. Furthermore, if it is located in the mobile port unit 2, the configuration of the main unit 11 can be simplified and made lighter. Furthermore, if the flight-related control unit 5 is divided into the main unit 11 and the mobile port unit 2, for example, if the mode setting unit 51 is provided in the mobile port unit 2 and the configuration that performs flight control of the main unit 11 (main unit control unit) is provided in the main unit 11, the mobile port unit 2 and the control unit can cooperate to control each other. Compared to the case where various controls are performed by only one of the main unit 11 or the mobile port unit 2, the required capacity for control can be reduced, and costs and weight can be reduced.

[0070] 10) In the unmanned mobile system 100 of Embodiment 1, the mode setting by the mode setting unit 51 can be performed either by manual setting by the user or by automatic setting. Therefore, compared to setting the mode manually only or automatically only, more detailed mode settings are possible.

[0071] 11) In the unmanned mobile system 100 of Embodiment 1, Unmanned mobile vehicle 1 is an unmanned aerial vehicle, The modes set by the mode setting unit 51 include: To protect farm 300 from frost, the main unit 11 is configured to fly by circulating air through the rotation of the propeller 11a of the main unit 11, and A deterrent mode in which the main unit 11 flies while performing a deterrent function to deter objects 401 that include at least one of insects, vermin, and birds, A monitoring mode in which the main unit 11 is flown to monitor a designated object 403, The system includes a tracking mode in which the main unit 11 is made to fly to track a target object 402 that includes at least one of the aforementioned harmful animals and harmful birds. Therefore, in a farm 300 or similar location, it is possible to suppress the occurrence of frost, drive away and track pests, harmful animals, and harmful birds, and prevent the intrusion of designated objects to be monitored 403 such as suspicious persons, making it an optimal unmanned mobile system 100 for operation in a farm 300.

[0072] 12) In the unmanned mobile system 100 of Embodiment 1, the mode setting unit 51 automatically changes the mode based on predetermined conditions. Therefore, the main body 11 of the unmanned mobile unit 1 can be automatically moved and its functions activated in various modes, eliminating the need to manually switch modes and offering superior usability compared to manually setting various modes. Specifically, in a modified example of Embodiment 1, the predetermined conditions include at least one of a predetermined time period and one of a predetermined duration, and the mode setting unit 51 can set multiple modes such that the mode is automatically changed according to either the predetermined time period or the predetermined duration. Therefore, multiple modes can be set and executed at appropriate times and periods (see Figures 13 and 14). Furthermore, the mode setting unit 51 is configured to switch to air circulation mode during a predetermined first time period, tracking mode during a predetermined second time period, and deterrent mode during a predetermined third time period. This allows you to switch between air circulation mode, tracking mode, and deterrent mode at the optimal time of day. More specifically, the first time period for switching to air circulation mode is from 5:00 AM to 10:00 AM, allowing for proper frost prevention; the second time period for switching to tracking mode is from 10:00 AM to 5:00 PM, allowing for proper tracking of the target object 402; and the third time period for switching to deterrence mode is from 5:00 PM to 10:00 PM, enabling the deterrence of nocturnal targets 401. Furthermore, the mode setting unit 51 can be set to air circulation mode during the winter months from December to February and to tracking mode during the spring months from March to May. Therefore, by setting it to air circulation mode during the winter months, frost countermeasures can be reliably taken, and by tracking the target object 402 that becomes more active during the spring months, it can be reliably driven away. Furthermore, the configurable modes are not limited to those shown in Embodiment 1, nor are they limited to the modes used in the unmanned aerial vehicle shown in Embodiment 1.

[0073] 13) In the unmanned mobile system 100 of Embodiment 1, Human-operated vehicle 1 is an unmanned aerial vehicle. It is equipped with a weather sensor 24 as a temperature measuring unit for measuring temperature, The mode setting unit 51 includes an air circulation mode among several modes, in which air is circulated by the flight of the main body 11 of the unmanned mobile unit 1 to prevent frost, and sets to the air circulation mode when a predetermined temperature is measured by the weather sensor 24. When the air circulation mode is set, the flight-related control unit 5 controls the main unit 11 based on the air circulation mode. Therefore, by flying the main unit 11 in air circulation mode at a temperature suitable for frost prevention, the formation of frost can be suppressed. The specified temperature is preferably in the range of 5°C or lower, and more preferably 3°C.

