Flying robot, control program for flying robot, and method for controlling flying robot

Abstract

To prevent harm from stalking and street crimes. [Solution] Based on images captured by a camera mounted on an unmanned aerial vehicle flying under automatic control, a flying robot ("Dororipulse," "Dororipper") 1401 is configured to fly towards a target of surveillance 1602, such as a stalker or street criminal, when it recognizes the target of surveillance 1602, and to warn the target of surveillance 1602 or drop a security ball 1403. This allows for a simple configuration to reliably deter the actions of the target of surveillance, prevent crime, and ensure the safety of the user 1601.

Description

Technical Field

[0001] This invention relates to a flying robot for preventing damage caused by stalking behavior, street crimes, etc., a control program for the flying robot, and a control method for the flying robot.

Background Art

[0002] Damage caused by so-called stalking behavior, such as persistently following or trailing a specific person, has become a problem. Also, the increase in street crimes such as robbery and theft on the road has become a problem. People who are "walking while looking at a smartphone" or women walking alone at night are vulnerable to street crimes.

[0003] As a related technology, specifically, conventionally, for example, when detecting a crisis of a protected person based on information obtained using a global camera, microphone, speaker, etc. worn by the protected person, a crime prevention buzzer carried by the protected person is sounded, and at the same time, a mail notifying the protector of the crisis situation is distributed via a communication terminal device carried by the protected person. There was a technology related to such a crime prevention system (for example, refer to Patent Document 1 below).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Patent Document 7

[0005] However, conventional technologies such as the one described in Patent Document 1 above have the problem of being bulky and burdensome to the protected person, as they require a lot of equipment to be worn or carried by the protected person, such as a spherical camera, microphone, speaker, security alarm, and communication terminal device, and are therefore not very practical.

[0006] Furthermore, conventional technologies such as the one described in Patent Document 1 above are such that the spherical camera, microphone, speaker, security alarm, and communication terminal device are all worn or carried by the person being protected. This makes it easy for them to notice that they are recording or filming, and if they notice, there is a concern that the equipment may be destroyed or violence may be inflicted by the criminal, resulting in even greater harm.

[0007] Furthermore, conventional technologies such as the one described in Patent Document 1 above have the problem that, if any of the multiple pieces of equipment are destroyed, it becomes difficult to detect the danger to the protected person, and it also becomes difficult to secure sufficient evidence to prove a crime.

[0008] This invention aims to provide a control program and a control method for a flying robot that can deter crime without burdening the user, in order to solve the problems of the prior art described above.

[0009] Furthermore, in order to resolve the problems of the prior art described above, this invention aims to provide a control program and a control method for a flying robot that can prevent crime without burdening the user. [Means for solving the problem]

[0010] To solve the above-mentioned problems and achieve the objective, the flying robot according to this invention comprises an unmanned aerial vehicle that flies by autopilot and a camera mounted on the unmanned aerial vehicle, and is characterized by recognizing a user based on an image taken by the camera and taking pictures of the area around the recognized user while moving in accordance with the user's movements.

[0011] Furthermore, the flying robot according to this invention is characterized in that, upon recognizing a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

[0012] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

[0013] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and the predetermined signal is the user's spoken voice picked up by the microphone.

[0014] Furthermore, the flying robot according to this invention is characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

[0015] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined signal is the user's spoken voice, which is louder than a predetermined volume and picked up by the microphone.

[0016] Furthermore, the flying robot according to this invention is further characterized in that, in the above invention, when it recognizes a speech voice of a person other than the user that is louder than a predetermined volume and collected by the microphone, it performs a warning action toward the target of concern.

[0017] In addition, the flying robot according to this invention is characterized in that, in the above invention, the warning operation is an operation of photographing the warning target.

[0018] In addition, the flying robot according to this invention is characterized in that, in the above invention, the warning operation is an operation of photographing the warning target from all directions.

[0019] In addition, the flying robot according to this invention is characterized in that, in the above invention, it includes a wireless communication interface mounted on the unmanned aerial vehicle, and the warning operation is to transmit the photographed image of the warning target to a predetermined destination via the wireless communication interface.

[0020] In addition, the flying robot according to this invention is characterized in that, in the above invention, it includes an acquisition means for acquiring the position information of the photographed warning target, and transmits the photographed image of the warning target and the position information acquired by the acquisition means to the predetermined destination.

[0021] In addition, the flying robot according to this invention is characterized in that, in the above invention, the predetermined destination is an email address set in a specific smartphone.

[0022] In addition, the flying robot according to this invention is characterized in that, in the above invention, the predetermined destination is a specific URL set on a cloud network.

[0023] [[ID={24]]In addition, the flying robot according to this invention is characterized in that, in the above invention, it includes a memory mounted on the unmanned aerial vehicle, and the warning operation is to store the photographed image of the warning target in the memory.

[0024] In addition, the flying robot according to this invention is characterized in that, in the above invention, it includes a speaker mounted on the unmanned aerial vehicle, and the warning operation is an operation of outputting a predetermined sound from the speaker directed at the warning target.

[0025] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a sound that prompts the cessation of the crime.

[0026] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

[0027] Furthermore, the flying robot according to this invention is characterized in that the predetermined sound is a siren, a horn, a signal whistle, a whistle, or a synthesized sound that imitates at least one of these.

[0028] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a security ball mounted on the unmanned aerial vehicle, and the security action is an action of causing the security ball to collide with the security target or the vicinity of the security target.

[0029] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it performs the warning operation while the recognized target of warning is within range of the user.

[0030] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a detection means for detecting a start trigger, and when the start trigger is detected by the detection means, it starts taking pictures with the camera.

[0031] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the detection means detects that the flying robot has been thrown into the air as the trigger for starting.

[0032] Furthermore, the flying robot according to this invention is characterized in that the detection means includes an inertial sensor.

[0033] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the detection means includes at least one of an acceleration sensor and an angle sensor.

[0034] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, when the detection means detects the start trigger, it starts flying.

[0035] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and when the detection means detects the start trigger, it starts recording with the microphone.

[0036] Furthermore, the control program for the flying robot according to this invention allows the computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by autopilot, to recognize a user based on the image captured by the camera, and to control the movement of the recognized user. The system is characterized by taking pictures of the user's surroundings while moving accordingly.

[0037] Furthermore, the control program for the flying robot according to this invention is characterized in that, upon recognizing a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

[0038] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

[0039] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and the predetermined signal is the user's spoken voice picked up by the microphone.

[0040] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

[0041] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined signal is the user's voice, which is picked up by the microphone, at a predetermined volume or greater.

[0042] Furthermore, the control program for the flying robot according to this invention is further characterized in that, in the above invention, when it recognizes a speech voice of a person other than the user that is louder than a predetermined volume and picked up by the microphone, it performs a warning action toward the target of concern.

[0043] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the vigilance action is an action of photographing the target of vigilance.

[0044] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the vigilance operation is an operation to photograph the target of vigilance from all directions.

[0045] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it includes a wireless communication interface mounted on the unmanned aerial vehicle, and the surveillance operation transmits the captured image of the surveillance target to a predetermined destination via the wireless communication interface.

[0046] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it includes an acquisition means for acquiring location information of the target being monitored, and transmits the image of the target being monitored and the location information acquired by the acquisition means to the predetermined destination.

[0047] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone.

[0048] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined destination is a specific URL set on a cloud network.

[0049] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it includes a memory mounted on the unmanned aerial vehicle, and the vigilance operation stores the captured image of the target to be vigilance in the memory.

[0050] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is equipped with a speaker, and the warning operation is an operation in which a predetermined sound is output from the speaker directed towards the target of the warning.

[0051] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined voice is a voice that prompts the cessation of the crime.

[0052] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

[0053] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined sound is a siren, a horn, a signal whistle, a whistle, or a synthesized sound that imitates at least one of these.

[0054] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the warning operation is an operation in which a security ball mounted on the unmanned aerial vehicle is struck against the target of warning or in the vicinity of the target of warning.

[0055] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it performs the warning operation while the recognized warning target is within range of the user.

[0056] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it includes a detection means for detecting a start trigger, and when the detection means detects the start trigger, it starts taking pictures with the camera.

[0057] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the detection means detects that the flying robot has been thrown into the air as the trigger for the start.

[0058] Furthermore, the control program for the flying robot according to this invention is characterized in that the detection means includes an inertial sensor.

[0059] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the detection means includes at least one of an acceleration sensor and an angle sensor.

[0060] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, when the detection means detects the start trigger, it starts flying.

[0061] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, a microphone is mounted on the unmanned aerial vehicle, and when the detection means detects the start trigger, recording is started by the microphone.

[0062] Furthermore, the control method for a flying robot according to this invention is characterized in that the computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot recognizes a user based on images captured by the camera, and moves in accordance with the movement of the recognized user while taking pictures of the area around the user.

[0063] Furthermore, the control method for the flying robot according to this invention is characterized in that, in the above invention, when it recognizes a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

[0064] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

[0065] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, a microphone is mounted on the unmanned aerial vehicle, and the predetermined signal is the user's voice picked up by the microphone.

[0066] Furthermore, the control method for a flying robot according to this invention is characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

[0067] Furthermore, the control method for a flying robot according to this invention is characterized in that the predetermined signal is the user's voice, which is picked up by the microphone, at a predetermined volume or greater.

[0068] Furthermore, the control method for the flying robot according to this invention is further characterized in that, in the above invention, when the microphone picks up a voice uttered by a person other than the user that is louder than a predetermined volume, the robot performs a warning action toward the target of the warning.

[0069] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the vigilance action is an action of photographing the target of vigilance.

[0070] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the vigilance operation is an operation to photograph the target of vigilance from all directions.

[0071] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is equipped with a wireless communication interface, and the surveillance operation transmits the captured image of the surveillance target to a predetermined destination via the wireless communication interface.

[0072] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, it includes an acquisition means for acquiring location information of the object to be monitored, and transmits the image of the object to be monitored that has been photographed and the location information acquired by the acquisition means to the predetermined destination.

[0073] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined destination is an email address set on a specific smartphone.

[0074] Furthermore, the control method for a flying robot according to this invention is, in the above invention, the predetermined The destination is characterized by being a specific URL configured on the cloud network.

[0075] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, a memory is installed on the unmanned aerial vehicle, and the vigilance operation stores the captured image of the vigilance target in the memory.

[0076] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is equipped with a speaker, and the warning operation is an operation in which a predetermined sound is output from the speaker directed towards the target of the warning.

[0077] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a sound that prompts the cessation of the crime.

[0078] Furthermore, the control method for a flying robot according to this invention is characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

[0079] Furthermore, the control method for a flying robot according to this invention is characterized in that the predetermined sound is a siren, a horn, a warning whistle, a whistle, or a synthesized sound that imitates at least one of these.

[0080] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the warning operation is an operation in which a security ball mounted on the unmanned aerial vehicle is struck against the target of warning or the vicinity of the target of warning.

[0081] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the security operation is performed while the recognized security target is within range of the user.

[0082] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, it includes a detection means for detecting a start trigger, and when the start trigger is detected by the detection means, it starts taking pictures with the camera.

[0083] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the detection means detects that the flying robot has been thrown into the air as the trigger for starting.

[0084] Furthermore, the control method for a flying robot according to this invention is characterized in that the detection means includes an inertial sensor.

[0085] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the detection means includes at least one of an acceleration sensor and an angle sensor.

[0086] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, when the detection means detects the start trigger, the robot starts flying.

[0087] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, a microphone is mounted on the unmanned aerial vehicle, and when the detection means detects the trigger for starting, recording is started by the microphone. [Effects of the Invention]

[0088] The flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of deterring crime without burdening the user.

[0089] Furthermore, the flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of preventing crime without burdening the user. [Brief explanation of the drawing]

[0090] [Figure 1] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 1 of this invention. [Figure 2] This is an explanatory diagram showing an example of the hardware of a flying robot according to Embodiment 1 of this invention. [Figure 3A] This is a diagram (part 1) illustrating the station's configuration. [Figure 3B] This is a diagram (part 2) illustrating the station's configuration. [Figure 4] This is an explanatory diagram showing the functional configuration of the flying robot according to Embodiment 1 of this invention. [Figure 5] This flowchart shows the processing procedure of the flying robot according to Embodiment 1 of this invention. [Figure 6] This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 7] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 8] This is an explanatory diagram (part 3) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 9] This is an explanatory diagram (part 4) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 10] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of this invention. [Figure 11] This flowchart shows the processing procedure of a flying robot according to Embodiment 2 of this invention. [Figure 12]This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 2 according to this invention can be used. [Figure 13] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 2 according to this invention can be used. [Figure 14] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 3 of the invention. [Figure 15] This flowchart shows the processing procedure of the flying robot according to Embodiment 3 of this invention. [Figure 16] This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 3 according to this invention can be used. [Figure 17] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 3 according to this invention can be used. [Modes for carrying out the invention]

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

[0092] <Embodiment 1> (An example of the appearance of a flying robot) First, an example of the appearance of the flying robot according to Embodiment 1 of this invention will be described. Figure 1 is an explanatory diagram showing an example of the appearance of the flying robot according to Embodiment 1 of this invention. As shown in Figure 1, the flying robot 101 is in the form of a drone (unmanned aerial vehicle).

[0093] Specifically, a drone can employ, for example, a quadcopter with four propellers. However, drones are not limited to quadcopters; they can also employ various types of multirotors, such as hexacopters with six propellers or octocopters with eight propellers.

[0094] The flying robot 101 of Embodiment 1 according to this invention recognizes, for example, a crow that flies to a garbage collection site and scatters garbage as an object, and drives the crow away from the garbage collection site. The flying robot 101 can be shaped like a bird, for example, as shown in Figure 1, in particular a bird of prey such as a hawk, which crows dislike. Specifically, the flying robot 101 is equipped with a head with a beak, and members 105 that mimic the wings and tail of a bird. The head with a beak and the members 105 that mimic the wings and tail of a bird may each be movable.

[0095] Specifically, for example, the components 105 such as the beak, head, wings, and tail may be moved independently by motors, gear trains, or linkage mechanisms. This allows the flying robot 101 to mimic actions such as wagging its tail or moving its wings.

[0096] Furthermore, the flying robot 101 is not limited to being shaped like a bird such as a hawk. The flying robot 101 may be shaped like an extinct animal such as a dinosaur, a mythical creature such as a dragon or a unicorn, or an insect, and may be equipped with components such as a beak, head, wings, tail, ears, feet (legs, limbs), horns, fangs, whiskers, etc.

[0097] Furthermore, the flying robot 101 is equipped with a camera 103. The camera 103 can be implemented, for example, by a general-purpose digital camera. As shown in Figure 1, in the case of a flying robot 101 that mimics the shape of a bird such as a hawk, the lens of the camera 103 can be installed, for example, in the part corresponding to the eye. Alternatively, the camera 103 may be installed on the underside (ventral side) of the drone's housing. The lens of the camera 103 may be a standard lens, a wide-angle lens, or a fisheye lens. By using a fisheye lens, a wide area can be captured.

[0098] The flying robot 101 captures images of its surroundings using the camera 103. The flying robot 101 captures images within a predetermined range, for example. This predetermined range can be, for example, a predetermined garbage collection area. The predetermined range can be set, for example, by receiving a signal specifying the range from a terminal device such as a smartphone with a predetermined application installed.

[0099] The predetermined range can be specifically identified, for example, by a standard regional mesh. More specifically, the movement range of the image projection device 100 can be identified, for example, by a first-order mesh, a second-order mesh, a third-order mesh, etc. Alternatively, the movement range of the image projection device 100 may be identified by further subdivided regional meshes such as a half-regional mesh, a quarter-regional mesh, or an eighth-regional mesh, which are obtained by further subdividing the third-order mesh. By identifying the predetermined range by a standard regional mesh, the flight path of the flying robot 101 can be determined based on positional information obtained using a GPS sensor (see Figure 2). It is possible to precisely restrict a specific range.

[0100] The flying robot 101 recognizes crows based on images captured by the camera 103. Crow recognition can be performed, for example, by image recognition. In image recognition, image preprocessing such as noise reduction and background removal, and feature extraction are performed to determine whether or not there are crows in the images captured by the camera 103. The flying robot 101 may store information about the captured images in a memory (see Figure 2) provided by the flying robot 101.

[0101] The flying robot 101 of this embodiment 1 flies to drive away crows that have entered a predetermined area, such as a garbage collection area, out of that predetermined area (see Figures 6 to 9). Specifically, for example, at a station equipped with a charging function for the flying robot 101 (see Figures 3A and 3B), the predetermined area is photographed, and if a crow is included in the photographed image, the robot begins flight, takes off from the station, and flies to approach the crow. The station can be installed, for example, within the predetermined area or in the vicinity of said predetermined area.

[0102] Camera 103 may be implemented not as a general-purpose digital camera, but as a night vision camera that amplifies sensitivity to light to capture images in dark places, an infrared camera that is sensitive to infrared light, or an infrared color night vision camera that analyzes the grayscale in images captured by an infrared camera to capture color images. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., the user can be accurately recognized even at night or in dimly lit rooms.

[0103] The flying robot 101 may have one camera 103 or multiple cameras 103. In a flying robot 101 equipped with multiple cameras 103, it is not limited to one type of camera 103, but may be equipped with multiple different types of cameras 103. As shown in Figure 1, in a flying robot 101 with an animal-like shape, for example, the lenses of the cameras 103 may be placed in the parts corresponding to the eyes.

[0104] The camera 103 may be connected to the drone in a manner that allows for attitude adjustment. Specifically, the camera 103 can be connected to the bottom surface of the drone, for example, via a universal joint such as a ball joint. By connecting the camera 103 to the drone via a universal joint such as a ball joint, a high degree of freedom for adjusting the attitude of the camera 103 can be ensured.

[0105] Furthermore, the flying robot 101 may be equipped with a drive mechanism to change the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 103 relative to the drone adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the flying robot 101, regardless of the drone's attitude. The camera 103 may also be equipped with a zoom function.

[0106] The flying robot 101 may be equipped with a receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology that receives power to a battery (see Figure 2) without using charging contacts, and is also called contactless power supply or wireless power supply.

[0107] The power receiving coil is located inside the outer surface of the flying robot 101's casing. This prevents deterioration and failure of the power receiving coil due to water droplets such as rain and dew, or oil from hands. The flying robot 101 may also be equipped with charging contacts for charging the battery, either in place of or in addition to the power receiving coil.

[0108] Furthermore, as shown in Figure 1, in the case of an animal-shaped flying robot 101, for example, an LED lamp (light source) 104 may be provided in the area corresponding to the eye. There may be one LED lamp 104 or multiple LED lamps. If the lens of a camera 103 is located in the area corresponding to the eyeball, the LED lamp 104 may be provided so as to surround the lens.

[0109] When multiple LED lamps 104 are provided, each LED lamp 104 may be capable of switching between multiple colors of light. This allows for the emission of light that is dimmed to a color that birds and animals dislike by mixing multiple colors of light. Alternatively, multiple LED lamps 104, each emitting light of a different color, may be arranged side by side. Specifically, for example, an LED lamp 104 emitting red light may be placed next to an LED lamp 104 emitting green light.

[0110] The flying robot 101 may also be equipped with a solar cell (solar cell, see Figures 3A and 3B) that generates electricity from ambient light such as sunlight. The solar cell is installed, for example, on the upper surface of the housing of the flying robot 101. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by providing a solar cell, charging can be performed during flight, thus extending the flight time per charge.

[0111] (Hardware configuration of flying robot 101) Next, the hardware configuration of the flying robot 101 will be described. Figure 2 is an explanatory diagram showing an example of the hardware of the flying robot 101 according to Embodiment 1 of this invention. As shown in Figure 2, the hardware of the flying robot 101 consists of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, an acceleration sensor 208, a communication I / F 209, an LED lamp 104, a solar cell 210, and the like. The various parts 103, 104, 201-210 of the flying robot 101 are connected by a bus 200.

[0112] Battery 201 supplies power to operate the various parts of the flying robot 101. Battery 201 can be implemented as a secondary battery (rechargeable battery, storage battery), such as a lithium battery. Battery 201 implemented as a secondary battery may be detachable from the drone.

[0113] Motor 202 is controlled by control circuit 207 and rotates to rotate propeller 102. Specifically, motor 202 can be a brushless motor in which the rotor is a permanent magnet and the stator is composed of coils. By providing the same number of motors 202 as there are propellers 102, each propeller 102 can be rotated independently, allowing the flying robot 101 to move forward, backward, or turn left or right.

[0114] If the flying robot 101 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motors that make up the drive mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide area.

[0115] Camera 103 is equipped with an image sensor and captures images by causing the image sensor to receive light that has passed through the photographic lens. Camera 103 also outputs the captured image, that is, image information (capture data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

[0116] Camera 103 may capture still images or video. Video includes a series of still images captured at predetermined time intervals. Image information may be compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts Group)).

[0117] Microphone 203 collects sounds from the surrounding area of ​​the flying robot 101. Microphone 203 converts the sound input as analog data into an electrical signal. Specifically, microphone 203 converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format.

[0118] Speaker 204 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. Speaker 204 may also have an output terminal that outputs an audio signal, and an external speaker 204 may be connected to this output terminal to generate sound. Speaker 204 may also be a so-called directional speaker that generates sound in only one direction.

[0119] The GPS sensor 205 determines the current position of the flying robot 101. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 101 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may also include a filter to remove unwanted components and amplifiers such as an LNA (Low Noise Amplifier) ​​and a power amplifier PA (Power Amplifier).

[0120] The current position of the flying robot 101 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distance to each of the four GPS satellites and performs positioning by calculating the position where these distances intersect. Instead of GPS, which determines the geometric position between the GPS satellites and the flying robot 101 based on radio waves received from GPS satellites, the current position of the flying robot 101 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo.

[0121] The object sensor 206 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. Obstacles are objects that hinder the flight of the flying robot 101, and specifically include, for example, walls, ceilings, furniture, and people. When the flying robot 101 is flown outdoors, all objects that hinder the flight of the flying robot 101, such as vehicles, other flying robots 101, trees, and buildings, are considered obstacles.

[0122] The object sensor 206 can be implemented by, for example, a non-contact sensor such as an infrared sensor, a capacitive sensor, or an ultrasonic sensor. The object sensor 206 can be implemented by at least one of the non-contact sensors such as an infrared sensor, a capacitive sensor, or an ultrasonic sensor. The flying robot 101 is of multiple types. A non-contact sensor may be mounted as an object sensor 206. Alternatively, the flying robot 101 may detect the presence or absence of obstacles within a predetermined range from the flying robot 101 based on images captured by the camera 103.

[0123] The accelerometer 208 detects gravity, vibrations, and other movements and shocks acting on the flying robot 101. For example, the accelerometer 208 can be a frequency-varying accelerometer such as a quartz accelerometer, which has low noise and high stability. Alternatively, the accelerometer may be a piezoelectric accelerometer, a capacitive accelerometer, or a piezoresistive accelerometer.

[0124] The solar cell 210 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In the solar cell 210, when light energy from sunlight or other external light is applied to the PN junction, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 210, electrodes are connected to the P-type and N-type silicon semiconductors, and the generated electricity can be extracted via wires connected to these electrodes.

[0125] The control circuit 207 drives and controls various parts of the flying robot 101. The control circuit 207 can be implemented by a microcontroller consisting of a CPU and memory. The memory stores various types of information, such as the control program for the flying robot according to Embodiment 1 of this invention, information about a specific person, and information pre-input by the user of the flying robot 101. Specifically, the control circuit 207 can be implemented by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

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

[0127] The memory can be implemented in various ways, such as by an IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and detached from the flying robot 101 via a card slot provided on the flying robot 101. The memory card can function as an IC card, such as an SD (Secure Digital) memory card. The memory may also function as an external USB memory device.

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

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

[0130] The IMU (Inertial Measurement Unit) consists of sensors necessary for a drone to acquire external information, such as an accelerometer 208, a gyroscope, a barometric pressure sensor, an ultrasonic sensor, and a magnetic compass. The GPS sensor 205 mentioned above is also included in the IMU.

[0131] The accelerometer 208 detects changes in the drone's speed. The gyroscope and accelerometer 208 allow for the calculation of changes in both the drone's tilt and its speed, enabling the drone to continue flying even when tilted.

[0132] A gyroscope sensor detects changes in the drone's angle. For example, it detects changes in the drone's angle by measuring angular velocity using the Coriolis force. A gyroscope sensor allows for stable flight of the drone.

[0133] A barometric pressure sensor detects the drone's altitude. For example, the barometric pressure sensor detects the drone's altitude by detecting changes in atmospheric pressure. By measuring the drone's altitude using the barometric pressure sensor, the drone's altitude can be maintained.

[0134] The ultrasonic sensor detects the distance from an object located below the drone (such as the floor or an obstacle). For example, the ultrasonic sensor is mounted on the underside of the drone and uses the reflection of ultrasonic waves emitted downwards to detect the distance from an object located below the drone.

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

[0136] The magnetic compass sensor detects which direction (north, south, east, or west) the drone is facing. Since the flying robot 101 is affected by magnetic fields depending on the location where it flies, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location.

[0137] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of motor 202 and outputs control signals to the ESC to control the rotation direction and speed of the propeller (propeller motor 202). The ESC controls the rotation of motor 202 based on the control signals output from the flight controller. During the flight of the flying robot 101, the flight controller repeatedly performs calculations by detecting the tilt of the flying robot 101 and recursively outputs control signals to motor 202.

[0138] Specifically, the flight controller prevents the flying robot 101 from rotating by, for example, outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. It also moves the flying robot 101 forward by, for example, controlling the propeller 102 in the direction of travel to rotate slower than the propeller 102 in the direction of travel. Furthermore, it turns the flying robot 101 to the right by, for example, controlling the propeller 102 on the right side of the direction of travel to rotate slower than the propeller 102 on the left side.

[0139] The communication interface 209 is a wireless communication interface that connects the flying robot 101 to network N via a communication line. It controls the interface between network N and the inside of the flying robot 101, and controls the input of data from and output of data to external devices connected via network N. Network N can be implemented by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0140] The communication interface 209 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 209 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution), PHS (Personal Handy-phone System)). Communication via the communication interface 209 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory described above may store information obtained through communication via the communication interface 209.

[0141] The LED lamps 104, located in the eye area, are controlled by the control circuit 207 and light up, turn off, or blink in conjunction with the flight movements of the flying robot 101. The LED lamps 104 may also indicate the status of the flying robot 101. Specifically, for example, they may blink in a predetermined pattern when the remaining battery charge falls below a predetermined threshold. The LED lamps 104 are not limited to one color but may emit multiple colors.

[0142] The flying robot 101 may also be equipped with other features, although not shown in the illustration, such as input devices like keys or buttons for giving input instructions to the flying robot 101, a power switch for turning the flying robot 101's power ON / OFF, and LED lamps located in positions other than the eyes.

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

[0144] (Station configuration) Next, the station configuration will be described. Figures 3A and 3B are explanatory diagrams showing the station configuration. Figure 3A shows an example of the station's external appearance. Figure 3B shows the AA cross-section in Figure 3A.

[0145] As shown in Figures 3A and 3B, the station 301 has an exterior part 302 that is roughly box-shaped with one side open. The station 301 is installed with the open part of the exterior part 302 facing a predetermined range, i.e., towards the garbage collection area. It is preferable that the station 301 is installed at a height that is difficult for people to reach. This prevents vandalism to the station 301 and the flying robot 101.

[0146] The station 301 includes a battery 303 and a power transmission coil 304 for wireless power transfer. The battery 303 is preferably a high-capacity battery, such as those used in electric vehicles. Specifically, the battery 303 can be a secondary battery (rechargeable battery, storage battery) such as a lithium battery, lead-acid battery, or nickel-metal hydride battery. The battery 303 may also be a primary battery. The battery 303 may be detachable from the casing 302, or it may be a separate component from the casing 302.

[0147] The power transmission coil 304 is connected to the battery 303 and enclosed in a cover made of ABS resin or silicone rubber, which is waterproofed. This allows the station 301 to supply power to the battery 201 via wireless power transmission.

[0148] Furthermore, station 301 may also include a solar cell 305 that generates electricity from ambient light such as sunlight, and a charging circuit that charges a battery 303 with the electricity generated by the solar cell 305. The solar cell 305 is located on the top surface of the exterior part 302 of station 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the electricity generated by the solar cell 305. Station 301 may also be connected to a commercial power source or a generator without the solar cell 305 or battery 303.

[0149] The station 301 may be configured by providing a window made of transparent acrylic or the like in a part of the exterior 302, and by providing a curtain-like partition on the open side of the exterior 302. In a station 301 with such a configuration, by setting the window to face a predetermined area, i.e., the garbage collection area, it is possible to reduce the intrusion of dust into the inside of the station 301 while photographing the predetermined area through the window, thereby suppressing the deterioration of the flying robot 101.

[0150] By installing such a station 301 within a predetermined range, or near the predetermined range, when a crow enters the predetermined range, it is possible to quickly approach and drive away the crow. In addition, power consumption due to flight can be reduced. The predetermined range described above may be set based on the installation location of the station 301. Specifically, for example, the station 301 may be equipped with a wireless communication function, the communication distance between the station 301 and the flying robot 101 may be set, and the range in which communication with the station 301 is possible may be set as the predetermined range.

[0151] More specifically, communication between Station 301 and the flying robot 101 will use, for example, Bluetooth®. By using Bluetooth, which is designed for one-to-one communication, power consumption for communication can be reduced compared to wireless communication methods such as Wi-Fi, both in terms of communication speed and communication range.

[0152] By enabling communication between station 301 and the flying robot 101, it is possible to determine whether the flying robot 101 has returned to station 301. Only when the flying robot 101 has returned to station 301, the power transmission coil 304 can be energized to generate a magnetic field and supply power to the battery 201. This reduces the consumption of the battery 303.

[0153] Station 301 may be equipped with a wireless communication router, such as a mobile Wi-Fi router. This allows Station 301 to function as a communication spot, and the flying robot 101 can communicate via Station 301. Furthermore, multiple flying robots 101 can be utilized by installing just one Station 301.

[0154] Furthermore, if station 301 is equipped with a wireless communication router, when the remaining charge of battery 303 falls below a predetermined threshold set in advance for battery 303, a notification may be sent to a portable telephone or other device owned by a specific person, such as an administrator, indicating that battery 303 needs to be charged or replaced. This allows for the reliable maintenance of station 301's functions while reducing the burden on administrators in managing station 301.

[0155] (Functional configuration of the flying robot 101) Next, the functional configuration of the flying robot 101 will be described. Figure 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to this invention. As shown in Figure 4, the functions of the flying robot 101 are realized by a storage unit 401, a detection unit 402, an imaging unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

[0156] The memory unit 401 stores various information, including various programs related to control by the control unit 407 and thresholds used for executing the programs. Specifically, the memory unit 401 stores, for example, information about the features of crows related to pattern recognition (image recognition) used for recognizing crows.

[0157] Furthermore, the memory unit 401 stores image information captured by the imaging unit 403 and information acquired by the acquisition unit 404. The memory unit 401 may also store information related to battery charging spots. Specifically, the memory unit 401 can be realized by, for example, the memory in the control circuit 207 shown in Figure 2.

[0158] The detection unit 402 detects signals output from a terminal device, such as a smartphone with a predetermined application installed. The detection unit 402 may also detect that a predetermined input instruction has been received from the flying robot 101, for example, by a user of the flying robot 101, via an input device such as a key or button. Specifically, the detection unit 402 can implement its functions using, for example, the communication I / F 209 shown in Figure 2.

[0159] Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figures 1 and 2, instead of the object sensor 206, or in addition to the object sensor 206.

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

[0161] The imaging unit 403 captures an image within a predetermined range. For example, the imaging unit 403 captures an image within the predetermined range from outside the range. Alternatively, the imaging unit 403 may capture an image within the predetermined range from within the range itself. Specifically, the imaging unit 403 can perform its function using, for example, the camera 103 shown in Figures 1 and 2.

[0162] The memory unit 401 described above may store image information relating to images captured by the imaging unit 403. In addition to image information, the memory unit 401 may also store information relating to the location and time the image was taken. Information relating to the location and time the image was taken can be stored, for example, using the GPS sensor 205 shown in Figure 2. It can be identified.

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

[0164] Specifically, the acquisition unit 404 acquires information indicating that there is a possibility of an event occurring within a predetermined time period from the present moment that could affect people in the surrounding area, such as a disaster. Specifically, the acquisition unit 404 acquires information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment.

[0165] Furthermore, the acquisition unit 404 may acquire information learned by another flying robot 101, for example. This allows multiple other flying robots 101 to share information obtained through the learning of a single flying robot 101, enabling the flying robots 101 to perform actions that are more suitable for recognizing and driving away crows.

[0166] The drive unit 405 controls the flight of the flying robot 101. Specifically, the drive unit 405 can achieve its function through components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Figure 2.

[0167] The output unit 406 causes, for example, the speaker 204 to emit a predetermined sound. The predetermined sound can be, for example, a recorded bird of prey call, or a synthesized sound that mimics a bird of prey call. Alternatively, the predetermined sound may be, for example, a recorded gunshot, or a synthesized sound that mimics a gunshot.

[0168] Furthermore, the specified sound may be, for example, a recorded dog bark or a synthesized sound that mimics a dog bark, or a recorded sound of a crow being attacked, a wary crow, or a frightened crow, or a synthesized sound that mimics these sounds. In this case, the output unit 406 can specifically realize its function using, for example, the speaker 204 shown in Figure 2.

[0169] Furthermore, the output unit 406 can, for example, light up the LED lamp 104. Alternatively, the output unit 406 can make the LED lamp 104 blink. In this case, the output unit 406 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2.

[0170] Furthermore, the output unit 406 may, for example, output an audio message informing users that an event that could potentially affect people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden weather change, may illuminate or flash the LED lamp 104 in a specific pattern or color, depending on the information obtained indicating that such an event may occur.

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

[0172] The control unit 407 makes the flying robot 101 fly, for example by controlling the drive unit 405. The control unit 407 also takes pictures, for example by controlling the drive of the imaging unit 403. Furthermore, the control unit 407 recognizes an object based on the image taken by the imaging unit 403. The object could be, for example, a crow. Recognition of the object (crow) is performed, for example, by determining whether or not the object is included in the image taken by the imaging unit 403.

[0173] The control unit 407 may be equipped with AI (Artificial Intelligence) functionality and may learn multiple types of objects (crows), such as large-billed crows and carrion crows. The control unit 407 may also be equipped with specialized artificial intelligence that is specifically designed for recognizing crows. In recent years, computers equipped with artificial intelligence have become smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can enable the flying robot 101 to fly smoothly. The control unit 407 may further learn about animals such as cats that scatter garbage at garbage collection sites, or humans that steal recyclable waste.

[0174] When recognizing an object, the control unit 407 makes it easier to extract the object (crow) contained in the image by, for example, removing noise and distortion from the image captured by the imaging unit 403, emphasizing the outlines of objects contained in the image, and adjusting the brightness and color of the image. In addition, if the lens of the camera 103 is a wide-angle lens, image distortion correction may be applied.

[0175] Furthermore, when recognizing an object, the control unit 407 extracts features such as the position of feathers and the shape of beaks on a pixel-by-pixel basis, and determines whether or not the object is included in the image captured by the imaging unit 403 based on various information such as color and brightness assigned to the pixels.

[0176] When recognizing an object, the control unit 407 may recognize the object based on a distorted image obtained by using a wide-angle lens or the like, or it may recognize the object based on an image that has been distortion-corrected to be similar to an image obtained with a standard lens.

[0177] The subject may be a crow rummaging through garbage, or a crow about to begin rummaging through garbage. In other words, if a crow is simply photographed, it may not be recognized as a subject, but if the crow touches the garbage, or if the distance between the crow and the garbage falls below a predetermined value, the crow may be recognized as a subject.

[0178] When recognizing an object, the control unit 407 may, for example, learn (machine learning) the characteristics of the recognized crow and store the learning results in the memory unit 401. The characteristics of the crow may include, for example, the size of the flying crow, the days of the week when they are most likely to be flying in, the times of day when they are most likely to be flying in, and the direction from which they are flying in.

[0179] In this case, the control unit 407 may perform photography by driving and controlling the imaging unit 403 only under conditions where there is a high probability of crows flying in. Alternatively, in this case, the control unit 407 may perform continuous photography under conditions where there is a high probability of crows flying in, and perform intermittent photography with time intervals of 5 or 10 minutes under conditions where there is a low probability of crows flying in.

[0180] Intermittent shooting involves, for example, shooting for one minute, then stopping for five minutes, and then shooting again for one minute. Whether or not conditions are likely to attract crows is determined by pre-setting factors such as the current day of the week and time. This can be determined by whether or not the conditions are met. Alternatively, whether or not the conditions are such that crows are likely to fly in can be determined, for example, by whether or not the number of elements that meet the pre-set conditions exceeds a predetermined threshold.

[0181] Furthermore, when the control unit 407 recognizes an object (crow), it controls the drive unit 405 to make the flying robot 101 fly. For example, if the control unit 407 recognizes an object based on an image taken by the imaging unit 403, it controls the drive unit 405 to make the flying robot 101 fly to approach the object.

[0182] Specifically, the control unit 407 causes the aircraft to fly from inside a predetermined area outward, rather than towards the crows, in order to push the objects out of that area. This puts pressure on the crows and drives them away from the garbage collection area without harming them.

[0183] When the control unit 407 recognizes an object (crow), it may, for example, fly within a predetermined range at a speed below the set speed. Alternatively, when the control unit 407 recognizes an object (crow), it may hover or fly up and down at any position within the predetermined range. Any position within the predetermined range can be, for example, the vicinity of the crow. This also puts pressure on the crow and can drive it away from the garbage collection area without harming it.

[0184] The flying robot 101, which is equipped with a camera 103, can autonomously fly to a position that makes it easy to take pictures within the garbage collection area. This allows it to photograph crows without blind spots, regardless of environmental factors such as the camera's position, the location of trees and houses around the garbage collection area, how garbage is disposed of, and the shape and size of the garbage. Compared to conventional technology that relies on images taken by a stationary camera to drive away crows from garbage collection areas by flying a drone, this method reliably photographs crows and effectively drives them away from the garbage collection area.

[0185] Furthermore, the flying robot 101, which is equipped with a camera 103, can autonomously fly to a position where it can reliably photograph crows. Compared to conventional technology that uses images captured by a stationary camera to fly a drone and drive away crows from garbage collection areas, this method avoids losing sight of the crows, reliably photographs them, and effectively drives them away from garbage collection areas.

[0186] The inventor named the flying robot 101 that drives away crows in a designated area such as a garbage collection site, that is, that is, that repels crows that fly to garbage collection sites and scatter garbage, "Dorokuro." The inventor also named the flying robot 101 that drives away crows in a designated area such as a garbage collection site, that is, that is, that repels crows that fly to garbage collection sites and scatter garbage, "Doro Attacker."

[0187] The control unit 407 may execute a predetermined process while controlling the drive unit 405 to fly the flying robot 101 towards the target object. For example, if the output unit 406 is realized by the speaker 204 shown in Figure 2, the control unit 407 can execute a predetermined process by controlling the output unit 406 to output sounds that mimic the calls of birds of prey or sounds that frightened crows make.

[0188] If speaker 204 is a directional speaker, even in noisy environments, by flying while confirming the crow's position using camera 103, the sound emitted by speaker 204 can be reliably transmitted to the target crow without being mixed with or drowned out by surrounding noise. It can be delivered to.

[0189] Furthermore, if speaker 204 is a directional speaker, it is possible to avoid emitting sound in all directions, even in areas where there are no crows, by emitting sound only in the necessary direction. This helps to reduce the nuisance to surrounding residents, even if the garbage collection area is in a residential area.

[0190] Furthermore, for example, if the output unit 406 is realized by the LED lamps 104 shown in Figures 1 and 2, the control unit 407 can realize a predetermined process by controlling the output unit 406, thereby turning on or blinking the light source (LED lamps 104). In particular, by blinking the LED lamps 104 located in the eye area, the visibility of the flying robot 101 can be increased, making the presence of the flying robot 101 known to crows from a distance.

[0191] Highly intelligent crows can understand that the flying robot 101, even if it's a robot, has the shape of a bird of prey that crows dislike and has "eyes." By flashing the LED lamps 104, which are the "eyes" of the bird of prey, and creating a situation that doesn't exist in nature, it's possible to increase the crows' anxiety, make them uncomfortable at the garbage collection site, and lure them away from the garbage collection site. In this way, crows can be effectively driven away from designated areas such as garbage collection sites without harming them, and crows can be kept away from garbage collection sites where the flying robot 101 is deployed.

[0192] If the control unit 407 recognizes a crow rummaging through garbage, or about to begin rummaging through garbage, as the target object, it may start flying from station 301 upon recognizing the crow in the image, and fly at a certain distance away from the crow without approaching it. This prevents the flying robot 101 from driving away crows that are not causing trouble to humans, such as scattering garbage, and prevents putting excessive pressure on the crows.

[0193] Furthermore, by teaching highly intelligent crows that "if they don't eat in that place (the garbage collection area), the flying robots won't chase them," it is possible to discourage them from scavenging for garbage, thus potentially solving the problem of scattered garbage in the long term. In addition, it is expected that crows, which normally live around garbage collection areas to ensure the convenience of eating garbage, will be driven away from the vicinity of the garbage collection areas. This is expected to reduce the risk of humans being attacked by crows during the breeding season, as the crows' activity areas and human living areas overlap.

[0194] The control unit 407 controls the drive unit 405 to make the flying robot 101 fly back to station 301 when there are no crows left within a predetermined range (the garbage collection area and its surroundings). Alternatively, the control unit 407 may control the drive unit 405 to make the flying robot 101 fly back to station 301 when the remaining charge of the battery 201 falls below a predetermined amount.