[0074] 14) In the unmanned mobile system 100 of Embodiment 1, The weather sensor 24, which serves as the temperature measurement unit, is attached to the mobile port unit 2. Therefore, compared to the case where the temperature measurement unit is provided in the main body 11 of the unmanned aerial vehicle as the unmanned mobile vehicle 1, the configuration of the main body 11 can be simplified and the weight reduced. In addition, the weather sensor 24 can acquire weather information other than temperature, enabling more precise control. The temperature measuring unit can also be provided in the main body 11.

[0075] 15) The unmanned mobile system 100 of Embodiment 1 is equipped with a deterrent object detection unit 54 that detects deterrent objects 401 including pests or harmful birds, The main unit 11 has a main unit output unit 17 that has a deterrent function for deterring the object to be deterred 401, The mode setting unit 51 sets the mode to the deterrent mode when the object to be deterred detection unit 54 detects the object to be deterred 401. In the chase-away mode, the flight-related control unit 5 uses the chase-away function provided by the main unit output unit 17 to control the main unit 11 to chase away the object to be chased away 401. Therefore, since the system only performs the chase when it detects the object to be chased 401, it reduces wasted operation by performing the chase when the object 401 does not exist, enabling more efficient control.

[0076] 16) In the unmanned mobile system 100 of Embodiment 1, the deterrent function includes lighting up the light 171 of the main unit output unit 17. Therefore, it can repel light-sensitive pests, vermin, and birds. Furthermore, the illumination of the light 171 at this time may include either constant illumination or illumination when an object to be repelled 401 is detected. In other words, if the illumination is to be controlled by the time of day or season, it may be set to constant illumination, and if the system is to detect an object to be repelled 401 and set to repelling mode, the light 171 may be illuminated only after the object to be repelled 401 is detected. Furthermore, the deterrent function includes a function to turn on a light, a function to output sound including at least one of a buzzer sound and / or ultrasonic sound, and a function to emit a scent. In other words, in this embodiment, the main unit output unit 17 includes a light 171, a sound output unit 172, and a scent output unit 173, and in the repellent mode, it is possible to use any one or more combinations of light, sound, and scent. Therefore, it becomes possible to appropriately drive away various objects 401 that need to be driven away.

[0077] 17) In the unmanned mobile system 100 of Embodiment 1, It is equipped with a tracking target detection unit 55 that detects tracking target objects 402 including harmful animals or birds, The main unit 11 has the function of tracking the object to be tracked 402, The mode setting unit 51 sets the tracking mode when the tracking target object detection unit 55 detects the tracking target object 402. When set to tracking mode, the flight-related control unit 5 controls the main unit 11 to track the object to be tracked 402. Therefore, it is possible to accurately track and drive away the target object 402, including harmful animals or birds. Furthermore, the tracking target detection unit 55 detects the tracking target 402 based on images taken by the mobile camera 161 or the port camera 25. Therefore, the target object 402 can be detected and tracked with high accuracy. Furthermore, if a 360° camera (omnidirectional camera) is used for either the mobile camera 161 or the port camera 25, the tracking target object 402 can be detected over a wider area.

[0078] 18) In the unmanned mobile system 100 of Embodiment 1, when the tracking target object detection unit 55 detects the tracking target object 402, it notifies the user's mobile terminal 4. Therefore, the user can be aware that the target object 402 has entered the farm 300 or similar location and that tracking has been initiated according to the tracking mode settings, enabling the user to take appropriate action.