[0195] (Processing procedure for flying robot 101) Next, the processing procedure of the flying robot 101 will be described. Figure 5 is a flowchart showing the processing procedure of the flying robot 101 according to Embodiment 1 of this invention. In the flowchart of Figure 5, first, an image is taken by the camera 103 (step S501). Then, based on the image taken in step S501, it is determined whether or not a crow has been recognized (step S502).

[0196] In step S502, as described above, noise and distortion of the captured image are removed. By removing unwanted elements, emphasizing the outlines of objects in the image, and adjusting the brightness and hue of the image, it becomes easier to extract the target object (crow) contained in the image. Furthermore, when recognizing the target object, the control unit 407 extracts features such as the position of the feathers and the shape of the beak on a pixel-by-pixel basis, and determines whether or not the target object is included in the image captured by the camera 103 based on various information such as the color and brightness assigned to the pixels.

[0197] Furthermore, in step S502, information regarding the characteristics of the recognized crow may be stored in the memory of the control circuit 207 shown in Figure 2. Information regarding the characteristics of the crow may include, for example, the size of the flying crow, the days of the week when it is most likely to fly in, the times of day when it is most likely to fly in, and the direction from which it flew in.

[0198] In step S502, the system waits until it recognizes a crow based on the captured image (step S502: No), and if it does recognize a crow (step S502: Yes), it begins flight from station 301 (step S503). In step S503, for example, the system begins flight to approach the crow recognized in step S502: Yes.

[0199] Furthermore, a predetermined process is performed (step S504). In step S504, for example, the aircraft flies within the garbage collection area at a speed below the set speed, or hovers or flies up and down at an arbitrary location within the garbage collection area, such as around crows.

[0200] Furthermore, in step S504, for example, the speaker 204 may output sounds that mimic the cries of birds of prey, sounds made by frightened crows, recorded dog barks, or synthesized sounds that mimic dog barks, or recorded sounds of crows being attacked, wary crows, or frightened crows, or synthesized sounds that mimic these sounds.

[0201] In step S504, for example, the LED lamp 104 may be turned on or blinked. In step S504, for example, a strong light may be emitted instantaneously, such as a flash. In step S504, for example, the color of the LED lamp 104 may be changed. If the LED lamp 104 is positioned to frame the lens of the camera 103, it may be turned on or blinked in a rotating manner around the lens (around the eye).

[0202] These predetermined processes are not always the same. For example, if camera 103 recognizes the magnitude of the crow's reaction based on the captured image and determines that the currently running process is ineffective, it may switch to a different process. Furthermore, there is not limited to just one process; two or more processes may be run in parallel.

[0203] Then, it is determined whether or not the crows have been driven away from the garbage collection area (step S505). In step S505, it is determined whether or not the crows have been driven away from the garbage collection area based on, for example, images taken by the camera 103, the current position of the flying robot 101 identified using the GPS sensor 205, and the orientation of the flying robot 101 identified using other sensors equipped on the flying robot 101.

[0204] If, in step S505, the crows have not been chased away from the garbage collection area (step S505: No), the process proceeds to step S504 and the predetermined process is executed. In step S504, which occurs via step S505: No, a different process from the one performed earlier may be executed, or the same process may be continued.

[0205] Furthermore, in step S504, if step S505:No is taken, it is possible to execute more processes than the number of processes performed previously, for example, by outputting the sound of a bird of prey's cry while hovering.

[0206] In step S505, if the crows are driven away from the garbage collection area (step S505: Yes), the aircraft returns to station 301 (step S506) and proceeds to step S501 to take images. In step S506, the aircraft returns to station 301 in a position where it can photograph the garbage collection area and receive power from the power transmission coil 304. During the return to station 301, the aircraft continues to photograph the garbage collection area, and if crows are detected, it interrupts its return to station 301 and flies to drive the crows away.

[0207] Furthermore, if the remaining charge of the battery 201 falls below a predetermined threshold set in advance for the battery 201 during the above process, the robot may fly back to station 301 regardless of whether there are crows in the garbage collection area. The predetermined threshold set in advance for the battery 201 can be, for example, the remaining charge of the battery 201 that allows the flying robot 101 to reliably return to station 301, based on the positional relationship between the current position of the flying robot 101 and station 301. This reliably prevents unforeseen incidents such as the flying robot 101 falling and being damaged due to insufficient battery charge.

[0208] (An example of how the flying robot 101 can be used) Next, an example of how the flying robot 101 can be used will be described. Figures 6 to 9 are explanatory diagrams showing an example of how the flying robot 101 of Embodiment 1 according to this invention can be used.

[0209] In Figure 6, station 301 is fixed to the top of the support column 601. This allows station 301 and the standby flying robot 101 to be positioned at a height that is difficult for humans to reach, thus preventing vandalism to station 301 and the flying robot 101.

[0210] As shown in Figure 6, the flying robot 101 takes photographs of the inside of the garbage collection area 602 while receiving power from the power transmission coil 304 inside the station 301. Alternatively, the flying robot 101 may take photographs of the inside of the garbage collection area 602 while flying above it. In this case, to avoid putting excessive pressure on the crows, it may be necessary to fly above the garbage collection area 602 at a certain distance.

[0211] Figure 6 shows an example where one flying robot 101 is deployed at one garbage collection site 602, but the number of flying robots 101 to be installed is not limited to one. For example, depending on the size of the area to be photographed, such as the garbage collection site 602, and the field of view of the camera 103, multiple flying robots 101 may be installed at one garbage collection site 602.

[0212] The flying robot 101 determines whether a crow can be recognized in the image based on the image captured by the camera 103. As shown in Figure 7, if the crow 701 approaches the garbage collection area 602 and the crow 701 is recognized in the captured image, the robot takes off from station 301 as shown in Figure 8. Then, as shown in Figure 9, it flies to approach the crow 701.

[0213] At this time, the aircraft does not approach the crow 701 until it makes contact, but flies to a position at a certain distance or more away from the crow 701. This prevents the aircraft from damaging the crow 701 with the propeller 102 or other parts, and also prevents damage to the flying robot 101.

[0214] The flying robot 101, for example, flies to approach the crow 701 at a speed below a set speed. This allows it to fly in a way that ensures it remains within the crow 701's line of sight, rather than chasing it at high speed. In addition to driving the crow 701 away, this also makes the highly intelligent crow 701 hesitant to approach the flying robot 101. This ensures a comfortable living environment for humans without harming the crow 701.

[0215] Furthermore, the flying robot 101 may, for example, fly towards the crow 701 and then hover or fly up and down around the crow 701 inside the garbage collection area 602. This also puts pressure on the crow 701 and drives it out of the garbage collection area 602 without harming it.

[0216] Furthermore, the flying robot 101 may output predetermined sounds when flying to approach the crow 701. Specifically, for example, when flying to approach the crow 701, it may output recorded calls of birds of prey, or synthesized sounds that mimic the calls of birds of prey, recorded gunshots, or synthesized sounds that mimic gunshots.

[0217] Alternatively, when flying towards Crow 701, it may output, for example, a recorded dog bark or a synthesized voice that mimics a dog bark. Furthermore, when flying towards Crow 701, it may output, for example, a recorded sound of a Crow 701 under attack, a Crow 701 on alert, or a frightened Crow 701, or a synthesized voice that mimics these sounds.

[0218] As described above, the flying robot 101 of Embodiment 1 of this invention comprises an unmanned aerial vehicle (drone) that flies by automatic piloting and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that, when it recognizes an object based on the image taken by the camera 103, it flies to approach the object.

[0219] According to the first embodiment of this invention, the flying robot 101 can be made to fly towards an object such as a crow 701 that has been recognized based on an image captured by the camera 103. This makes the crow feel uneasy about the flying robot 101 flying towards it, and causes the crow 701 to stay away from the garbage collection area 602. As a result, the crow 701 can be effectively driven away without harming humans, and damage from the scattering of garbage by the crow 701 can be reliably prevented.

[0220] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by its ability to photograph a predetermined range using a camera 103.

[0221] According to the first embodiment of this invention, the flying robot 101 can deter crows 701 within a desired range by photographing only a predetermined range with the camera 103, without excessively deterring crows 701 over a wide area. This ensures a comfortable living environment for humans without harming the crows 701.

[0222] Furthermore, the flying robot 101 of Embodiment 1 according to this invention has a predetermined range, It is characterized by being designated as garbage collection site 602.

[0223] According to the first embodiment of this invention, the flying robot 101 can deter crows 701 that approach the garbage collection area 602 by photographing only the area within the pre-set garbage collection area 602 using the camera 103, without excessively driving away crows 701 over a wide area. This ensures a comfortable living environment for humans without harming the crows 701.

[0224] Furthermore, the flying robot 101 of Embodiment 1 of this invention is characterized by flying to approach an object and then returning to a station 301 installed within or near a predetermined range.

[0225] According to the first embodiment of this invention, the flying robot 101 can conserve power by flying only when it recognizes a crow 701. This avoids unnecessary flight, which could interfere with humans or put excessive pressure on the crow 701.

[0226] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by flying within a predetermined range at a speed less than or equal to a set speed.

[0227] According to the first embodiment of this invention, the flying robot 101 does not chase the crow 701 at high speed, but rather flies in a way that ensures it is within the crow 701's line of sight, thereby deterring the crow 701 from approaching the flying robot 101 and driving it away. This ensures a comfortable living environment for humans without harming the crow 701.

[0228] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by its ability to hover at any position within a predetermined range.

[0229] According to the first embodiment of this invention, the flying robot 101 does not chase the crow 701 at high speed, but rather hovers to attract the crow 701's attention, thereby deterring the crow 701 from approaching the flying robot 101 and driving it away. This ensures a comfortable living environment for humans without harming the crow 701.

[0230] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by its ability to fly up and down at any position within a predetermined range.

[0231] According to the first embodiment of this invention, the flying robot 101 does not chase the crow 701 at high speed, but rather performs vertical flight, which the crow 701 cannot do, thereby deterring the crow 701 from approaching the flying robot 101 and driving it away. This ensures a comfortable living environment for humans without harming the crow 701.

[0232] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is equipped with a speaker 204 mounted on an unmanned aerial vehicle, and when it recognizes an object based on an image captured by a camera 103, it outputs a predetermined sound from the speaker 204 and flies to approach the object.

[0233] According to the first embodiment of this invention, the flying robot 101 outputs a predetermined sound from the speaker 204 that crows 701 dislike, while simultaneously targeting crows 701 and other objects. The flying robot 101 can be made to fly in a way that approaches the crows. This makes it possible to more effectively drive away the crows 701 without harming humans and to reliably prevent the damage caused by the crows 701 scattering garbage.

[0234] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by outputting a predetermined sound from the speaker 204 to an object.

[0235] According to the first embodiment of this invention, the flying robot 101 can effectively drive away crows 701 by using a directional speaker or the like to output a predetermined sound only in the direction from which the crows 701 are located, thereby minimizing the impact on people and other objects in the surrounding area. This ensures that damage from litter scattering by crows 701 can be reliably prevented.

[0236] In the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recorded call of a bird of prey, or a synthesized sound that imitates the call of a bird of prey.

[0237] According to the first embodiment of this invention, the flying robot 101 can be made to fly towards targets such as crows 701 while emitting the calls of birds of prey such as hawks or synthesized sounds that mimic the calls of birds of prey, which are said to be disliked by crows 701. This makes it possible to drive away crows 701 more effectively without harming humans and to reliably prevent damage from litter scattering caused by crows 701.

[0238] Furthermore, in the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recorded gunshot or a synthesized sound that mimics a gunshot.

[0239] According to the first embodiment of this invention, the flying robot 101 can be made to fly towards targets such as crows 701 while emitting gunshots or synthesized sounds that mimic gunshots, which are said to be disliked by animals in general, including crows 701. This makes it possible to more effectively drive away crows 701 without harming humans and to reliably prevent damage from crows 701 scattering garbage.

[0240] Furthermore, in the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recorded dog bark or a synthesized sound that imitates a dog bark.

[0241] According to the first embodiment of this invention, the flying robot 101 can be made to fly towards targets such as crows 701 while emitting dog barks or synthesized sounds that mimic dog barks, which are said to be disliked by crows 701. This makes it possible to more effectively drive away crows 701 without harming humans and to reliably prevent damage from litter scattering caused by crows 701.

[0242] Furthermore, in the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recording of the voices emitted by a crow 701 that has been attacked, a crow 701 that is on alert, or a frightened crow 701, or a synthesized voice that imitates these voices.

[0243] According to the first embodiment of this invention, the flying robot 101 can be made to fly towards a target such as a crow 701 while outputting sounds made by a crow 701 that has been attacked, a crow 701 that is on alert, or a frightened crow 701, or synthesized sounds that mimic these sounds. As a result, each time a crow 701 enters a predetermined area such as a garbage collection area 602, the robot can heighten the anxiety of the crow 701, causing the highly intelligent crow 701 to learn that approaching the garbage collection area 602 is dangerous, and the crow 70 This effectively drives away crow 701 and prevents it from approaching again. This ensures that crow 701 does not cause harm to humans and reliably prevents littering damage.

[0244] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is equipped with a light source such as an LED lamp 104 mounted on an unmanned aerial vehicle, and is characterized in that, when it recognizes an object based on an image captured by a camera 103, it emits light from the light source and flies to approach the object.

[0245] According to the first embodiment of this invention, the flying robot 101 can be made to fly while emitting light from a light source, approaching an object such as a crow 701. This makes it possible to more effectively drive away crows 701 without harming humans, and to reliably prevent damage from crows 701 scattering garbage.

[0246] Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by having an appearance that imitates a bird of prey. The flying robot 101 may be constructed with real bird of prey feathers on its exterior.

[0247] According to the first embodiment of this invention, the flying robot 101 has an appearance that mimics a bird of prey such as a hawk, which many crows 701 avoid. This makes it possible to drive away crows 701 more effectively without harming humans, and to reliably prevent damage from crows 701 scattering garbage.

[0248] <Embodiment 2> Next, a flying robot of Embodiment 2 according to the present invention will be described. In Embodiment 2, parts identical to those in Embodiment 1 described above are indicated by the same reference numerals, and their descriptions are omitted.

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

[0250] The flying robot 1001 of Embodiment 2 according to this invention recognizes, for example, birds and animals that come to eat and damage agricultural products (agricultural and livestock products) on farms such as crop farms and livestock farms, or thieves that steal agricultural products (agricultural and livestock products) on farms, as targets for surveillance, and issues warnings to the targets for surveillance or takes images of the targets for surveillance.

[0251] The flying robot 1001 may track a target to warn it or to take images of the target. The flying robot 1001 is housed within a frame 1001a to prevent its propellers 102 from getting caught on the surroundings or the target and being damaged while tracking it.

[0252] The flying robot 1001 is equipped with multiple cameras 103. Specifically, the cameras 103 in the flying robot 1001 are arranged to capture images in multiple directions simultaneously. By having a single flying robot 1001 capture images in multiple directions simultaneously, more information can be obtained in a short time, and the target of surveillance can be quickly recognized.

[0253] Furthermore, by having one flying robot 1001 simultaneously take pictures in multiple directions, The number of targets that each robot 1001 can recognize increases. As a result, even when there are multiple targets or when they are moving in different directions, a smaller number of flying robots 1001 can reliably recognize the targets.

[0254] Multiple cameras 103 may each continuously take pictures, or they may be switched to operate at any one of the cameras 103. Alternatively, one or more cameras may be used selectively for taking pictures. Furthermore, for example, if multiple objects within the field of view of one camera 103 begin moving in different directions while an image is being captured, the system may be configured to start taking pictures using multiple cameras 103.

[0255] In the flying robot 1001, the LED lamps 104 are provided on the frame 1001a. Multiple LED lamps 104 are arranged in a row. The LED lamps 104 emit, for example, white light. By arranging multiple white-light emitting LED lamps 104 in a row, the target of surveillance and its surroundings can be illuminated very brightly. This allows for clear imaging of the target of surveillance.

[0256] Each LED lamp 104 may be capable of switching between multiple colors of light. This allows for the emission of light dimmed to a color that birds and animals dislike by mixing multiple colors of light. Alternatively, multiple LED lamps 104, each emitting light of a different color, may be arranged side by side. Specifically, for example, an LED lamp 104 emitting red light may be placed next to an LED lamp 104 emitting green light.

[0257] Furthermore, in the flying robot 1001, multiple LED lamps 104 are arranged in multiple locations, each with multiple lamps in a row. This makes the flying robot 1001 conspicuous, even at night, and allows the location of the monitored object to be communicated to the surroundings. In addition, even when there are multiple monitored objects or when they are moving in different directions, each monitored object can be clearly photographed.

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

[0259] The memory unit 401 stores various information, including various programs related to control by the control unit 407 and thresholds used for executing the programs. Specifically, the memory unit 401 stores, for example, information about the features of the monitored object related to pattern recognition (image recognition) used for recognizing the monitored object. The memory unit 401 may also store audio information used for recognizing the monitored object, information about the period during which monitoring will be performed, and so on.

[0260] The targets of surveillance may be animals such as birds, beasts, or humans located within a predetermined range. The predetermined range may be, for example, farms such as crop farms, livestock farms, or beekeeping farms. The farm may be a specific farm designated in advance, or it may be a place that is determined to be a farm based on images captured by the camera unit 403. In other words, the targets of surveillance may be, for example, birds or beasts possessing or transporting agricultural products or items presumed to be agricultural products on a farm, or humans possessing or transporting agricultural products or items presumed to be agricultural products on a farm.

[0261] Specifically, the targets of surveillance include, for example, birds and animals possessing or transporting crops or items presumed to be such crops in a crop farm, or crops in a crop farm. This could also refer to a person possessing or transporting an item presumed to be the cultivated crop in question. More specifically, for example, when monitoring an orchard, the subjects of monitoring would be birds or animals eating fruit, or people transporting bags or boxes presumed to contain fruit. More specifically, for example, a person transporting a bag or box presumed to weigh above a certain amount may also be a subject of monitoring.

[0262] More specifically, the subjects of surveillance may include, for example, livestock or poultry on a livestock farm, or birds or animals or humans possessing or transporting items presumed to be livestock or poultry. More specifically, for example, when surveillance is conducted at a pig farm, the subjects of surveillance would be pigs, or people transporting bags or boxes presumed to contain pigs. More specifically, for example, people transporting bags or boxes presumed to be of a certain weight or more, or people possessing or transporting bags or boxes whose contents are moving, may also be subjects of surveillance.

[0263] More specifically, the targets of surveillance may include, for example, birds or animals possessing or transporting beehives used in beekeeping or items presumed to be beehives in an apiary, or humans possessing or transporting beehives used in beekeeping or items presumed to be beehives. More specifically, for example, when conducting surveillance in an apiary, targets of surveillance would include bears carrying beehives or humans transporting box-shaped or flat objects.

[0264] Furthermore, the memory unit 401 stores image information captured by the imaging unit 403 and information acquired by the acquisition unit 404. The memory unit 401 may also store information regarding the location of the station 301, which serves as a battery charging spot. Specifically, the memory unit 401 can be implemented, for example, by the memory in the control circuit 207 shown in Figure 2.

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

[0266] Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 1001. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figures 1 and 2, instead of the object sensor 206, or in addition to the object sensor 206.

[0267] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a moving stereo method that calculates the distance to the obstacle based on the parallax (the difference between each image) in each of a plurality of different images taken at different positions obtained by the movement of the flying robot 1001. By using the moving stereo method, it is possible to detect the presence or absence of an obstacle within a predetermined range from the flying robot 1001 using a monocular camera.

[0268] The imaging unit 403 captures images within a predetermined range such as a range including the inside of the farm and the surrounding area of the farm. The imaging unit 403 captures the images. For example, the imaging unit 403 captures images within the predetermined range from the outside of the predetermined range. Alternatively, the imaging unit 403 may capture images within the predetermined range within the predetermined range. Specifically, the function of the imaging unit 403 can be realized by, for example, the camera 103 shown in FIG. 3. [[ID=!]]

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

[0270] The acquisition unit 404 acquires information outside the flying robot 1001. For example, the acquisition unit 404 acquires the sound around the flying robot 1001 using the microphone 203. Specifically, the function of the acquisition unit 404 can be realized by, for example, the microphone 203 shown in FIG. 2.

[0271] Furthermore, the acquisition unit 404 may acquire predetermined information from an external device, for example, via a network N. In this case, the acquisition unit 404 can specifically implement its function using, for example, the communication I / F 209 shown in Figure 2. The acquisition unit 404 implemented by the communication I / F 209, for example, acquires information learned by another flying robot 1001. This allows multiple other flying robots 1001 to share information obtained through the learning of a single flying robot 1001, enabling the flying robots 1001 to perform actions more suitable for recognizing and driving away crows.

[0272] The acquisition unit 404, which is implemented by a communication I / F 209 or the like, may acquire information indicating that there is a possibility of an event occurring within a predetermined time from the present moment that could affect people in the surrounding area, such as a disaster. Specifically, the acquisition unit 404 may acquire information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment.

[0273] The drive unit 405 controls the flight of the flying robot 1001. Specifically, the drive unit 405 can achieve its function through components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Figure 2.