[0079] 19) In the unmanned mobile system 100 of Embodiment 1, Unmanned mobile vehicle 1 is an unmanned aerial vehicle, It is equipped with a monitoring object detection unit 56 that detects a predetermined monitoring object 403, The mode setting unit 51 includes a monitoring mode among multiple modes. When the monitoring mode is set, the flight-related control unit 5 will make the main unit 11 perform a monitoring flight. When the object detection unit 56 detects the object 403, the flight-related control unit 5 notifies the user's mobile terminal 4. Therefore, users can be aware of the appearance of the monitored object 403 at farm 300 or other locations and take appropriate action. Furthermore, the flight-related control unit 5 issues an alarm when the monitored object detection unit 56 detects the monitored object 403. Therefore, it is possible to drive the monitored object 403 away from entry points such as the farm 300.

[0080] 20) In the unmanned mobile system 100 of Embodiment 1, The system includes an operation information acquisition unit 52 that acquires operation information, which is information that the main unit 11 and the mobile port unit 2 are operating. The operation information acquisition unit 52 acquires operation information in each of the multiple modes. Therefore, it is possible to accurately acquire separate operating information for each of the multiple modes. Furthermore, by including operating time, time period of operation, and mode switching information for each mode in the operating information, even more accurate operating information can be obtained. In addition, the operational information now includes details about events that occurred in each mode. Therefore, for example, it is possible to accurately obtain information on what kind of processing was performed on which object 401 was to be repelled, which object 402 was to be tracked, and which object 403 was to be monitored. This allows for accurate information to be used to calculate the amount charged based on operational data. In addition, the operational information acquisition unit 52 is configured to create report data showing operational information for each predetermined period. This allows users and administrators to accurately understand the operating status of the unmanned mobile device 1 based on the reported data.

[0081] 21) In the unmanned mobile system 100 of Embodiment 1, It is equipped with a charge amount calculation unit 53 that calculates the charge amount, Each of the multiple modes has its own set usage fee. The billing amount calculation unit 53 calculates the billing amount based on at least the usage fee set for each of the multiple modes and the operating time of each mode based on the operational information. Therefore, it is possible to calculate the appropriate charge amount for each mode. In addition, in this embodiment, the charge amount calculation unit 53 transmits the charge amount for each of the multiple modes to the user's mobile terminal 4, so that the user can also find out the accurate charge amount early on. Furthermore, in this embodiment, the charge amount calculation unit 53 predetermines an upper limit on the charge amount for each predetermined period, and stops the operation of the unmanned mobile unit 1 when the charge amount reaches the upper limit. Therefore, it is possible to ensure that the amount charged does not exceed the upper limit. In addition, if the billing amount exceeds a threshold, the user's mobile device 4 will be notified, allowing the user to take appropriate measures regarding the billing amount, such as reducing the operating time of the unmanned mobile device 1 or not setting a predetermined mode. When using both threshold-based control and upper-limit-based control, the threshold should be set lower than the upper limit.

[0082] 22) In Embodiment 1, the computer of the unmanned mobile system (one or all of the main unit control unit 14, port control unit 23, and server 3) is equipped with a flight-related control unit 5 that controls the main unit 11 of the unmanned mobile unit 1 that returns to and charges the mobile unit port unit 2, The program was designed to implement a mode setting unit 51 that allows multiple modes related to at least one of the movement and functions of the main unit 11 to be set in combination. Therefore, the computer in the unmanned mobile system can be made to function properly. Furthermore, a storage medium that can be read by a computer containing the above program can be provided.

[0083] While embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and any design modifications that do not depart from the spirit of the present invention are included in the present invention.