[0274] The output unit 406 is controlled by the control unit 407 to, for example, emit a predetermined sound from the speaker 204. In this case, the output unit 406 can specifically perform its function using, for example, the speaker 204 shown in Figure 2. The predetermined sound can be, for example, a recording of a speech warning or cautioning against theft, or a synthesized speech that mimics a speech warning or cautioning against theft. Alternatively, the predetermined sound may be, for example, the sound of a siren, horn, whistle, or a synthesized speech that mimics at least one of these sounds.

[0275] Furthermore, the output unit 406 is controlled by the control unit 407 to, for example, light up the LED lamp 104. Alternatively, the output unit 406 can also, for example, make the LED lamp 104 blink. In this case, the output unit 406 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2.

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

[0277] Furthermore, the output unit 406 may be controlled by the control unit 407 to, for example, output a request for assistance to another flying robot 1001 when the remaining charge of the battery 201 falls below a predetermined amount. In this case, the output unit 406 can also be specifically implemented by, for example, the communication I / F 209 shown in Figure 2.

[0278] Furthermore, the output unit 406 may, in response to information acquired by the acquisition unit 404 indicating that there is a possibility of an event occurring that could affect people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes, output an audio message informing users that such an event may occur, or cause the LED lamp 104 to illuminate or flash in a specific pattern or color.

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

[0280] The control unit 407 makes the flying robot 1001 fly, for example, by controlling the drive unit 405. The control unit 407 may also make the flying robot 1001 fly by controlling the drive unit 405 when a specific sound is acquired based on the sound acquired by the acquisition unit 404.

[0281] Specifically, for example, when the acquisition unit 404 acquires sounds such as the footsteps of birds or animals or humans, sounds presumed to indicate the use of scissors or cutters, sounds presumed to indicate the packing of items into bags or boxes, or sounds such as engine noises or tire noises from vehicles, the drive unit 405 is controlled to initiate flight. This makes it possible to reliably detect the presence of a target while minimizing battery consumption.

[0282] Furthermore, the control unit 407 performs imaging, for example, by driving and controlling the imaging unit 403. In addition, the control unit 407 recognizes the object to be monitored based on the image captured by the imaging unit 403. Recognition of the object to be monitored is performed, for example, by determining whether or not the object to be monitored is included in the image captured by the imaging unit 403.

[0283] Specifically, when monitoring an orchard, for example, the control unit 407 determines whether the images captured by the imaging unit 403 include birds or animals eating fruit, or people carrying bags or boxes that are presumed to contain fruit. Fruit can be identified by image recognition. Bags or boxes that are presumed to contain fruit may be identified by image recognition of the bags or boxes themselves, or they may be identified by the fact that they are being carried by two or more people.

[0284] Specifically, when monitoring a pig farm, for example, the control unit 407 determines whether the image captured by the imaging unit 403 includes pigs, or people carrying bags or boxes that are presumed to contain pigs. Pigs are identified by image recognition. This can be done. Bags or boxes that are presumed to contain pigs may be identified by image recognition of the bag or box itself, or by the fact that they are being carried by two or more people.

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

[0286] Alternatively, the control unit 407 may recognize the target of surveillance based on the image captured by the imaging unit 403 and the sound acquired by the acquisition unit 404. Specifically, for example, in surveillance of a pig farm, the control unit 407 may recognize the bear as the target of surveillance if the bear is captured on camera and the sounds of pigs squealing are collected.

[0287] The control unit 407, equipped with AI functionality, can learn about the targets it monitors. In recent years, computers equipped with artificial intelligence have become smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can smoothly fly the flying robot 1001. The control unit 407 may also communicate with another flying robot 1001 to share characteristics and images of birds, animals, or humans that have caused damage to farms, etc., and may learn based on the shared information.

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

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

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

[0291] Specifically, for example, every day, at the timing when the work at the farm or the like is finished, the worker at the farm performs a predetermined input operation on the flying robot 1001 to enable the photographing of images and the recognition of monitored objects, and at the timing when starting the work at the farm the next day, the worker performs an operation to invalidate the predetermined input operation. This makes it possible to appropriately monitor farms and the like according to the working mode, even when the working hours vary daily according to conditions such as seasons.

[0292] Alternatively, image capture and target recognition could be performed throughout the day, while countermeasures such as audio or light warnings triggered by target recognition could be performed only during pre-set time periods. This would allow the system to learn about workers and other people working on a farm during the day, and then only issue warnings at night against birds and animals that damage crops or thieves who steal crops.

[0293] Furthermore, by taking images during the daytime, it is possible to capture clear images in bright conditions of, for example, a thief who comes to scout the area for a potential theft during the day. If a theft occurs after the scouting, the clear images can be used to identify the perpetrator. In this way, by using the flying robot 1001 like a surveillance camera, the security system of the surrounding area can be strengthened. In addition, by learning about workers, it is possible to avoid issuing unnecessary warnings if a worker visits the farm at night for any reason.

[0294] Based on the image captured by the imaging unit 403, the control unit 407, if it recognizes a target to be monitored in the image, controls the drive unit 405 to make the flying robot 101 fly towards the target. Alternatively, if the control unit 407 recognizes a target to be monitored in the image captured by the imaging unit 403, it may store the captured image of the target in the storage unit 401.

[0295] The control unit 407 may, based on the image captured by the imaging unit 403, fly the flying robot 101 to capture images of the monitored object from all directions if it recognizes a monitored object in the image. The control unit 407 may then store the images of the monitored object captured from all directions in the storage unit 401.

[0296] The control unit 407 may control the drive unit 405 to fly the aircraft so that it approaches the target of surveillance at a certain distance. Specifically, the drive unit 405 is controlled to approach the aircraft so that it approaches at a distance that prevents the target of surveillance from touching the aircraft. This prevents the aircraft from being damaged by impacts from the target of surveillance.

[0297] The flying robot 101, which is equipped with a camera 103, can autonomously fly to a position that makes it easy to photograph the target of surveillance. This allows it to photograph the target of surveillance without blind spots, regardless of environmental factors such as the position of the camera or the positions of surrounding trees and houses. As a result, it can reliably photograph the target of surveillance compared to conventional technologies that fly drones based on images captured by stationary cameras.

[0298] Furthermore, the flying robot 101, which is equipped with a camera 103, can autonomously fly to a position where it can reliably photograph crows. Compared to conventional technology that uses images captured by a stationary camera to fly a drone and drive away crows from garbage collection areas, this method avoids losing sight of the crows, reliably photographs them, and effectively drives them away from garbage collection areas.

[0299] The inventor named the flying robot 101 that monitors for the presence or absence of a target to be monitored within a predetermined area such as a farm, and acts to prompt the target to leave the predetermined area, "Doroguard." The inventor also named the flying robot 101 that monitors for the presence or absence of a target to be monitored within a predetermined area such as a farm, and acts to leave evidence that the target was present within the predetermined area, "Doro-Bo" or "Dorowatcher."

[0300] The control unit 407 may perform a predetermined process while controlling the drive unit 405 to fly the flying robot 101 towards the target object. For example, if the output unit 406 is realized by the speaker 204 shown in Figure 2, the control unit 407 can perform a predetermined process by controlling the output unit 406 to output a recorded voice of a speech warning or cautioning against theft, or to output a synthesized voice that mimics a speech warning or cautioning against theft. Multiple patterns of speech warning or cautioning against theft may be set.

[0301] Furthermore, the control unit 407 may achieve a predetermined process by controlling the output unit 406, for example, by outputting the sound of a siren, horn, whistle, or other sound (recorded sound), or a synthesized sound that mimics at least one of these sounds.

[0302] The control unit 407 preferably outputs sound with a sound pressure level of 80 dB or higher. Alternatively, the control unit 407 preferably outputs sound with a loudness level of 90 phones or higher. For example, emergency vehicles such as ambulances are legally required to be equipped with sirens that can output sound at a volume of 90 phones or higher, measured at a distance of 20 meters in front of the vehicle. By outputting sound of this volume, the presence of the monitored object can be widely publicized, and it is expected that damage to agricultural products and other items can be prevented or further escalated.

[0303] If speaker 204 is a directional speaker, even in noisy environments, the camera 103 can be used to confirm the location of the target being monitored, allowing the sound to be emitted only in the necessary direction. This ensures that even at night, the sound emitted by speaker 204 reaches the target without disturbing nearby residents.

[0304] In particular, individuals stealing agricultural products are in a highly tense psychological state, desperate to avoid detection. By suddenly emitting a loud sound, it is possible to make the criminal being monitored think, "My crime has been exposed," or "My presence has been revealed." This makes it more difficult for criminals to continue their theft, thereby preventing damage to agricultural products or suppressing further damage.

[0305] Furthermore, for example, if the output unit 406 is realized by the LED lamp 104 shown in Figures 1 and 2, the control unit 407 can realize a predetermined process by controlling the output unit 406, thereby turning on or blinking the light source (LED lamp 104).

[0306] If the target of monitoring is birds or animals, the control unit 407 controls the output unit 406 to sequentially light up groups of LED lamps 104 installed in multiple locations, for example, so that the light appears to rotate, or to emit light in a color similar to that of a flame. In this way, by performing artificial actions that do not occur in nature, birds and animals can be kept away from a predetermined area such as a farm.

[0307] If the person being monitored is a person with the intent to steal, the control unit 407 controls the output unit 406 to, for example, cause the LED lamp 104 to emit white light. This allows the monitored person and their surroundings to be illuminated very brightly, enabling clear imaging of the monitored person.

[0308] The control unit 407 preferably causes the light source, such as the LED lamp 104, to emit light with a luminous flux above a predetermined threshold. The luminous flux is the brightness of the LED lamp 104 itself and can be expressed in lumens (unit: lm), which indicates the amount of light per unit time. Alternatively, the brightness of the LED lamp 104 itself may be determined based on the intensity of light (luminous intensity) in a specific direction, expressed in candela (unit: cd).

[0309] Furthermore, the control unit 407 may specify the brightness of the illuminated area, i.e., the illuminance (unit: lx), rather than the brightness of the LED lamp 104 itself. In this case, the control unit 407 will determine when the illuminance of the area that has been brightened by turning on the LED lamp 104 reaches a predetermined threshold. If the condition is not met, the system will move closer to the target or make the LED lamp 104 emit light more brightly.

[0310] Individuals who commit theft with intent (i.e., criminals) generally prefer dark places over brightly lit ones. One reason for this is that dark places have poor visibility, making it difficult for others to see them, and even if their presence is detected, their visibility is low, making it difficult to identify the person or the act of theft. Another reason is that, as a matter of common sense, ordinary people are not found in dark places.

[0311] In the flying robot 1001, by emitting white light from the LED lamp 104, it is possible to clearly photograph the target of surveillance, and at the same time, to make the target of surveillance think that "the crime has been exposed" or "my presence has been revealed." This makes it more difficult for criminals to continue committing theft, thereby preventing damage to agricultural products and other items, or suppressing further escalation of damage.

[0312] Furthermore, by emitting white light from the LED lamp 104, only the criminal and their surroundings are illuminated, making it difficult to see the criminal's feet and other surrounding conditions. This can slow down the criminal's escape, and it is expected that the criminal will be apprehended at the scene before they can flee.

[0313] The control unit 407 controls the drive unit 405 to make the flying robot 101 return to station 301 when the monitored target is no longer within a predetermined range such as the farm or its surroundings. The control unit 407 may also control the drive unit 405 to make the flying robot 101 return to station 301 when the remaining charge of the battery 201 falls below a predetermined amount.

[0314] When multiple flying robots 1001 monitor the same farm or area, a request for assistance may be sent to other flying robots 1001 when the remaining battery level of the 201 falls below a predetermined amount. The request for assistance includes information about the current location of the flying robot 1001 that sent the request.

[0315] A request for assistance may include information regarding the date and time the request was issued. A request for assistance may include identification information of the flying robot 1001 that issued the request. A request for assistance may include information regarding an image taken by the flying robot 1001 that issued the request. The information regarding the image may be the image itself, or it may be a URL indicating the storage location on the cloud network where the image is stored.

[0316] When flying robot 1001 receives a request for assistance from another flying robot 1001, it flies to the location of the flying robot 1001 that issued the request, based on the information regarding its current location included in the request. The flying robot 1001 that issued the request for assistance may continue to output information regarding its current location until the flying robot 1001 that received the request for assistance arrives.

[0317] This allows the monitoring robots to continue monitoring the target and taking images even if the battery level of the first flying robot 1001 to recognize the target drops, by requesting assistance from other flying robots 1001. In this way, by using multiple flying robots 1001 to monitor the same farm or other location, the target can be monitored more reliably.

[0318] (Processing procedure for flying robot 101) Next, the processing procedure of the flying robot 101 will be described. Figure 11 shows the present invention. This is a flowchart showing the processing procedure of the flying robot 101 of a second embodiment. In the flowchart of Figure 11, first, it waits until it detects a living organism (step S1101: No). In step S1101, for example, it waits while stopped at station 301 or the like.

[0319] In step S1101, for example, a living organism is detected using the object sensor 206 (infrared sensor) shown in Figure 2. Alternatively, in step S1101, a living organism may be detected based on sound collected using the microphone 203 shown in Figure 2. Alternatively, in step S1101, a living organism may be detected based on images captured using the camera 103 shown in Figures 1 and 2. The detection of a living organism is not limited to one method, but may be performed using multiple methods. This allows for the detection of a living organism with high accuracy.

[0320] If a living organism is detected in step S1101 (step S1101: Yes), the aircraft begins flight (step S1102) and starts taking images (step S1103). Note that the detection of living organisms and the taking of images for the purpose of detecting living organisms are not limited to being performed while waiting at station 301, but may also be performed while continuously patrolling a predetermined area such as a farm. In this case, steps S1102 and S1103 are not performed, and the aircraft begins flight and takes images before any living organisms are detected.

[0321] Next, based on the captured images, it is determined whether or not the target of surveillance has been recognized (step S1104). If the target of surveillance has not been recognized in step S1104 (step S1104: No), the system continues to move and capture images until the target of surveillance is recognized, and the captured images are then analyzed.

[0322] In step S1104, if the surveillance target is not recognized, the LED lamp 104 may be illuminated to brightly illuminate the surroundings. This can be used, for example, to startle birds and animals if they are birds or animals, causing them to leave the farm or other area. Also, if the surveillance target is a criminal with the intention of stealing agricultural products, it is quite possible that illuminating the area will cause them to reflexively hide their face or body, making it easier to find the surveillance target in the captured images.

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

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

[0325] Alternatively, the captured images may be temporarily stored in the memory of the control circuit 207 shown in Figure 2, and then, as appropriate, stored on the cloud network via the communication interface 209. Images temporarily stored in the memory of the control circuit 207 shown in Figure 2 may be deleted from the memory after being stored on the cloud network, or they may be stored continuously until the memory capacity is full, at which point older images may be overwritten with newer images.

[0326] Next, the predetermined process is executed (step S1106). For example, the speaker 204 shown in Figure 2 may output recorded speech warning against theft, or synthesized speech that mimics speech warning against theft.

[0327] If multiple patterns of speech warnings or cautions against theft are set, in step S1106, instead of outputting the same speech pattern consecutively, the audio of multiple speech patterns may be combined and output. This makes the monitored object appear to be being monitored by a human remotely who is issuing warnings in real time, rather than listening to a recorded voice.

[0328] In particular, if the person being monitored is a criminal who intends to steal agricultural products, it can be expected to have the effect of preventing damage to agricultural products or curbing further damage by making them think, "Someone from the farm or someone related to the farm might come and arrest me at any moment."

[0329] In step S1106, for example, the speaker 204 shown in Figure 2 may output the sound of a siren, horn, whistle, or a synthesized sound that mimics at least one of these sounds. Also in step S1106, for example, the LED lamp 104 shown in Figures 1 and 2 may be turned on or blinked.

[0330] In step S1106, either the process of outputting sound from the speaker 204 shown in Figure 2, or the process of illuminating the LED lamp 104 shown in Figures 1 and 2, may be performed, both processes may be performed in parallel, or multiple processes may be performed in sequence.

[0331] Even if all of the predetermined processes performed in step S1106 are processes that output sound from the speaker 204 shown in Figure 2, there may be multiple types of sound output. Specifically, for example, after outputting a siren sound, a recorded voice message warning or cautioning against theft may be output.

[0332] In step S1106, the image captured by the camera 103 may be sent to a predetermined destination, such as an email address set on a specific smartphone or a specific URL set on a cloud network, via the communication I / F 209 shown in Figure 2.

[0333] Then, it is determined in step S1104 whether the monitored object has moved outside the predetermined range, such as a farm (step S1107). If, in step S1107, the monitored object has not moved outside the predetermined range (step S1107: No), the process proceeds to step S1106 and continues to execute the predetermined process.

[0334] On the other hand, if the monitored object moves outside the predetermined range (step S1107: Yes), the aircraft flies back to station 301 (step S1108) and terminates the series of processes. In step S1108, images may be taken during the return journey, and if the monitored object is recognized, the processes from step S1105 onwards may be performed.

[0335] Alternatively, in step S1108, during the return journey, the object sensor 206 and microphone 203 may be used to detect living organisms, and if living organisms are actually detected, the processing from step S1103 onward may be performed.

[0336] (An example of how the flying robot 1001 can be used) Next, an example of how the flying robot 1001 can be used will be described. Figures 12 and 13 are explanatory diagrams showing an example of how the flying robot 1001 of Embodiment 2 of this invention can be used.

[0337] The number of flying robots 1001 and station 301 can be any number, from one to several, depending on the area of ​​the farm or other area to be monitored, as well as the terrain. Specifically, for example, the larger the farm to be monitored, the more flying robots 1001 will be deployed.

[0338] The number of flying robots 1001 deployed and the number of stations 301 deployed do not have to be the same. Specifically, for example, the number of stations 301 deployed may be greater than the number of flying robots 1001 deployed. This allows the flying robots 1001 to quickly move to the nearest station 301, thus avoiding crashes due to battery depletion or failing to photograph criminals, etc.

[0339] Alternatively, for example, the number of flying robots 1001 deployed may be less than the number of stations 301 deployed. This allows multiple flying robots 1001 to fly alternately for charging, thereby reducing the power consumed by stations 301 while they are idle in the farm or other area.

[0340] Furthermore, when monitoring areas where there are many trees 1201 with branches and leaves 1201a spreading out, such as orchards as shown in Figure 12, and where visibility is poor, it is preferable to deploy multiple flying robots 1001 and stations 301, even if the area is not very large.

[0341] Furthermore, in the orchard, a person (criminal) 1203 carrying a box 1202 presumed to contain fruit 1201b is identified as a target for surveillance. Figure 12 shows the fruit 1201b visible from the box, but even if the contents such as fruit 1201b are not visible, the contents may be estimated based on the shape and the way the person is carrying the package.

[0342] This eliminates blind spots where criminal 1203 is hidden by trees 1201, thus ensuring the reliability of surveillance. Furthermore, even if the presence of trees 1201 makes it difficult to fly around criminal 1203 effectively, multiple flying robots 1001 can photograph criminal 1203 from multiple directions, further ensuring the reliability of surveillance.

[0343] Furthermore, when monitoring locations such as pig farms or chicken coops as shown in Figure 13, where the objects to be monitored (pigs 1301, chickens, etc.) are scattered in various places and move independently, it is preferable to deploy multiple flying robots 1001 and stations 301.

[0344] This allows multiple flying robots 1001 to fly in different directions, so that even if a criminal 1203, whose purpose is to steal livestock such as pigs 1301 or poultry, breaks into a pig farm or chicken coop and chases the livestock or poultry around, causing them to scatter in different directions, the criminal 1203 will not be lost sight of, and images can be captured.

[0345] Multiple flying robots 1001 communicate with each other, for example, via a communication I / F 209. This enables them to cooperate. Alternatively, one of the multiple flying robots 1001 may determine the flight route and shooting direction of the remaining flying robots 1001, and that flying robot 1001 may transmit flight instructions to the remaining flying robots 1001.

[0346] As described above, the flying robot 1001 of Embodiment 2 of this invention comprises an unmanned aerial vehicle (drone) that flies by self-piloting and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that, when it recognizes an object such as a criminal 1203 based on the image taken by the camera 103, it flies to approach the object.

[0347] According to the second embodiment of the present invention, the flying robot 1001 can be flown to approach a target that has been recognized based on an image captured by the camera 103. By recognizing the target based on an image captured by the camera 103, the target can be recognized with higher accuracy compared to the case where the target is detected using only an infrared sensor. As a result, the target can be reliably monitored without being misled by other causes, such as a heat source set up separately for decoy purposes.

[0348] Furthermore, according to the second embodiment of the present invention, the flying robot 1001 is equipped with a camera 103, allowing it to autonomously fly to a position where it can easily photograph the target of surveillance. This enables the robot to photograph the target of surveillance without blind spots, regardless of environmental factors such as trees 1201 or buildings around the flying robot 1001. Compared to conventional technologies that use stationary sensors to detect the target of surveillance and dispatch a drone based on the detection results, this method allows for reliable photography and surveillance of the target with a simpler configuration.

[0349] Thus, according to the second embodiment of the present invention, the flying robot 1001 can reliably monitor the target of surveillance with a simple configuration. Furthermore, according to the second embodiment of the present invention, the flying robot 1001 can make the target of surveillance aware that it is being monitored and draw its attention.