[0084] For example, in the embodiment, a drone (unmanned aerial vehicle) was shown as the unmanned mobile body 1, but it is not limited to this, and for example, a robot that can walk or drive autonomously, an unmanned autonomous vehicle, an unmanned vessel, etc. may be used. Accordingly, the mode set by the mode setting unit may also be set to a mode other than the above-mentioned mode for the unmanned aerial vehicle shown in the embodiment. For example, in an autonomous robot, cleaning mode, disinfection mode, monitoring mode, etc. may be switched depending on the time of day. Furthermore, although the embodiment shows an example in which the unmanned mobile body 1 includes a remote controller 12 for manual control, it is also possible to omit this remote controller 12 and perform only automatic control. In this embodiment, an example is shown in which a rain-sheltering roof 26 is provided on the mobile port section 2, and the roof 26 is designed to open and close automatically. However, it is not necessary to provide the roof 26. In this embodiment, an example was shown in which the mobile port unit 2 was installed on a farm 300, but the installation location is not limited to a farm 300. For example, it can also be used in forests, cowsheds, or in ports or urban areas where harmful birds gather. In this embodiment, an example was shown in which a weather sensor 24 provided on the mobile port section 2 was used as the temperature measurement unit, but the temperature sensor may also be attached to the main body section 11. Furthermore, while the embodiment shows an example where all of the air circulation mode, deterrent mode, tracking mode, and monitoring mode are performed, as shown in Figures 13 and 14, it is also possible to perform only one of each mode. The air circulation mode setting is specified as 3°C or below, but it may be set to a temperature other than 3°C within the range of 5°C or below. Furthermore, while examples of setting modes based on time of day or period (season) were shown, the specific times and periods are not limited to those shown in the embodiments, depending on the target animal or organism. In the embodiment, examples were shown in which objects to be repelled, objects to be tracked, and objects to be monitored are detected using a camera. However, the system is not limited to this, and for example, the intrusion of people or animals into a monitored object can also be detected using infrared sensors or physical switches. [Explanation of symbols]

[0085] 1. Unmanned mobile vehicle 2 Mobile Port Section 3 servers 4 Mobile devices 5 Flight-related control unit 11 Main body 11a propeller 11b Drive mechanism 11c battery 12 Remote Controllers 13 Mobile Controller 14 Main Unit Control 15. Output section of the main unit 16 Mobile Sensor Group 17 Main unit output section 21 Takeoff and Landing Section 22 Charging device 23 Port Control Unit 24 Weather Sensors 25-port camera 26 Roof 27 Opening and closing device 31 processors 32 memory 33 Storage 34 Transmitter / Receiver 35 Input / output section 36 bus 41 processors 42 memory 43 Storage 44 Transmitter / Receiver Unit 45 Input / output section 46 bus 51 Mode setting section 52 Operation Information Acquisition Unit 53 Billing amount calculation section 54 Object detection unit for repelling 55 Tracking target detection unit 56. Object detection unit 100 Unmanned Mobile Systems 141 processors 142 memory 143 Storage 144 Transmitter / Receiver 145 Input / output section 146 Bus 161 Mobile Camera 171 Light 172 Sound output section 173 Odor output unit 200 Networks 231 processors 232 memory 233 Storage 234 Transmitter / Receiver 235 Input / output section 236 Bus 300 farms 351 Input devices 352 Output devices 401 Objects to be driven away 402 Tracking target 403 Objects under surveillance 451 Input / Output Screen 501 Arrow 502 Arrow 503 Arrow 504 Arrow

Claims

1. The main body of the unmanned mobile vehicle, A control unit that controls the main body, The main body includes a port section for return and charging, The system includes a mode setting unit that can set a mode relating to at least one of the movement and functions of the main body, The mode setting unit is capable of setting a combination of multiple modes, and the control unit controls the main unit based on the modes set by the mode setting unit, in an unmanned mobile system.

2. The unmanned mobile system according to claim 1, wherein the control unit performs control to return the main body to the port, and control to charge the main body when it returns to the port.

3. The unmanned mobile system according to claim 1, wherein the control unit is capable of automatically controlling all of the movement and functions of the main body.

4. The unmanned mobile system according to claim 1, wherein the mode setting unit is capable of setting only one mode of movement and function, or a combination of multiple modes of movement and function, when setting a plurality of modes.

5. The unmanned mobile system according to claim 1, wherein the main body and the port are capable of communicating with each other.

6. The unmanned mobile system according to claim 1, wherein the main body and the port are connected to a network and are capable of communicating with a mobile terminal and / or a server.

7. The unmanned mobile system according to claim 1, wherein the mode setting unit automatically changes the mode based on predetermined conditions.

8. The aforementioned predetermined conditions include at least one of a predetermined time period and a predetermined period, The unmanned mobile system according to claim 7, wherein the mode setting unit is capable of setting a plurality of modes such that the mode is automatically changed according to either the predetermined time period or the predetermined period.

9. The aforementioned unmanned mobile vehicle is an unmanned aerial vehicle, The modes set by the mode setting unit include: To prevent frost damage, the main unit is configured in an air circulation mode in which air is circulated by the rotation of the propellers of the unmanned aircraft during flight. A deterrent mode in which the main unit is flown while using a deterrent function to deter targets including at least one of insects, vermin, and birds, A monitoring mode in which the main unit is flown to monitor a predetermined target object, A tracking mode in which the main unit is flown to track an object to be tracked, which includes at least one of the aforementioned pest animals and the aforementioned pest birds, The unmanned mobile system according to claim 1, comprising any of the following:

10. The aforementioned unmanned mobile vehicle is an unmanned aerial vehicle, It is equipped with a temperature measuring unit that measures temperature, The mode setting unit includes an air circulation mode among the multiple modes, in which air is circulated by the flight of the main body of the unmanned aircraft to prevent frost, and sets the mode to the air circulation mode when a predetermined temperature is measured by the temperature measuring unit. The unmanned mobile system according to claim 1, wherein the control unit controls the main unit based on the air circulation mode when the air circulation mode is set.

11. It is equipped with a unit for detecting objects to be repelled, including pests or harmful birds. The main body has a deterrent function for driving away the object to be driven away, The mode setting unit sets the mode to the deterrence mode when the deterrence target detection unit detects the deterrence target object. The unmanned mobile system according to claim 1, wherein the control unit controls the main unit to drive away the object to be driven away by the driving function in the driving-away mode.

12. The unmanned mobile system according to claim 11, wherein the deterrent function includes at least one of the following: a function to turn on a light; a function to output sound including at least one of a buzzer sound and ultrasonic sound; and a function to emit a scent.

13. It is equipped with a tracking target detection unit that detects tracking targets including harmful animals or birds, The main body has the function of tracking the object to be tracked, The mode setting unit sets the tracking mode when the tracking target detection unit detects the tracking target, The unmanned mobile system according to claim 1, wherein the control unit controls the main unit to track the object to be tracked when set to the tracking mode.

14. The unmanned mobile system according to claim 13, further comprising a notification unit that notifies the user's mobile terminal when the tracking target detection unit detects the tracking target.

15. The aforementioned unmanned mobile vehicle is an unmanned aerial vehicle, It is equipped with a monitoring object detection unit that detects a predetermined object to be monitored, The mode setting unit includes a monitoring mode among the multiple modes, When the monitoring mode is set, the control unit will make the main unit perform a monitoring flight. The unmanned mobile system according to claim 1, wherein when the object detection unit detects an object, the control unit notifies the user's mobile terminal.

16. The system includes an operation information acquisition unit that acquires operation information, which is information that the main unit and the port unit are operating. The unmanned mobile system according to claim 1, wherein the operational information acquisition unit acquires the operational information in each of the plurality of modes.

17. The unmanned mobile system according to claim 16, wherein the operational information includes the operational time for each mode, the time period during which the mode was operated, and information on the switching of the modes.

18. It is equipped with a charge amount calculation unit that calculates the charge amount, A usage fee is set for each of the aforementioned modes. The unmanned mobile system according to claim 16, wherein the charge amount calculation unit calculates the charge amount based on the usage fee set for each of the plurality of modes and the operating time of each mode based on the operating information.

19. The main body of the unmanned mobile vehicle, A control unit that controls the main body, The main body includes a port section for return and charging, A computer for an unmanned mobile system equipped with This unit functions as a mode setting unit capable of setting modes related to at least one of the movement and functions of the main unit. Furthermore, the mode setting unit is capable of setting multiple modes in combination, and the control unit is programmed to control the main unit based on the modes set by the mode setting unit.

20. A computer-readable storage medium that stores the program described in claim 19.

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