[0350] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, when it recognizes a target to be monitored based on an image captured by a camera, it flies in a manner that captures images of the target from all directions.

[0351] According to the flying robot 1001 of Embodiment 2 of this invention, by capturing images of the target from all directions, the target can be reliably identified based on the captured images. Furthermore, because the robot flies around the target in order to capture images from all directions, it can reliably make the target aware that it is being monitored and draw its attention. As a result, the target can be reliably monitored with a simple configuration.

[0352] In particular, if the target of surveillance is a criminal 1203 acting with the intent to steal agricultural products, it is possible to induce the target to leave the agricultural products they intended to steal and flee by making them aware that they are being monitored and recorded, and by giving them the impression that their crime has been noticed and evidence has been collected. In this way, damage to agricultural products on a farm can be prevented with a simple configuration.

[0353] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention monitors the target based on images captured by the camera 103 within a predetermined range. It is characterized by its ability to recognize.

[0354] According to the second embodiment of the present invention, the flying robot 1001 can reliably monitor a desired range by recognizing targets within a predetermined range, rather than monitoring an infinitely vast area. This ensures monitoring accuracy for targets within the predetermined range, and allows for reliable monitoring of targets with a simple configuration.

[0355] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a farm.

[0356] According to the second embodiment of this invention, the flying robot 1001 can reliably monitor for intrusions into unmanned farms at night or other times, using a simple configuration.

[0357] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is a bird, animal, or human being possessing or transporting agricultural products or items presumed to be such agricultural products on a farm.

[0358] According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the targets of surveillance to birds, animals, or humans possessing or transporting agricultural products or items presumed to be such agricultural products on a farm, and by monitoring targets that have entered an unmanned farm at night, etc., it is possible to reliably monitor targets with a simple configuration.

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

[0360] According to the flying robot 1001 of Embodiment 2 of this invention, in a crop farm where there is often little to no sunlight, such as at night, and where reduced visibility and a decline in security are concerns, the intrusion of the target of surveillance can be reliably monitored with a simple configuration. This makes it possible to safely and reliably monitor the target of surveillance in a crop farm with a simple configuration.

[0361] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is a bird, animal, or human being possessing or transporting cultivated crops or items presumed to be such cultivated crops in a crop farm.

[0362] According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the targets of surveillance to birds, animals, or humans possessing or transporting items that are presumed to be related to crop cultivation or crop cultivation in a crop cultivation farm, and by monitoring targets that have entered a crop cultivation farm that is almost certainly unmanned at night, the targets can be reliably monitored with a simple configuration. In other words, by limiting the targets of surveillance, the processing burden for recognizing the targets can be reduced, and the targets can be recognized quickly, thus enabling reliable surveillance of targets with a simple configuration.

[0363] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a livestock farm.

[0364] According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the monitoring range to a livestock farm and monitoring within the livestock farm, intrusion of the target can be reliably monitored with a simple configuration. This is especially useful when the farm is often unmanned, such as at night. This system allows for reliable monitoring of intrusions into livestock farms, where the sounds made by livestock and poultry can easily mask the intrusion of targets into the farm, using a simple configuration.

[0365] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is livestock or poultry on a livestock farm, or birds or humans possessing or transporting items that are presumed to be such livestock or poultry.

[0366] According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the targets of surveillance to birds, animals, or humans possessing or transporting livestock, poultry, or items presumed to be such livestock or poultry on a livestock farm, and by monitoring targets that have entered an unmanned livestock farm at night, etc., the targets can be reliably monitored with a simple configuration. In other words, by limiting the targets of surveillance, the processing burden for recognizing the targets can be reduced, and the targets can be recognized quickly, thus enabling reliable surveillance of targets with a simple configuration.

[0367] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a beekeeping farm.

[0368] According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the monitoring range to a beekeeping farm and monitoring within the beekeeping farm, intrusion of the target can be reliably monitored with a simple configuration. This makes it possible to reliably monitor for intrusion of the target into a beekeeping farm, which is often unmanned at night, with a simple configuration.

[0369] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be such a beehive.

[0370] According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the target of surveillance to birds, animals, or humans possessing or transporting beehives used in apiaries or items presumed to be beehives, and by monitoring targets that enter an unmanned apiary at night, etc., the target can be reliably monitored with a simple configuration. In other words, by limiting the target of surveillance, the processing burden for recognizing the target can be reduced, and the target can be recognized quickly, thus enabling reliable monitoring of the target with a simple configuration.

[0371] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, when it recognizes a target to be monitored based on images taken by the camera 103 during a predetermined time period, it flies to approach the target to be monitored.

[0372] According to the flying robot 1001 of Embodiment 2 of this invention, by recognizing the target of surveillance based on images captured by the camera 103 during a predetermined time period, it is possible to exclude individuals who have legitimate or necessary reasons for surveillance, such as for business purposes, from the target of surveillance, and to perform surveillance during unmanned times such as at night. In this way, by limiting the surveillance period, individuals who have legitimate or necessary reasons for surveillance can be excluded from the target of surveillance, thereby reducing the processing burden on recognizing the target of surveillance due to unnecessary surveillance, and enabling reliable surveillance of the target with a simple configuration.

[0373] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, after receiving a predetermined input operation or predetermined signal and before receiving an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal, if it recognizes a target to be monitored based on an image captured by the camera 103, it flies to approach the target to be monitored. They are doing it.

[0374] According to the flying robot 1001 of Embodiment 2 of this invention, by performing monitoring only under specified circumstances, for example, monitoring is not performed while there are people with legitimate or necessary reasons, such as for work purposes, and monitoring can be performed during unmanned times such as at night. In this way, by limiting the monitoring period, people with legitimate or necessary reasons can be excluded from the monitoring target, thereby reducing the processing burden associated with recognizing the monitored target due to unnecessary monitoring, and enabling reliable monitoring of the target with a simple configuration.

[0375] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, upon recognizing a target to be monitored, it flies to approach the target and outputs a predetermined sound toward the target.

[0376] According to the flying robot 1001 of Embodiment 2 of this invention, by flying to approach a target to be monitored and emitting a predetermined sound toward the target, the robot can attract the attention of the target, ensure that the target is aware that it is being monitored, and notify the surroundings of the target's intrusion, thereby reliably preventing theft of agricultural products and the like.

[0377] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined voice is either a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft.

[0378] According to the second embodiment of the present invention, the flying robot 1001 outputs synthesized speech that mimics a warning or caution against theft, thereby making the monitored target believe that a human is nearby or anticipate a human approach. Furthermore, according to the second embodiment of the present invention, the flying robot 1001 outputs predetermined sounds from a speaker 204 integrated into the flying robot 1001, so that even if the monitored target moves, such as by escaping, the sound can always be output near the monitored target in accordance with its movement. This allows for warning the monitored target and reliably notifies the surrounding area of ​​the monitored target's location. As a result, further damage to agricultural products, etc., can be reliably prevented.

[0379] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined sound is the sound of a siren, horn, whistle, or a synthesized sound that imitates at least one of these sounds.

[0380] According to the flying robot 1001 of Embodiment 2 of this invention, by outputting the sound of a siren, horn, whistle, or a synthesized sound that mimics at least one of these sounds, it is possible to make the monitored target believe that a human is nearby or anticipate the approach of a human.

[0381] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by outputting a predetermined sound while the recognized target is within a preset monitoring range.

[0382] According to the flying robot 1001 of Embodiment 2 of this invention, by continuously outputting a predetermined sound while the target being monitored is within the monitoring range, a warning can be issued to the target being monitored, and the location of the target being monitored can be reliably notified to the surrounding area. At that time, the target of the surveillance can be driven out of the surveillance area, effectively preventing further damage to agricultural products and other items.

[0383] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined sound has a sound pressure level of 80 dB or higher.

[0384] According to the second embodiment of this invention, the flying robot 1001 can output sound loud enough to be heard over a wide area. This allows for clear warnings to be given to the target of surveillance, and the location of the target of surveillance can be reliably reported over a wide area, thereby reliably preventing further damage to agricultural products and other items.

[0385] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined sound has a loudness level of 90 phons or higher.

[0386] According to the flying robot 1001 of Embodiment 2 of this invention, by outputting sound with a loudness level of 90 fps or higher, which is specified as the volume of a disaster prevention siren, a clear warning can be given to the target of surveillance, and the location of the target of surveillance can be reliably reported over a wide area, thereby reliably preventing further damage to agricultural products and other items.

[0387] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is equipped with an LED lamp 104, which is a light source mounted on an unmanned aerial vehicle, and is characterized by flying while emitting light from the LED lamp 104.

[0388] According to the second embodiment of this invention, the flying robot 1001 flies to approach the target of surveillance and emits an LED lamp 104, which is a light source, thereby attracting the attention of the target of surveillance, ensuring that the target is aware that it is being monitored, and also alerting the surroundings to the intrusion of the target of surveillance, thereby reliably preventing theft of agricultural products and other items.

[0389] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by flying while flashing an LED lamp 104, which is a light source.

[0390] According to the flying robot 1001 of Embodiment 2 of this invention, by flashing the LED lamp 104 which is a light source, the attention of the target being monitored can be attracted, ensuring that the target is aware that it is being monitored, and the intrusion of the target can be reliably notified to the surroundings, thereby reliably preventing theft of agricultural products and the like.

[0391] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by flying while flashing the light from the LED lamp 104, which is a light source, at a luminous flux above a predetermined threshold.

[0392] According to the flying robot 1001 of Embodiment 2 of this invention, by flying while flashing light with a luminous flux above a predetermined threshold, it is possible to attract the attention of the target being monitored, to ensure that the target is aware that it is being monitored, and to more reliably notify the surroundings of the target's intrusion, thereby reliably preventing theft of agricultural products and the like.

[0393] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is equipped with a communication I / F209, which is a wireless communication interface mounted on an unmanned aerial vehicle, and when it recognizes a target to be monitored based on an image taken by the camera 103, it communicates the image via the communication I / F209. It is characterized by transmitting the image to a predetermined destination.

[0394] According to the flying robot 1001 of Embodiment 2 of this invention, damage to agricultural products can be quickly and reliably notified to the person in charge of the agricultural products, etc., by transmitting an image of the monitored object recognized based on an image taken by the camera 103 to a predetermined destination.

[0395] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone.

[0396] According to the flying robot 1001 of Embodiment 2 of this invention, the image of the monitored object recognized based on the image captured by the camera 103 can be sent to an email address set on the smartphone of an interested party, such as a farm manager, thereby quickly and reliably notifying the manager. This allows the manager to quickly identify damage such as animals eating agricultural products or humans stealing agricultural products, and to take action to prevent the damage from spreading.

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

[0398] According to the flying robot 1001 of Embodiment 2 of this invention, the image of the monitored target recognized based on the image captured by the camera 103 can be reliably stored on the cloud network regardless of the size of the image being transmitted by sending it to a specific URL set on the cloud network. This ensures that records of the monitored target are reliably saved and that the monitored target can be identified at a later date after it has been recognized.

[0399] Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, when it recognizes a target to be monitored based on an image captured by the camera 103, it stores the image in a predetermined memory area.

[0400] According to the flying robot 1001 of Embodiment 2 of this invention, for example, by storing the image of the recognized target in a predetermined storage area such as the memory of the control circuit 207 shown in Figure 2, the perpetrator can be identified using the recorded image when theft of agricultural products or other items occurs.

[0401] <Embodiment 3> Next, a third embodiment of the flying robot according to this invention will be described. In the third embodiment, parts identical to those in the first and second embodiments described above are indicated by the same reference numerals, and their descriptions are omitted.

[0402] (An example of the appearance of a flying robot) Figure 14 is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 3 of the present invention. As shown in Figure 14, the flying robot 1401 of Embodiment 3 of the present invention is in the form of a drone (unmanned aerial vehicle). As shown in Figure 14, the drone may employ a quadcopter equipped with four propellers 102, or it may employ a hexacopter or octocopter, etc.

[0403] The flying robot 1401 can recognize, for example, a stalker who persistently follows a user, or a criminal who commits street crimes such as robbery and snatching, as a target for the user. - This involves taking pictures of the items that should be flagged as warnings, or issuing warnings to those items.

[0404] In Embodiment 3, acts that are normally considered clearly harmful or dangerous to society and are therefore prohibited are defined as criminal acts. Furthermore, in this Embodiment 3, acts that are punishable under criminal law are defined as criminal acts. In addition, in this Embodiment 3, acts that are not necessarily punishable by society but are considered harmful to the user of the flying robot 1401 may be included as criminal acts.

[0405] The flying robot 1401 is equipped with an omnidirectional speaker 204 that diffuses sound in all directions. Specifically, the omnidirectional speaker 204 can be realized, for example, by multiple speaker units 1402, each outputting sound in a different direction.

[0406] The speaker unit 1402 can be realized using various known technologies, such as a cone type that outputs sound by vibrating a cone-shaped diaphragm, or a dome type that outputs sound by vibrating a dome-shaped (hemispherical) diaphragm. By adopting a dome type, a wide directivity (sound dispersion) of the output sound can be ensured.

[0407] Furthermore, the flying robot 1401 is equipped with a security ball 1403. The security ball 1403 can be realized, for example, by a color ball in which a pigment or special paint is sealed inside a container. Alternatively, the security ball 1403 may be one in which a substance that emits a foul odor is sealed inside a container. The flying robot 1401 drops the security ball 1403 on or near the target of surveillance, destroying the container and scattering the contents inside, thereby transferring color and odor to the target of surveillance.

[0408] The anti-theft ball 1403 is mounted on the flying robot 1401 in a detachable manner. The anti-theft ball 1403 is normally secured to the flying robot 1401 by a stopper (not shown in the diagram) to prevent it from falling, and is mounted in such a way that it can be dropped or projected from the flying robot 1401 at any time by releasing the stopper.

[0409] Preferably, the flying robot 1401 is equipped with a detachable fixing member (not shown) that can be attached to, for example, the user's personal belongings such as a bag, or to personal accessories such as a belt worn by the user. The fixing member can be realized by, for example, a hook, snap, fastener, or magnet. By attaching the flying robot 1401 to personal belongings or accessories in this way, the flying robot 1401 can be flown only when necessary, rather than being flown continuously. This reduces the consumption of the battery 201.

[0410] The portable items and accessories used to attach and detach the fixing members may be specially designed for carrying the flying robot 1401. If the portable items and accessories are specially designed for carrying the flying robot 1401, a battery may be provided in the accessories. This allows the flying robot 1401 to be charged even while carrying the flying robot 101 at an outing, thereby reducing the battery drain on the flying robot 1401 itself.

[0411] Furthermore, if the accessory is equipped with a battery, the accessory may also be equipped with a power supply coil for wireless power transmission. This makes it easy to charge the battery of the flying robot 1401 when carrying the flying robot 1401. In an accessory equipped with a battery and a power supply coil, the flying robot 1401 is positioned so that its receiving coil can receive power from the power supply coil of the accessory. A holder is provided.

[0412] (Functional configuration of the flying robot 1401) Next, the functional configuration of the flying robot 1401 will be described. The functions of the flying robot 1401 are realized by the memory unit 401, the detection unit 402, the imaging unit 403, the acquisition unit 404, the drive unit 405, the output unit 406, and the control unit 407.

[0413] The memory unit 401 stores various information, including various programs related to control by the control unit 407 and thresholds used for executing the programs. Specifically, the memory unit 401 stores, for example, information about the user's features related to pattern recognition (image recognition) used for user recognition. The memory unit 401 may also store voice information used for user recognition and information about the period during which the alert operation described later will be performed.

[0414] A person who is under surveillance can be, for example, a person who is in the vicinity of the user for a predetermined period of time or distance or longer, such as by tailing the user. More specifically, it can be, for example, a person who is in the vicinity of the user (tailing them) for a predetermined period of time or distance or longer, without any communication such as conversation with the user.

[0415] Furthermore, the target of surveillance may be, for example, a person designated by the user. Specifically, for example, a person designated from images previously captured by camera 103, or a person designated from images input through a predetermined operation (such as still images like photographs or videos shot with a video camera). Alternatively, the target of surveillance may be, for example, a person identified as a criminal based on information such as news or incidents obtained from an external device via network N.

[0416] Furthermore, the memory unit 401 stores image information captured by the imaging unit 403 and information acquired by the acquisition unit 404. The memory unit 401 may also store information regarding the location of the station 301, which serves as a battery charging spot. Specifically, the memory unit 401 can be implemented, for example, by the memory in the control circuit 207 shown in Figure 2.

[0417] The detection unit 402 detects signals output from a terminal device, such as a smartphone with a predetermined application installed. The detection unit 402 may also detect that a predetermined input instruction has been received from the flying robot 1401, for example, by a user of the flying robot 1401, via an input device such as a key or button. Specifically, the detection unit 402 can implement its functions through, for example, the communication I / F 209 shown in Figure 2.

[0418] Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 1401. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figures 1 and 2, instead of the object sensor 206, or in addition to the object sensor 206.

[0419] The detection of obstacles by camera 103 can be achieved, for example, by using a moving stereo method that determines the distance to the obstacle based on the parallax (difference between each image) in each image taken at multiple different positions obtained as the flying robot 1401 moves. By using the moving stereo method, the presence or absence of obstacles within a predetermined range from the flying robot 1401 can be detected using a monocular camera. It is possible.

[0420] The imaging unit 403 captures images within a predetermined range, such as the area surrounding the user. The imaging unit 403 may, for example, capture images within the predetermined range from outside the range. Alternatively, the imaging unit 403 may, for example, capture images within the predetermined range from within the range itself. Specifically, the imaging unit 403 can perform its function using, for example, the camera 103 shown in Figure 3.

[0421] The storage unit 401 described above may store image information relating to images captured by the imaging unit 403. Instead of storing the image information relating to images captured by the imaging unit 403 in the storage unit 401, or in addition to storing it in the storage unit 401, the image information may be stored in an external device. Furthermore, in addition to the image information, the storage unit 401 may store information relating to the location and time the image was taken, in association with the image information. Information relating to the location and time the image was taken can be identified, for example, using the GPS sensor 205 shown in Figure 2.

[0422] The acquisition unit 404 acquires external information from the flying robot 1401. The acquisition unit 404 acquires sound from the surroundings of the flying robot 1401, for example, using the microphone 203. Specifically, the acquisition unit 404 can perform its function using, for example, the microphone 203 shown in Figure 2.

[0423] Furthermore, the acquisition unit 404 may acquire the current position information of the flying robot 1401. The current position information of the flying robot 1401 can be determined, for example, using the GPS sensor 205 shown in Figure 2. In this case, the acquisition unit 404 can specifically implement its function using, for example, the GPS sensor 205 shown in Figure 2.

[0424] Furthermore, the acquisition unit 404 may acquire predetermined information from an external device, for example, via a network N. In this case, the acquisition unit 404 can specifically implement its function using, for example, the communication I / F 209 shown in Figure 2. The acquisition unit 404 implemented by the communication I / F 209, for example, acquires information learned by another flying robot 1401. This allows multiple other flying robots 1401 to share information obtained through the learning of a single flying robot 1401, enabling the flying robots 1401 to take actions more suitable for recognizing and driving away targets of suspicion.

[0425] The acquisition unit 404, which is implemented by a communication I / F 209 or the like, may acquire information indicating that there is a possibility of an event occurring within a predetermined time from the present moment that could affect people in the surrounding area, such as a disaster. Specifically, the acquisition unit 404 may acquire information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment.

[0426] The drive unit 405 controls the flight of the flying robot 1401. Specifically, the drive unit 405 can perform its functions using components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Figure 2.

[0427] The output unit 406 is controlled by the control unit 407 to output a predetermined sound from, for example, the speaker 204. In this case, the output unit 406 can specifically perform its function using, for example, the speaker 204 shown in Figure 2. The predetermined sound can be, for example, a sound urging the perpetrator to stop the crime, a siren, a horn, a warning whistle, or a synthesized sound that mimics at least one of these.

[0428] Furthermore, the output unit 406 is controlled by the control unit 407 to, for example, light up the LED lamp 104. Alternatively, the output unit 406 can also, for example, make the LED lamp 104 blink. In this case, the output unit 406 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2.

[0429] Furthermore, the output unit 406 may be controlled by the control unit 407 to transmit image information relating to the image captured by the imaging unit 403 to a predetermined destination. In this case, the output unit 406 can specifically implement its function using, for example, the communication I / F 209 shown in Figure 2. The predetermined destination can be, for example, an email address set on a specific smartphone or a specific URL set on a cloud network.

[0430] Furthermore, the output unit 406 may be controlled by the control unit 407 to, for example, output a request for assistance to another flying robot 1401 when the remaining charge of the battery 201 falls below a predetermined amount. In this case, the output unit 406 can also be specifically implemented by, for example, the communication I / F 209 shown in Figure 2.

[0431] The control unit 407 controls the entire flying robot 1401. Specifically, the control unit 407 can perform its functions, for example, through the control circuit 207 shown in Figure 2. More specifically, the control unit 407 can perform its functions, for example, by executing a program stored in memory or the like through the CPU in the control circuit 207 shown in Figure 2.

[0432] The control unit 407, for example, recognizes a user based on an image captured by the imaging unit 403, and moves in accordance with the movement of the recognized user while capturing images of the user's surroundings. The control unit 407, for example, keeps the flying robot 1401 flying around the user at all times and takes images with the imaging unit 403.

[0433] Whether or not someone is a user can be determined, for example, based on a pre-recorded image of the user along with a predetermined input operation. Alternatively, whether or not someone is a user can be determined, for example, based on an image transmitted via a specific application installed on a smartphone. The user's image may be a still image or a video. Multiple images may be input for user recognition, and the images may be videos of a predetermined length or longer.

[0434] Furthermore, the control unit 407 may, for example, control the drive unit 405 to make the flying robot 1401 fly when it recognizes a predetermined signal given by the user. Specifically, the control unit 407 may, for example, keep the flying robot 1401 flying around the user at all times and recognize specific actions performed by the user as predetermined signals based on images taken by the imaging unit 403. Specifically, the control unit 407 may, for example, recognize an action such as the user thrusting a clenched fist above their head as a predetermined signal.

[0435] Specifically, the control unit 407 may, for example, recognize that the user has given a predetermined signal when the user's voice is acquired by the acquisition unit 404. Whether or not it is the user's voice can be determined, for example, based on the user's voice recorded in advance along with a predetermined input operation. Alternatively, it may be determined whether or not it is the user's voice based on the voice transmitted via a specific application installed on the smartphone.

[0436] Alternatively, more specifically, the control unit 407 may recognize that the user has given a predetermined signal when the acquisition unit 404 acquires the user's speech at a volume greater than a predetermined level. More specifically, the control unit 407 may recognize that the user has given a predetermined signal when the user utters a pre-set phrase. More specifically, the control unit 407 may recognize that the user has given a predetermined signal when, based on the speech acquired by the acquisition unit 404, a specific phrase such as "Help" is acquired from the user's speech.

[0437] When the control unit 407 recognizes a predetermined signal given by the user, it performs a security action toward the target of security. Specifically, for example, when the control unit 407 recognizes a predetermined signal given by the user, it performs an action to photograph the target of security using the imaging unit 403. The control unit 407 may also perform an action to photograph the target of security from all directions by circling around the target of security.

[0438] Furthermore, if the control unit 407 recognizes a predetermined signal given by the user, it may use the camera unit 403 to photograph not only the target of surveillance, but also the vehicle the target is riding in (including its license plate) and their belongings (including characteristics such as the manufacturer's name). This makes it possible to secure evidence of the incident and facilitate the pursuit of criminals, even if the target of surveillance, such as a person who has harmed the user, escapes in a vehicle.

[0439] Furthermore, if the control unit 407 recognizes a predetermined signal issued by the user, it may, for example, transmit an image of the target being monitored, captured by the imaging unit 403, to a predetermined destination via an output unit 406 implemented by a communication interface 209 or the like. The predetermined destination can be, as described above, an email address set on a specific smartphone or a specific URL set on a cloud network.

[0440] Furthermore, if the control unit 407 recognizes a predetermined signal given by the user, it may, for example, acquire the current location information of the flying robot 1401 acquired by the acquisition unit 404 as location information of the target being monitored, and transmit the image of the target being monitored captured by the imaging unit 403 and the location information acquired by the acquisition unit 404 to a predetermined destination.

[0441] Furthermore, when the control unit 407 recognizes a predetermined signal given by the user, it may store the image of the target being monitored, captured by the imaging unit 403, in the storage unit 401. The image of the target being monitored, captured by the imaging unit 403, may be stored in the storage unit 401 alone, or it may be transmitted to a predetermined destination in conjunction with the storage unit 401.

[0442] More specifically, when the control unit 407 recognizes a predetermined signal given by the user, it may control the output unit 406, which is implemented by, for example, a speaker 204, to output a predetermined sound. More specifically, the control unit 407 controls the output unit 406, which is implemented by, for example, a speaker 204, to output a sound urging the crime to stop, or a siren, horn, whistle, or a synthesized sound that mimics at least one of these.

[0443] The control unit 407 may appropriately select the audio to output depending on the events occurring on site, as recognized based on the images captured by the camera 103. Specifically, for example, if the control unit 407 recognizes a person suspected of stalking in the captured images, it may control the output unit 406, which is implemented by a speaker 204 or the like, to output an audio message such as "Stalking is prohibited by law." Alternatively, if the control unit 407 recognizes a person who has been following the user continuously for a predetermined period of time or longer in the captured images, it may output an audio message such as "Can I help you?"

[0444] Furthermore, the control unit 407 may control the output unit 406, which is implemented by the speaker 204 or the like, to output an audio message that indicates that a target is being photographed, such as "Taking pictures of the surrounding area" or "Recording in progress." Alternatively, the control unit 407 may control the output unit 406, which is implemented by the speaker 204 or the like, to output a sound such as a bell (warning bell), such as "clang clang."

[0445] The control unit 407 preferably outputs sound with a sound pressure level of 80 dB or higher. Alternatively, the control unit 407 preferably outputs sound with a loudness level of 90 phons or higher. For example, emergency vehicles such as ambulances are legally required to be equipped with sirens that can output sound at a volume of 90 phons or higher, measured at a distance of 20 meters in front of the vehicle. By outputting sound of this volume, the presence of a target can be widely publicized, and it is expected that this will help prevent crime or suppress the further escalation of crime.

[0446] If speaker 204 is omnidirectional, it can widely alert third parties in the user's vicinity to the presence of a target of concern. This can be expected to prevent crime from occurring or to curb the further escalation of crime.

[0447] Furthermore, specifically, when the control unit 407 recognizes a predetermined signal given by the user, it may, for example, control the output unit 406, which is realized by the LED lamp 104, to make the LED lamp 104 emit light or flash in a specific pattern or color. Specifically, for example, to increase the visibility of the flying robot 1401 to a third party, it may flash red light or emit white light. This is expected to attract the attention of a third party who is on alert for the approaching target and deter criminal activity.

[0448] The control unit 407 preferably causes the light source, such as the LED lamp 104, to emit light with a luminous flux above a predetermined threshold. The luminous flux is the brightness of the LED lamp 104 itself and can be expressed in lumens (unit: lm), which indicates the amount of light per unit time. Alternatively, the brightness of the LED lamp 104 itself may be determined based on the intensity of light (luminous intensity) in a specific direction, expressed in candela (unit: cd).

[0449] Alternatively, the control unit 407 may specify the brightness of the illuminated area, i.e., the illuminance (unit: lx), rather than the brightness of the LED lamp 104 itself. In this case, if the illuminance of the area brightened by turning on the LED lamp 104 does not fall below a predetermined threshold, the control unit 407 will move closer to the target or make the LED lamp 104 emit light more brightly.

[0450] The control unit 407 may also perform a security action toward the target if it recognizes a voice spoken by someone other than the user at a predetermined volume or higher, based on the voice acquired by the acquisition unit 404, which is realized by the microphone 203. This ensures that security actions, such as photographing the target, can be reliably performed even when the user is upset, for example, if the user is yelled at on the street.

[0451] This can be expected to have the effect of preventing crime from occurring or curbing the further escalation of crime. It can also help secure evidence when a crime has occurred and make it easier to track down perpetrators.

[0452] Furthermore, if there are dedicated accessories or equipment for carrying the flying robot 1401, the control unit 407 may, upon recognizing a predetermined signal based on the sound acquired by the acquisition unit 404, which is realized by the microphone 203, control the drive unit 405 to start the flight of the flying robot 1401 or to perform photography using the photography unit 403. This reduces the consumption of the battery 201 compared to when the drone is constantly flying around the user and taking pictures.

[0453] The control unit 407, equipped with AI functionality, can learn appropriate security actions for each pattern and situation of the target of surveillance. In recent years, computers equipped with artificial intelligence have become smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can enable the flying robot 1401 to fly smoothly. The control unit 407 may also communicate with another flying robot 1401 to share characteristics and images of criminals who have harmed the user, and may learn based on the shared information.

[0454] Furthermore, the control unit 407 may, in response to information acquired by the acquisition unit 404 indicating that there is a possibility of an event occurring that could affect people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden weather change, control the output unit 406 to output an audio message informing people that such an event may occur, or to illuminate or blink the LED lamp 104 in a specific pattern or color.

[0455] Furthermore, if the control unit 407 recognizes a target of concern in the image captured by the imaging unit 403, it may control the drive unit 405 to fly the flying robot 1401 to approach the target of concern. This is expected to attract the attention of the target of concern and deter them from committing a crime.

[0456] Furthermore, when the flying robot 1401 is to fly towards the target of surveillance, the control unit 407 may limit the approach to a position that is a certain distance away from the target of surveillance. Specifically, the control unit 407 controls the drive unit 405 to approach to a position that is far enough away that the target of surveillance cannot touch the flying robot 1401. This prevents the flying robot 1401 from being damaged by impact from the target of surveillance.

[0457] The flying robot 1401, which is equipped with a camera 103, can autonomously fly to a position that makes it easy to photograph the target of surveillance. This allows it to photograph the target of surveillance without blind spots, regardless of environmental factors such as the position of the camera or the positions of surrounding trees and houses. This ensures that the target of surveillance can be reliably photographed compared to conventional technologies that fly drones based on images captured by stationary cameras.

[0458] The inventor named the flying robot 1401, which recognizes stalkers who persistently harass users and criminals who commit street crimes such as robbery and snatching as targets for vigilance, and takes pictures of the user and the targets of vigilance, and issues warnings to the targets of vigilance, "Dororipulse" or "Dororipper".

[0459] The control unit 407 may stop its monitoring operation if there are no longer any targets to monitor within a predetermined range, such as around the user. Furthermore, if there are dedicated carrying devices or accessories for the flying robot 1401, the control unit 407 may cause the flying robot 1401 to return to the dedicated carrying device or accessories if there are no longer any targets to monitor within a predetermined range, such as around the user. Additionally, the control unit 407 may control the drive unit 405 to cause the flying robot 1401 to return to the dedicated carrying device or accessories if the remaining charge of the battery 201 falls below a predetermined amount.

[0460] Furthermore, if the remaining charge of the battery 201 falls below a predetermined amount while the control unit 407 is performing a security operation, that is, while a security target is still present within a predetermined range such as the user's vicinity, it will output a request for assistance to another flying robot 1401. Good. In this case, the control unit 407 outputs a support request that includes information about the current position of the flying robot 1401 that is the source of the support request.

[0461] A request for assistance may include information regarding the date and time the request was issued. A request for assistance may include identification information of the flying robot 1401 that issued the request. A request for assistance may include information regarding an image taken by the flying robot 1401 that issued the request. The information regarding the image may be the image itself, or it may be a URL indicating the storage location on the cloud network where the image is stored.

[0462] When flying robot 1401 receives a request for assistance from another flying robot 1401, it flies to the location of the flying robot 1401 that issued the request, based on the current location information included in the request. The flying robot 1401 that issued the request for assistance may continue to output information about its current location until the flying robot 1401 that received the request for assistance arrives.

[0463] This allows the system to continue monitoring the target and taking images even if the battery level of the first flying robot 1401 to recognize the target drops, by requesting assistance from other flying robots 1401. In this way, by coordinating multiple flying robots 1401 to perform surveillance actions against the target, it is possible to prevent crime from occurring or to suppress the further escalation of crime.

[0464] (Processing procedure for flying robot 1401) Next, we will describe the procedure for handling the flying robot 1401. Here, we will describe the procedure for handling the flying robot 1401 using a scenario in which there are dedicated items and accessories for carrying the flying robot 1401 as an example.

[0465] Figure 15 is a flowchart showing the processing procedure of the flying robot 1401 according to Embodiment 3 of the present invention. In the flowchart of Figure 15, first, the robot waits until it recognizes a predetermined signal (step S1501: No). In step S1501, for example, it is determined whether the microphone 203 has picked up the user's voice (or the voice of a pre-set phrase). Also in step S1501, it is determined whether or not it has recognized the voice of a person other than the user that is louder than a predetermined volume.

[0466] In step S1501, if the predetermined signal is recognized (step S1501: Yes), the aircraft begins flight (step S1502) and simultaneously starts taking pictures with camera 103 (step S1503). Then, based on the captured images, it is determined whether or not the target of surveillance has been recognized (step S1504).

[0467] In step S1504, if the target of surveillance is not recognized (step S1504: No), the user continues to move while taking images and analyzes the captured images until the target of surveillance is recognized. Alternatively, if the target of surveillance is not recognized in step S1504, and the target of surveillance is not recognized within a set period of time thereafter, the user may return to the dedicated equipment or accessories for carrying the flying robot 1401 and proceed to step S1501.

[0468] In step S1504, if the target of the alarm is recognized (step S1504: Yes), the alarm operation is initiated (step S1505). In step S1505, for example, the target of the alarm is photographed, the photographed image is recorded and transmitted to a predetermined destination. Also in step S1505, for example, an audio alert, siren, horn, whistle, or at least one of these is issued to the target of the alarm to urge them to stop the crime. It is also acceptable to output a synthesized voice that imitates a squid.

[0469] Then, it is determined whether the monitored object has moved outside the predetermined range (step S1506). In step S1506, for example, it is determined whether the monitored object has moved more than a predetermined distance away from the user. If, in step S1506, the monitored object has not moved outside the predetermined range (step S1506: No), the monitoring operation started in step S1505 is continued.

[0470] On the other hand, in step S1506, if the target of surveillance moves outside the predetermined range (step S1506: Yes), the system performs a return operation to the dedicated equipment or accessories for carrying the flying robot 1401 (step S1507), and the series of processes ends. Then, it waits again until it recognizes the predetermined signal.

[0471] (An example of how the flying robot 1401 can be used) Next, an example of how the flying robot 1401 can be used will be described. Figures 16 and 17 are explanatory diagrams showing an example of how the flying robot 1401 of Embodiment 3 of this invention can be used. Here, an example of operation in which the flying robot 1401 is constantly flown around the user and photography is performed by the camera 103 will be described.

[0472] As shown in Figure 16, the flying robot 1401 constantly flies around the user 1601 and takes pictures with the camera 103. The captured images are then analyzed to determine whether or not the target of surveillance 1602 is present in the captured images.

[0473] The person under surveillance 1602 may be, for example, a person pre-set by user 1601, as described above, or a person who appears in the image for a predetermined period of time or longer. Alternatively, the person under surveillance 1602 may be a criminal identified based on, for example, news on the internet.

[0474] Then, if the captured image recognizes the target of surveillance 1602, the flying robot 1401 is made to fly close to the target of surveillance 1602, as shown in Figure 17, and surveillance actions are performed. Specifically, if the target of surveillance 1602 is recognized, for example, after the flying robot 1401 is made to fly close to the target of surveillance 1602, the security ball 1403 is dropped towards the target of surveillance 1602 or the ground near the target of surveillance 1602.

[0475] Alternatively, specifically, when the system detects target 1602, it may output from speaker 207, for example, a voice urging the crime to stop, a siren, a horn, a whistle, or a synthesized voice that mimics at least one of these, or a bell-like sound (warning bell).

[0476] Specifically, when the system recognizes the target 1602, it may, for example, photograph the target 1602 with the camera 103, transmit the captured image to a predetermined destination, or store it in memory. These alarm actions may be performed individually, in sequence, or simultaneously in parallel.

[0477] It is preferable that the image be taken so that user 1601 and the subject of surveillance 1602 are within the same frame, at least temporarily. This proves that user 1601 and the subject of surveillance 1602 were in the same place at the same time, and when the captured image is used as evidence to prove a crime at a later date, it can guarantee the credibility of the victim's complaint.

[0478] By performing an alert action against the alert target 1602, it is expected that the alert target 1602 will be kept away from the user 1601. Furthermore, by performing an alert action against the alert target 1602, any trouble between the user 1601 and the alert target 1602 can be notified to a third party. By notifying a third party, it is expected that the crime will be interrupted, thereby ensuring the safety of the user 1601.

[0479] As described above, the flying robot 1401 of Embodiment 3 of this invention comprises an unmanned aerial vehicle that flies by automatic piloting and a camera 103 mounted on the unmanned aerial vehicle, and is characterized by recognizing a user 1601 based on images taken by the camera 103, and taking pictures of the area around the recognized user 1601 while moving in accordance with the movement of the recognized user 1601.

[0480] According to the third embodiment of this invention, the flying robot 1401 moves in response to the movement of the user 1601, thereby attracting the attention of those who intend to harm the user 1601, such as stalkers or street criminals, and making the user suspect the presence of a third party. This deters crime and ensures the user 1601's safety without burdening the user 1601.

[0481] Furthermore, according to the third embodiment of this invention, the flying robot 1401 can photograph the area around the user 1601 even without the user's awareness. This allows for the collection of evidence in the event of stalking or street crime without burdening the user 1601. Later, the captured images can be used to identify the target of surveillance 1602.

[0482] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that, upon recognizing a predetermined signal issued by the user 1601, it performs a warning action toward the target of warning 1602.

[0483] According to the third embodiment of this invention, the flying robot 1401 can perform a warning action toward the target 1602 without requiring the user 1601 to perform complex operations. This makes it possible to easily activate the warning action of the flying robot 1401 in highly urgent situations, such as when a stalker or street criminal is approaching, thereby ensuring the safety of the user 1601.

[0484] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that a predetermined signal is a specific action performed by the user 1601, which is recognized based on an image captured by the camera 103.

[0485] According to the third embodiment of this invention, the flying robot 1401 can perform a warning action directed towards the target 1602 simply by having the user 1601 perform a specific action toward the camera 103, without requiring the user 1601 to perform complex operations. This allows even a user 1601 who is prone to panic in highly urgent situations, such as when a stalker or street criminal is approaching, to easily activate the warning action of the flying robot 1401, thereby ensuring the user 1601's safety.

[0486] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is equipped with a microphone mounted on an unmanned aerial vehicle, and the predetermined signal is the spoken voice of the user 1601 picked up by the microphone.

[0487] According to the third embodiment of this invention, the flying robot 1401 can perform a warning action directed towards the target 1602 simply by having the user 1601 speak, without requiring the user 1601 to perform complex operations. This allows even a user 1601, who is prone to panic in highly urgent situations such as when a stalker or street criminal is approaching, to easily activate the flying robot's warning action, thereby ensuring the user 1601's safety.

[0488] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that the predetermined signal is the voice of a user 1601 speaking a pre-set phrase, which is picked up by a microphone.

[0489] According to the third embodiment of this invention, the flying robot 1401 can perform a warning action toward the target of warning 1602 simply by having the user 1601 utter a pre-set phrase, without requiring the user 1601 to perform any complex operations. This prevents the flying robot 1401 from unintentionally performing a warning action due to, for example, speech during everyday conversation, while allowing the flying robot 1401 to easily activate a warning action in highly urgent situations, thereby ensuring the safety of the user 1601.

[0490] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that the predetermined signal is the spoken voice of a user 1601, picked up by a microphone, at a predetermined volume or higher.

[0491] According to the third embodiment of the present invention, if the user 1601 makes a loud noise, such as a scream, exceeding a predetermined level, the flying robot 1401 can perform a warning action directed towards the target of warning 1602 without the user 1601 being aware of it. This makes it possible to easily and reliably activate the flying robot's warning action and ensure the user 1601's safety in situations where the user 1601 is shaken by the urgency of the situation and forgets about the existence or operation of the flying robot 1401.

[0492] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is further characterized in that, when it recognizes a voice uttered by a person other than the user 1601 that is louder than a predetermined volume and picked up by the microphone, it performs a warning action toward the target of warning 1602.

[0493] According to the third embodiment of this invention, the flying robot 1401 can perform a warning action directed towards the target of vigilance 1602 without the user 1601 being aware of it, for example, in situations where a loud voice exceeding a predetermined level is emitted, such as a shouting voice made by someone other than the user 1601. This makes it possible to easily and reliably activate the warning action of the flying robot 1401 to ensure the safety of the user 1601, for example, when the user 1601 is being harassed on the street or when trouble such as a fight or accident occurs around the user 1601.

[0494] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that its surveillance operation is the operation of photographing the surveillance target 1602.

[0495] According to the third embodiment of this invention, the flying robot 1401 can photograph the target of surveillance 1602 even without the user 1601's awareness. This allows for the collection of evidence in cases of stalking or street crime without burdening the user 1601.

[0496] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that its surveillance operation is an operation in which the surveillance target 1602 is photographed from all directions.

[0497] According to the third embodiment of this invention, the flying robot 1401 can photograph the target of surveillance 1602 from all directions without burdening the user 1601. This makes it possible to collect useful evidence in cases of stalking or street crime.

[0498] Furthermore, when photographing target 1602 from all directions, flying around target 1602 can create the impression of a third party's presence. This can deter the actions of target 1602, deter crime, and ensure the safety of user 1601.

[0499] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is equipped with a wireless communication interface mounted on an unmanned aerial vehicle, and its surveillance operation is characterized by transmitting images of the surveillance target 1602 that have been captured to a predetermined destination via the wireless communication interface.

[0500] According to the third embodiment of this invention, the flying robot 1401 transmits an image of the target 1602 to a predetermined destination, thereby reliably informing a third party of stalking or street crime. This allows for assistance such as reporting the incident by the notified third party, thereby ensuring the safety of the user 1601.

[0501] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is equipped with an acquisition means for acquiring location information of a surveillance target 1602, and is characterized by transmitting the image of the surveillance target 1602 that has been photographed and the location information acquired by the acquisition means to a predetermined destination.

[0502] According to the third embodiment of the present invention, the flying robot 1401 transmits an image of the target 1602 along with location information of the target 1602 to a predetermined destination. This allows the destination to be notified of the location where the user 1601 is confronting the target 1602 without burdening the user 1601. This can be expected to provide assistance, such as reporting by a third party who has been notified of the damage, thereby ensuring the safety of the user 1601.

[0503] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone.

[0504] According to the third embodiment of this invention, the flying robot 1401 can, for example, send an image of the target of surveillance 1602 to an email address set on a specific smartphone owned by someone who knows the user 1601 well, such as family or friends, thereby quickly and reliably notifying family and friends that the user 1601 is being stalked or is a victim of street crime.

[0505] In this way, by sending images of the suspected target 1602 to someone who knows user 1601 well, such as family or friends, it is expected that reports will be made to the police or other authorities more quickly, thereby deterring the actions of the suspected target 1602 and ensuring user 1601's safety.

[0506] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention has a predetermined destination, It is characterized by being a specific URL configured on a loud network.

[0507] According to the third embodiment of this invention, the flying robot 1401 can reliably save records of the monitored target 1602 regardless of the size of the transmitted image, by sending an image of the monitored target 1602 to a person who knows the user 1601 well, such as family or friends, or to a specific URL set up on a cloud network managed by a police station or security company.

[0508] This allows for the swift and reliable notification of user 1601 being a victim of stalking or street crime, thereby ensuring user 1601's safety. Furthermore, it enables the identification of target 1602 using saved images taken at a later date.

[0509] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is equipped with memory mounted on an unmanned aerial vehicle, and its surveillance operation is characterized by storing the captured images of the surveillance target 1602 in the memory.

[0510] According to the third embodiment of the present invention, the flying robot 1401, for example, stores an image of the target of surveillance 1602 in a predetermined storage area such as the memory of the control circuit 207 shown in Figure 2. This allows the user 1601 to identify the target of surveillance 1602 using the recorded image at a later date if the user 1601 becomes a victim of stalking or street crime.

[0511] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is equipped with a speaker mounted on the unmanned aerial vehicle, and its warning operation is characterized by outputting a predetermined sound from the speaker directed towards the target of warning 1602.

[0512] According to the third embodiment of this invention, the flying robot 1401 outputs sound from a speaker to the target of surveillance 1602 when the user 1601 issues a predetermined signal, thereby reliably attracting the attention of the target of surveillance 1602 and making it suspect the presence of a third party. This makes it possible to deter crime without burdening the user 1601.

[0513] Furthermore, according to the third embodiment of the present invention, when the user 1601 issues a predetermined signal, the flying robot 1401 can output sound from a speaker towards the target of surveillance 1602, thereby notifying the surroundings of the presence of both the user 1601 and the target of surveillance 1602. This makes it possible to deter crime without burdening the user 1601.

[0514] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that the predetermined voice is a voice that urges the perpetrator to stop committing a crime.

[0515] According to the third embodiment of this invention, the flying robot 1401 can emit a voice prompting the cessation of crimes such as stalking and street crimes, thereby making the target of surveillance 1602 believe that a third party is nearby or anticipate the approach of a third party. This makes it possible to deter crime without burdening the user 1601.

[0516] Furthermore, according to the third embodiment of the present invention, the flying robot 1401 outputs a predetermined sound from the speaker 204 integrated into the flying robot 1001, thereby providing a warning. Even if the target of surveillance 1602 moves, such as by fleeing, the system can always output audio near the target of surveillance 1602 in accordance with its movement. This allows the system to prompt the target of surveillance 1602 to cease its actions and to reliably inform those around it of the target of surveillance 1602's location. This, in turn, reliably prevents further harm to user 1601.

[0517] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that a predetermined sound is an announcement that the robot is photographing the target of surveillance 1602. However, even when an announcement is made that the robot is photographing the target of surveillance 1602, it is not necessary for the robot to actually be photographing the target of surveillance 1602.

[0518] According to the third embodiment of this invention, the flying robot 1401 emits an audio signal informing a target 1602, who is engaging in stalking or street crime, that they are being filmed. This makes the target 1602 believe that a third party is nearby or anticipate the approach of a third party, and also makes them aware that evidence of their crime is being taken. This deters crime without burdening the user 1601.

[0519] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that the predetermined sound is a siren, a horn, a warning whistle, a whistle, or a synthesized sound that imitates at least one of these.

[0520] According to the third embodiment of this invention, the flying robot 1401 can emit a siren, horn, whistle, or a synthesized voice that mimics at least one of these, thereby making the presence of the object of alert 1602 known to those around it, and causing the object of alert 1602 to think that a third party is nearby or to anticipate the approach of a third party.

[0521] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is equipped with a security ball mounted on an unmanned aerial vehicle, and its security action is characterized by the action of causing the security ball to collide with the security target 1602 or the vicinity of the security target 1602.

[0522] According to the third embodiment of this invention, the flying robot 1401 can be used to attach special dyes or foul odors that cannot be easily removed by washing or bathing to the target 1602 by colliding a security ball with the target 1602 or its vicinity. This makes it easier to identify the target 1602 later, even if it escapes from the crime scene.

[0523] Furthermore, according to the third embodiment of this invention, the flying robot 1401 can be equipped with a security ball in a conspicuous position on the flying robot, thereby demonstrating to the target of surveillance 1602 that security is being considered. This can deter the actions of the target of surveillance 1602, deter crime, and ensure the safety of the user 1601.

[0524] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that it performs a surveillance operation as long as the recognized target of surveillance 1602 is within range of the user 1601.

[0525] According to the flying robot 1401 of Embodiment 3 of this invention, while the target of surveillance 1602 is within a predetermined range, such as near the user 1601, it continuously outputs a predetermined sound. By doing so, a warning can be issued to the target 1602, and the location of the target 1602 can be reliably reported to the surrounding area. This makes it possible to quickly drive the target 1602 away from the vicinity of user 1601, and reliably prevent further damage to user 1601.

[0526] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that it starts taking pictures with the camera 103 when it detects a start trigger. The start trigger can be detected, for example, using an inertial sensor such as an acceleration sensor 308 or an angle sensor, or a camera.

[0527] According to the third embodiment of the present invention, the flying robot 1401, for example, uses an inertial sensor such as an acceleration sensor 308 or an angle sensor to detect when the flying robot 101 has been thrown into the air as a trigger for activation, thereby enabling the camera 103 to start shooting with the simple action of throwing the flying robot 101, and reducing battery consumption compared to when the camera is always running.

[0528] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that it detects when the flying robot 1401 is thrown into the air as a trigger for activation.

[0529] According to the third embodiment of the present invention, the flying robot 1401 can be activated by simply throwing it into the air when the user 1601 feels threatened, without requiring the user 1601 to perform complex operations. This allows the flying robot 1401 to be activated quickly without burdening the user 1601, and in highly urgent situations, such as when a stalker or street criminal is approaching, the alert function of the flying robot 1401 can be easily activated, thereby ensuring the user 1601's safety.

[0530] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that it starts flying when it detects a start trigger.

[0531] According to the third embodiment of this invention, the flying robot 1401 can be started without requiring the user 1601 to perform complex operations. This makes it possible to easily start the flying robot 1401 and recognize the target of surveillance 1602, even in highly urgent situations.

[0532] Furthermore, the flying robot 1401 of Embodiment 3 according to this invention is characterized in that, when a start trigger is detected, recording is started by the microphone 203 mounted on the unmanned aerial vehicle.

[0533] According to the third embodiment of this invention, the flying robot 1401, upon detecting a trigger for activation, captures images of the user 1601's surroundings or the target of surveillance 1602 using the camera 103, and starts recording with the microphone 203. This allows for the collection of more evidence in cases of stalking or street crime without burdening the user 1601. As a result, the identity of the target of surveillance 1602 can be identified at a later date using the recorded images and audio.

[0534] Furthermore, the control method for the flying robot described in this embodiment can be achieved by executing a pre-prepared program on the computer installed in the flying robot. Yes, it is possible. This program is recorded on a computer-readable recording medium, such as the memory of the flying robot, and executed by being read from the recording medium by the computer. This program may also be stored and distributed on a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc., or it may be a transmission medium that can be distributed via a network such as the internet.

[0535] The details of Embodiment 1 are described below as an addendum.

[0536] (Note 1) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing an object based on an image captured by the aforementioned camera, and then flying to approach that object.

[0537] (Note 2) The flying robot according to Appendix 1, characterized in that the camera takes photographs within a predetermined range.

[0538] (Note 3) The flying robot according to Appendix 2, characterized in that the predetermined range is a pre-set garbage collection area.

[0539] (Note 4) The flying robot according to Appendix 2 or 3, characterized in that after flying to approach the aforementioned object, it returns to a station installed within or near the predetermined range.

[0540] (Note 5) A flying robot according to any one of the appendices 2 to 4, characterized in that it flies within the predetermined range at a speed less than or equal to the set speed.

[0541] (Note 6) A flying robot according to any one of the appendices 2 to 4, characterized in that it hovers at any position within the predetermined range.

[0542] (Note 7) A flying robot according to any one of the appendices 2 to 4, characterized in that it flies up and down at any position within the predetermined range.

[0543] (Note 8) The aforementioned unmanned aerial vehicle is equipped with a speaker, A flying robot according to any one of the appendices 1 to 7, characterized in that, when it recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies to approach the object.

[0544] (Note 9) The flying robot according to Appendix 8, characterized in that it outputs the predetermined sound from the speaker to the aforementioned object.

[0545] (Note 10) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey.

[0546] (Note 11) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recorded gunshot or a synthesized sound that mimics a gunshot.

[0547] (Note 12) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recorded dog bark or a synthesized sound that imitates a dog bark.

[0548] (Note 13) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recording of the sounds made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds.

[0549] (Note 14) The aforementioned unmanned aerial vehicle is equipped with a light source, A flying robot according to any one of the appendices 1 to 13, characterized in that, when an object is recognized based on an image captured by the camera, it emits light from the light source and flies to approach the object.

[0550] (Note 15) A flying robot described in any one of the appendices 1 to 14, characterized by having an appearance that imitates a bird of prey.

[0551] (Note 16) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, The aforementioned camera is used to take photographs. Based on the image captured by the aforementioned camera, if an object is recognized, the aircraft is directed to approach that object. A control program for a flying robot, characterized by its ability to execute processes.

[0552] (Note 17) A control program for a flying robot according to Appendix 16, characterized in that the camera captures images within a predetermined range.

[0553] (Note 18) A control program for a flying robot according to Appendix 17, characterized in that the camera is used to photograph a pre-set garbage collection area.

[0554] (Note 19) A control program for a flying robot according to Appendix 16 or 18, characterized in that, after flying to approach the object, the robot flies back to a station installed within or near the predetermined range.

[0555] (Note 20) The aforementioned predetermined range is characterized by flying at a speed below the set speed, as described in Appendix 17-1. A control program for a flying robot as described in any one of the following 9 items.

[0556] (Note 21) A control program for a flying robot according to any one of the appendices 17 to 19, characterized by causing it to hover at any position within the predetermined range.

[0557] (Note 22) A control program for a flying robot according to any one of the appendices 17 to 19, characterized by causing it to fly up and down at any position within the predetermined range.

[0558] (Note 23) The computer of the flying robot, which is equipped with a speaker mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of the appendices 16 to 22, characterized in that, when an object is recognized based on an image captured by the camera, a predetermined sound is output from the speaker and the robot flies to approach the object.

[0559] (Note 24) Control program for a flying robot as described in Appendix 23, characterized by outputting the predetermined sound from the speaker to the aforementioned object.

[0560] (Note 25) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey.

[0561] (Note 26) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recorded gunshot or a synthesized sound that mimics a gunshot.

[0562] (Note 27) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recorded dog bark or a synthesized sound that mimics a dog bark.

[0563] (Note 28) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recording of the sounds made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds.

[0564] (Note 29) The computer of the flying robot equipped with a light source mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of the appendices 16 to 28, characterized in that, when an object is recognized based on an image captured by the camera, the light source is made to emit light and the robot flies to approach the object.

[0565] (Note 30) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies on autopilot, The aforementioned camera is used to take photographs. If an object is recognized based on the image captured by the aforementioned camera, then the camera will take Make it fly so that it approaches. A method for controlling a flying robot, characterized by causing it to execute a process.

[0566] (Note 31) The method for controlling a flying robot according to Appendix 30, characterized in that the camera captures images within a predetermined range.

[0567] (Note 32) The method for controlling a flying robot according to Appendix 31, characterized in that the camera is used to photograph a pre-set garbage collection area.

[0568] (Note 33) A method for controlling a flying robot according to appendix 31 or 32, characterized in that the robot is flown to approach the object, and then flown back to a station installed within or near the predetermined range.

[0569] (Note 34) A method for controlling a flying robot according to any one of the appendices 31 to 33, characterized in that the robot flies within the predetermined range at a speed less than or equal to the set speed.

[0570] (Note 35) A method for controlling a flying robot according to any one of the appendices 31 to 33, characterized in that the robot hovers at any position within the predetermined range.

[0571] (Note 36) A method for controlling a flying robot according to any one of the appendices 31 to 33, characterized in that it flies up and down at any position within the predetermined range.

[0572] (Note 37) The computer of the flying robot, which is equipped with a speaker mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of the appendices 30 to 36, characterized in that, when an object is recognized based on an image captured by the camera, a predetermined sound is output from the speaker and the robot is made to fly towards the object.

[0573] (Note 38) A method for controlling a flying robot according to Appendix 37, characterized in that the speaker outputs the predetermined sound to the object.

[0574] (Note 39) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey.

[0575] (Note 40) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recorded gunshot or a synthesized sound that mimics a gunshot.

[0576] (Note 41) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recorded dog bark or a synthesized sound that imitates a dog bark.

[0577] (Note 42) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recording of the sounds made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds.

[0578] (Note 43) The computer of the flying robot equipped with a light source mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of the appendices 30 to 42, characterized in that, when an object is recognized based on an image captured by the camera, the light source is made to emit light and the robot is made to fly towards the object.

[0579] The details of Embodiment 2 are described below as an addendum.

[0580] (Note 1) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing a target to be monitored based on an image captured by the aforementioned camera, and then flying to approach that target.

[0581] (Note 2) The flying robot according to Appendix 1, characterized in that, when it recognizes the target being monitored based on the image captured by the camera, it flies to capture images of the target being monitored from all directions.

[0582] (Note 3) The flying robot according to Appendix 1 or 2, characterized in that it recognizes a target to be monitored based on an image taken by the camera within a predetermined range set in advance.

[0583] (Note 4) The flying robot according to Appendix 3, characterized in that the predetermined area is a farm.

[0584] (Note 5) The flying robot according to Appendix 4, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting agricultural products or items presumed to be such agricultural products on the farm.

[0585] (Note 6) The flying robot according to Appendix 3 or 4, characterized in that the predetermined range is a crop cultivation farm.

[0586] (Note 7) The flying robot according to Appendix 6, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a crop or an item presumed to be such crop at the crop cultivation farm.

[0587] (Note 8) The flying robot according to Appendix 3 or 4, characterized in that the predetermined area is a livestock farm.

[0588] (Note 9) The flying robot according to Appendix 8, characterized in that the target of surveillance is livestock or poultry on the livestock farm, or birds, animals, or humans possessing or transporting items presumed to be such livestock or poultry.

[0589] (Note 10) The flying robot according to Appendix 3 or 4, characterized in that the predetermined area is a beekeeping farm.

[0590] (Note 11) The flying robot according to Appendix 10, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be a beehive.

[0591] (Note 12) A flying robot according to any one of the appendices 1 to 11, characterized in that, when it recognizes a target to be monitored based on an image taken by the camera during a predetermined time period, it flies to approach the target to be monitored.

[0592] (Note 13) A flying robot according to any one of the appendices 1 to 12, characterized in that, if it recognizes the target being monitored based on an image captured by the camera between the time it receives a predetermined input operation or a predetermined signal and the time it receives an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal, it flies to approach the target being monitored.

[0593] (Note 14) A flying robot according to any one of the appendices 1 to 13, characterized in that, upon recognizing the aforementioned target for monitoring, it flies to approach the target and outputs a predetermined sound toward the target.

[0594] (Note 15) The flying robot according to Appendix 14, characterized in that the predetermined voice is a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft.

[0595] (Note 16) The flying robot according to Appendix 14, characterized in that the predetermined sound is the sound of a siren, horn, whistle, or a synthesized sound that imitates at least one of these sounds.

[0596] (Note 17) The flying robot according to any one of the appendices 14 to 16, characterized in that it outputs the predetermined sound while the recognized target being monitored is within a pre-set monitoring range.

[0597] (Note 18) The aforementioned predetermined sound is characterized in that the sound pressure level is 80 dB or higher, as described in any one of the appendices 14 to 17 of the flying robot.

[0598] (Note 19) The aforementioned predetermined sound is characterized in that its loudness level is 90 fps or higher (see Appendix 1). A flying robot described in one of the following four to seventeen items.

[0599] (Note 20) The aforementioned unmanned aerial vehicle is equipped with a light source, A flying robot according to any one of the appendices 1 to 19, characterized in that it flies while emitting light from the aforementioned light source.

[0600] (Note 21) The flying robot according to Appendix 20, characterized in that it flies while flashing the aforementioned light source.

[0601] (Note 22) The flying robot according to Appendix 21, characterized in that it flies while flashing the light source with a luminous flux above a predetermined threshold.

[0602] (Note 23) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to any one of the appendices 1 to 22, characterized in that, when it recognizes the object to be monitored based on the image captured by the camera, it transmits the image to a predetermined destination via the wireless communication interface.

[0603] (Note 24) The flying robot according to Appendix 23, characterized in that the predetermined destination is an email address set on a specific smartphone.

[0604] (Note 25) The flying robot according to Appendix 23, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0605] (Note 26) The flying robot according to any one of the appendices 1 to 25, characterized in that when it recognizes the object being monitored based on an image taken by the camera, it stores the image in a predetermined memory area.

[0606] (Note 27) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, The aforementioned camera is used to take photographs. Based on the images captured by the aforementioned camera, if a target for monitoring is recognized, the aircraft is directed to approach that target. A control program for a flying robot, characterized by its ability to execute processes.

[0607] (Note 28) A control program for a flying robot according to Appendix 27, characterized in that, when the program recognizes the target being monitored based on the image captured by the camera, it flies to capture images of the target being monitored from all directions.

[0608] (Note 29) The flying robot according to Appendix 27 or 28, characterized by recognizing a target to be monitored based on an image captured by the camera within a predetermined range set in advance. A control program.

[0609] (Note 30) The control program for the flying robot described in Appendix 29, characterized in that the predetermined range is a farm.

[0610] (Note 31) The control program for the flying robot described in Appendix 30, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting agricultural products or items presumed to be such agricultural products on the farm.

[0611] (Note 32) The control program for a flying robot according to Appendix 29 or 30, characterized in that the predetermined range is a crop cultivation farm.

[0612] (Note 33) The control program for the flying robot described in Appendix 32, characterized in that the subject of monitoring is a bird, animal, or human possessing or transporting a crop or an item presumed to be such crop at the crop farm.

[0613] (Note 34) The control program for a flying robot according to Appendix 29 or 30, characterized in that the predetermined range is a livestock farm.

[0614] (Note 35) The control program for the flying robot described in Appendix 34, characterized in that the target of monitoring is livestock or poultry at the livestock farm, or birds, animals, or humans possessing or transporting items presumed to be such livestock or poultry.

[0615] (Note 36) The control program for the flying robot according to Appendix 29 or 30, characterized in that the predetermined range is a beekeeping farm.

[0616] (Note 37) The control program for the flying robot described in Appendix 36, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be a beehive.

[0617] (Note 38) A control program for a flying robot according to any one of the appendices 27 to 37, characterized in that, when the robot recognizes a target to be monitored based on an image taken by the camera during a predetermined time period, it flies to approach the target to be monitored.

[0618] (Note 39) A control program for a flying robot according to any one of the appendices 27 to 38, characterized in that, between the time a predetermined input operation or predetermined signal is received and the time an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal is received, if the robot recognizes the target to be monitored based on an image captured by the camera, it flies to approach the target to be monitored.

[0619] (Note 40) A control program for a flying robot according to any one of the appendices 27 to 39, characterized in that, when it recognizes the aforementioned target to be monitored, it flies to approach the target and outputs a predetermined sound toward the target.

[0620] (Note 41) The control program for a flying robot according to Appendix 40, characterized in that the predetermined voice is a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft.

[0621] (Note 42) The control program for a flying robot according to Appendix 40, characterized in that the predetermined sound is the sound of a siren, horn, whistle, or a synthesized sound that imitates at least one of these sounds.

[0622] (Note 43) A control program for a flying robot according to any one of the appendices 40 to 42, characterized in that it outputs a predetermined sound while the recognized target being monitored is within a pre-set monitoring range.

[0623] (Note 44) The control program for a flying robot according to any one of the appendices 40 to 43, characterized in that the predetermined sound has a sound pressure level of 80 dB or higher.

[0624] (Note 45) The control program for a flying robot according to any one of the appendices 40 to 43, characterized in that the predetermined sound has a loudness level of 90 phons or higher.

[0625] (Note 46) The aforementioned unmanned aerial vehicle is equipped with a light source, A control program for a flying robot according to any one of the appendices 27 to 45, characterized in that the robot flies while emitting light from the aforementioned light source.

[0626] (Note 47) A control program for a flying robot according to Appendix 46, characterized in that it flies while flashing the aforementioned light source.

[0627] (Note 48) A control program for a flying robot according to Appendix 47, characterized in that the light source is made to fly while flashing light with a luminous flux above a predetermined threshold.

[0628] (Note 49) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, A control program for a flying robot according to any one of the appendices 27 to 48, characterized in that, when the monitored object is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0629] (Note 50) The control program for a flying robot according to Appendix 49, characterized in that the predetermined recipient is an email address set on a specific smartphone.

[0630] (Note 51) The control program for a flying robot according to Appendix 49, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0631] (Note 52) A control program for a flying robot according to any one of the appendices 27 to 51, characterized in that when the monitored object is recognized based on an image taken by the camera, the image is stored in a predetermined memory area.

[0632] (Note 53) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, The aforementioned camera is used to take photographs. Based on the images captured by the aforementioned camera, if a target for monitoring is recognized, the aircraft is directed to approach that target. A method for controlling a flying robot, characterized by causing it to execute a process.

[0633] (Note 54) A method for controlling a flying robot according to Appendix 53, characterized in that, when the robot recognizes the target to be monitored based on the image captured by the camera, it is made to fly in a manner that captures images of the target from all directions.

[0634] (Note 55) A method for controlling a flying robot according to appendix 53 or 54, characterized in that it recognizes a target to be monitored based on an image captured by the camera within a predetermined range set in advance.

[0635] (Note 56) The method for controlling a flying robot according to Appendix 55, characterized in that the predetermined area is a farm.

[0636] (Note 57) The method for controlling a flying robot according to Appendix 56, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting agricultural products or items presumed to be such agricultural products on the farm.

[0637] (Note 58) The method for controlling a flying robot according to appendix 55 or 56, characterized in that the predetermined range is a crop cultivation farm.

[0638] (Note 59) The method for controlling a flying robot according to Appendix 58, characterized in that the subject of monitoring is a bird, animal, or human possessing or transporting a crop or an item presumed to be such crop at the crop farm.

[0639] (Note 60) The method for controlling a flying robot according to appendix 55 or 56, characterized in that the predetermined range is a livestock farm.

[0640] (Note 61) The method for controlling a flying robot according to Appendix 60, characterized in that the subject of surveillance is livestock or poultry in the livestock farm, or birds, animals, or humans possessing or transporting items presumed to be such livestock or poultry.

[0641] (Note 62) The method for controlling a flying robot according to appendix 55 or 56, characterized in that the predetermined area is a beekeeping farm.

[0642] (Note 63) The method for controlling a flying robot according to Appendix 62, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be a beehive.

[0643] (Note 64) A method for controlling a flying robot according to any one of the appendices 55 to 63, characterized in that, when the robot recognizes a target to be monitored based on an image taken by the camera during a predetermined time period, it is made to fly towards the target to be monitored.

[0644] (Note 65) A method for controlling a flying robot according to any one of the appendices 53 to 64, characterized in that, between the time a predetermined input operation or predetermined signal is received and the time an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal is received, if the robot recognizes the target to be monitored based on an image captured by the camera, it is made to fly towards the target to be monitored.

[0645] (Note 66) A method for controlling a flying robot according to any one of the appendices 55 to 65, characterized in that, when the robot recognizes the target to be monitored, it is made to fly towards the target and outputs a predetermined sound toward the target.

[0646] (Note 67) The method for controlling a flying robot according to Appendix 66, characterized in that the predetermined voice is a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft.

[0647] (Note 68) The method for controlling a flying robot according to Appendix 66, characterized in that the predetermined sound is the sound of a siren, a horn, a signal whistle, or a synthesized sound that imitates at least one of these sounds.

[0648] (Note 69) A method for controlling a flying robot according to any one of the appendices 66 to 68, characterized in that the recognized object being monitored is located within a predetermined monitoring range when the object is outputting the predetermined sound.

[0649] (Note 70) The method for controlling a flying robot according to any one of the appendices 66 to 69, characterized in that the predetermined sound has a sound pressure level of 80 dB or higher.

[0650] (Note 71) The method for controlling a flying robot according to any one of the appendices 66 to 69, characterized in that the predetermined sound has a loudness level of 90 phons or higher.

[0651] (Note 72) The aforementioned unmanned aerial vehicle is equipped with a light source, A method for controlling a flying robot according to any one of the appendices 55 to 71, characterized in that the robot flies while emitting light from the aforementioned light source.

[0652] (Note 73) A method for controlling a flying robot according to Appendix 72, characterized in that the robot flies while flashing the aforementioned light source.

[0653] (Note 74) A method for controlling a flying robot according to Appendix 73, characterized in that the light source is made to fly while flashing light with a luminous flux above a predetermined threshold.

[0654] (Note 75) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, A method for controlling a flying robot according to any one of the appendices 53 to 74, characterized in that, when the monitored object is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

[0655] (Note 76) The method for controlling a flying robot according to Appendix 75, characterized in that the predetermined destination is an email address set on a specific smartphone.

[0656] (Note 77) The method for controlling a flying robot according to Appendix 75, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0657] (Note 78) A method for controlling a flying robot according to any one of the appendices 53 to 77, characterized in that when the monitored object is recognized based on an image taken by the camera, the image is stored in a predetermined memory area.

[0658] The details of Embodiment 3 are described below as an addendum.

[0659] (Note 1) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, Based on the image captured by the aforementioned camera, the user is recognized. A flying robot characterized by moving in accordance with the movements of the recognized user and taking photographs of the area around the user.

[0660] (Note 2) The flying robot according to Appendix 1, characterized in that, upon recognizing a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

[0661] (Note 3) The flying robot according to Appendix 2, characterized in that the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

[0662] (Note 4) The aforementioned unmanned aerial vehicle is equipped with a microphone, The flying robot according to Appendix 2, characterized in that the predetermined signal is the user's spoken voice collected by the microphone.

[0663] (Note 5) The flying robot according to Appendix 4, characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

[0664] (Note 6) The flying robot according to Appendix 4 or 5, characterized in that the predetermined signal is the user's voice, picked up by the microphone, at a predetermined volume or greater.

[0665] (Note 7) Furthermore, the flying robot according to Appendix 4 or 5 is characterized in that, when it recognizes a voice spoken by a person other than the user that is louder than a predetermined volume and collected by the microphone, it performs a warning action toward the target of concern.

[0666] (Note 8) The flying robot according to any one of the appendices 2 to 7, characterized in that the aforementioned vigilance action is an action to photograph the object to be vigilance.

[0667] (Note 9) The flying robot according to Appendix 8, characterized in that the aforementioned vigilance action is an action of photographing the target of vigilance from all directions.

[0668] (Note 10) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The aforementioned vigilance operation is characterized by transmitting the captured image of the target to a predetermined destination via the wireless communication interface, as described in Appendix 8 or 9 of the flying robot.

[0669] (Note 11) The system includes means for acquiring location information of the aforementioned target of surveillance, The flying robot according to Appendix 10, characterized in that it transmits the captured image of the target to be monitored and the location information acquired by the acquisition means to the predetermined destination.

[0670] (Note 12) The flying robot according to appendix 10 or 11, characterized in that the predetermined destination is an email address set on a specific smartphone.

[0671] (Note 13) The flying robot according to appendix 10 or 11, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0672] (Note 14) The aforementioned unmanned aerial vehicle is equipped with memory, The aforementioned vigilance operation is characterized by storing the captured image of the target of vigilance in the memory, as described in Appendix 8 or 9 of the flying robot.

[0673] (Note 15) The aforementioned unmanned aerial vehicle is equipped with a speaker, The flying robot according to any one of the appendices 2 to 7, characterized in that the aforementioned warning action is an action of outputting a predetermined sound from the speaker directed towards the object being warned.

[0674] (Note 16) The flying robot according to Appendix 15, characterized in that the predetermined voice is a voice that urges the perpetrator to stop committing a crime.

[0675] (Note 17) The flying robot according to Appendix 15, characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

[0676] (Note 18) The flying robot according to Appendix 15, characterized in that the predetermined sound is a siren, a horn, a signal whistle, a whistle, or a synthesized sound that imitates at least one of these.

[0677] (Note 19) The aforementioned unmanned aerial vehicle is equipped with a security ball, The flying robot according to any one of the appendices 2 to 7, characterized in that the aforementioned warning action is an action of colliding the security ball with the object to be guarded or the vicinity of the object to be guarded.

[0678] (Note 20) A flying robot according to any one of appendices 2 to 19, characterized in that it performs the warning operation while the recognized object of warning is within range of the user.

[0679] (Note 21) It is equipped with a detection means for detecting a trigger for starting, The flying robot according to any one of the appendices 1 to 20, characterized in that when the trigger for the start is detected by the detection means, the camera starts taking pictures.

[0680] (Note 22) The flying robot according to Appendix 21, characterized in that the detection means detects that the flying robot has been thrown into the air as a trigger for the start-up.

[0681] (Note 23) The flying robot according to appendix 21 or 22, characterized in that the detection means includes an inertial sensor.

[0682] (Note 24) The flying robot according to Appendix 23, characterized in that the detection means includes at least one of an acceleration sensor and an angle sensor.

[0683] (Note 25) A flying robot according to any one of the appendices 21 to 24, characterized in that it starts flying when the trigger for starting is detected by the detection means.

[0684] (Note 26) The aforementioned unmanned aerial vehicle is equipped with a microphone, The flying robot according to any one of the appendices 21 to 25, characterized in that when the trigger for the start is detected by the detection means, recording is started by the microphone.

[0685] (Note 27) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the aforementioned camera, the user is recognized. A control program for a flying robot characterized by moving in accordance with the movements of the recognized user and taking photographs of the area around the user.

[0686] (Note 28) A control program for a flying robot as described in Appendix 27, characterized in that, upon recognizing a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

[0687] (Note 29) The control program for the flying robot described in Appendix 28, characterized in that the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

[0688] (Note 30) The aforementioned unmanned aerial vehicle is equipped with a microphone, The control program for the flying robot according to Appendix 28, characterized in that the predetermined signal is the user's spoken voice collected by the microphone.

[0689] (Note 31) The control program for the flying robot according to Appendix 30, characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

[0690] (Note 32) The control program for a flying robot according to Appendix 30 or 31, characterized in that the predetermined signal is the user's voice, picked up by the microphone, at a predetermined volume or greater.

[0691] (Note 33) Furthermore, the control program for the flying robot according to Appendix 30 or 31 is characterized in that, when the microphone picks up a voice uttered by a person other than the user that is louder than a predetermined volume, it performs a warning action toward the target of the warning.

[0692] (Note 34) A control program for a flying robot according to any one of the appendices 28 to 33, characterized in that the aforementioned vigilance action is an action to photograph the object to be vigilance.

[0693] (Note 35) The control program for the flying robot described in Appendix 34, characterized in that the aforementioned vigilance action is an action to photograph the target of vigilance from all directions.

[0694] (Note 36) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The aforementioned vigilance operation is a control program for a flying robot according to appendix 34 or 35, characterized in that it transmits the captured image of the target to a predetermined destination via the wireless communication interface.

[0695] (Note 37) The system includes means for acquiring location information of the aforementioned target of surveillance, A control program for a flying robot according to Appendix 36, characterized by transmitting the captured image of the target to be monitored and the location information acquired by the acquisition means to the predetermined destination.

[0696] (Note 38) The control program for a flying robot according to appendix 36 or 37, characterized in that the predetermined destination is an email address set on a specific smartphone.

[0697] (Note 39) The control program for a flying robot according to appendix 36 or 37, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0698] (Note 40) The aforementioned unmanned aerial vehicle is equipped with memory, The aforementioned vigilance operation is a control program for a flying robot according to appendix 34 or 35, characterized in that it stores the captured image of the target of vigilance in the memory.

[0699] (Note 41) The aforementioned unmanned aerial vehicle is equipped with a speaker, The control program for a flying robot according to any one of the appendices 28 to 33, characterized in that the aforementioned warning operation is an operation to output a predetermined sound from the speaker directed towards the object being warned.

[0700] (Note 42) The control program for a flying robot according to Appendix 41, characterized in that the predetermined voice is a voice that prompts the cessation of the crime.

[0701] (Note 43) The control program for the flying robot according to Appendix 41, characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

[0702] (Note 44) The control program for a flying robot according to Appendix 41, characterized in that the predetermined sound is a siren, a horn, a whistle, or a synthesized sound that imitates at least one of these.

[0703] (Note 45) The control program for a flying robot according to any one of the appendices 28 to 33, characterized in that the aforementioned warning action is an action in which a security ball mounted on the unmanned aerial vehicle is struck against the target of warning or the vicinity of the target of warning.

[0704] (Note 46) A control program for a flying robot according to any one of the appendices 28 to 45, characterized in that it performs the warning operation while the recognized object of warning is within range of the user.

[0705] (Note 47) It is equipped with a detection means for detecting a trigger for starting, A control program for a flying robot according to any one of the appendices 27 to 46, characterized in that when the trigger for the start is detected by the detection means, the camera starts taking pictures.

[0706] (Note 48) The control program for the flying robot according to Appendix 47, characterized in that the detection means detects that the flying robot has been thrown into the air as a trigger for the start.

[0707] (Note 49) The control program for a flying robot according to appendix 47 or 48, characterized in that the detection means includes an inertial sensor.

[0708] (Note 50) The control program for the flying robot according to Appendix 49, characterized in that the detection means includes at least one of an acceleration sensor and an angle sensor.

[0709] (Note 51) A control program for a flying robot according to any one of the appendices 47 to 50, characterized in that when the trigger for starting is detected by the detection means, the robot starts flying.

[0710] (Note 52) The aforementioned unmanned aerial vehicle is equipped with a microphone, A control program for a flying robot according to any one of the appendices 47 to 51, characterized in that when the trigger for the start is detected by the detection means, recording by the microphone is started.

[0711] (Note 53) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the aforementioned camera, the user is recognized. A method for controlling a flying robot, characterized by moving in accordance with the movements of the recognized user and taking photographs of the area around the user.

[0712] (Note 54) A control method for a flying robot according to Appendix 53, characterized in that when it recognizes a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

[0713] (Note 55) The method for controlling a flying robot according to Appendix 54, characterized in that the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

[0714] (Note 56) The aforementioned unmanned aerial vehicle is equipped with a microphone, The method for controlling a flying robot according to Appendix 54, characterized in that the predetermined signal is the user's spoken voice collected by the microphone.

[0715] (Note 57) The method for controlling a flying robot according to Appendix 56, characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

[0716] (Note 58) The method for controlling a flying robot according to Appendix 56 or 57, characterized in that the predetermined signal is the user's voice, which is picked up by the microphone, at a predetermined volume or greater.

[0717] (Note 59) Furthermore, the control method for a flying robot according to Appendix 56 or 57 is characterized in that, when the microphone picks up a voice uttered by a person other than the user that is louder than a predetermined volume, the robot performs a warning action toward the target of the warning.

[0718] (Note 60) A method for controlling a flying robot according to any one of the appendices 54 to 59, characterized in that the aforementioned vigilance action is an action to photograph the object to be vigilance.

[0719] (Note 61) The control method for a flying robot according to Appendix 60, characterized in that the aforementioned vigilance action is an action of photographing the target of vigilance from all directions.

[0720] (Note 62) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The method for controlling a flying robot according to Appendix 60 or 61, characterized in that the warning operation transmits the captured image of the object to be warned to a predetermined destination via the wireless communication interface.

[0721] (Note 63) The system includes means for acquiring location information of the aforementioned target of surveillance, A method for controlling a flying robot according to Appendix 62, characterized by transmitting the captured image of the target to be monitored and the location information acquired by the acquisition means to the predetermined destination.

[0722] (Note 64) The method for controlling a flying robot according to appendix 62 or 63, characterized in that the predetermined destination is an email address set on a specific smartphone.

[0723] (Note 65) The method for controlling a flying robot according to appendix 62 or 63, characterized in that the predetermined destination is a specific URL set on a cloud network.

[0724] (Note 66) The aforementioned unmanned aerial vehicle is equipped with memory, The control method for a flying robot according to Appendix 60 or 61, characterized in that the warning operation stores the captured image of the object to be warned in the memory.

[0725] (Note 67) The aforementioned unmanned aerial vehicle is equipped with a speaker, The control method for a flying robot according to any one of the appendices 54 to 59, characterized in that the warning operation is an operation to output a predetermined sound from the speaker directed towards the object being warned.

[0726] (Note 68) The method for controlling a flying robot according to Appendix 67, characterized in that the predetermined sound is a sound that prompts the cessation of the crime.

[0727] (Note 69) The method for controlling a flying robot according to Appendix 67, characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

[0728] (Note 70) The method for controlling a flying robot according to Appendix 67, characterized in that the predetermined sound is a siren, a horn, a signal whistle, a whistle, or a synthesized sound that imitates at least one of these.

[0729] (Note 71) The method for controlling a flying robot according to any one of the appendices 54 to 59, characterized in that the warning action is an action in which a security ball mounted on the unmanned aerial vehicle is struck against the object to be warned or the vicinity of the object to be warned.

[0730] (Note 72) A method for controlling a flying robot according to any one of the appendices 54 to 71, characterized in that the security operation is performed while the recognized security target is within range of the user.

[0731] (Note 73) It is equipped with a detection means for detecting a trigger for starting, A method for controlling a flying robot according to any one of the appendices 53 to 72, characterized in that when the trigger for starting is detected by the detection means, the camera starts taking pictures.

[0732] (Note 74) The method for controlling a flying robot according to Appendix 73, characterized in that the detection means detects that the flying robot has been thrown into the air as a trigger for the start.

[0733] (Note 75) The method for controlling a flying robot according to appendix 73 or 74, characterized in that the detection means includes an inertial sensor.

[0734] (Note 76) The method for controlling a flying robot according to Appendix 75, characterized in that the detection means includes at least one of an acceleration sensor and an angle sensor.

[0735] (Note 77) A method for controlling a flying robot according to any one of the appendices 73 to 76, characterized in that when the trigger for starting is detected by the detection means, the robot starts flying.

[0736] (Note 78) The aforementioned unmanned aerial vehicle is equipped with a microphone, A method for controlling a flying robot according to any one of the appendices 73 to 77, characterized in that when the trigger for starting is detected by the detection means, recording is started by the microphone. [Industrial applicability]

[0737] As described above, the flying robot, control program for the flying robot, and control method for the flying robot according to this invention are useful for flying robots, control programs for flying robots, and control methods for flying robots that monitor a desired location, and are particularly suitable for flying robots, control programs for flying robots, and control methods for flying robots that monitor farms producing agricultural products. [Explanation of Symbols]

[0738] 101 Flying Robots 102 Propeller 103 Camera 104 LED lamps 201 Battery 202 Motor 103 Camera 203 Mike 204 Speakers 205 GPS Sensors 206 Object Sensor 207 Control Circuit 208 Accelerometer 209 Communication I / F 210 solar cells Station 301 302 Exterior part 303 Battery 304 Transmission Coil 305 Solar Cells 401 Storage section 402 Detection Unit 403 Photography Department 404 Acquisition Department 405 Drive Unit 406 Output section 407 Control Unit 601 Post 602 Garbage collection area 701 Crow 1001 Flying Robot 1201 Trees 1202 Criminal 1301 Pig 1401 Flying Robot 1402 Speaker Unit 1403 Anti-theft ball 1601 users 1602 Target of Alert

Claims

1. Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, Based on the image captured by the aforementioned camera, the user is recognized. A flying robot characterized by moving in accordance with the movements of the recognized user and taking photographs of the area around the user.

2. The flying robot according to claim 1, characterized in that, upon recognizing a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

3. The flying robot according to claim 2, characterized in that the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

4. The aforementioned unmanned aerial vehicle is equipped with a microphone, The flying robot according to claim 2, characterized in that the predetermined signal is the user's spoken voice collected by the microphone.

5. The flying robot according to claim 4, characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

6. The flying robot according to claim 4 or 5, characterized in that the predetermined signal is the user's voice, which is picked up by the microphone, at a predetermined volume or greater.

7. Furthermore, the flying robot according to claim 4 or 5 is characterized in that, when it recognizes a voice uttered by a person other than the user that is louder than a predetermined volume and collected by the microphone, it performs a warning action toward the target of concern.

8. The flying robot according to any one of claims 2 to 7, characterized in that the aforementioned vigilance action is an action of photographing the object to be vigilance.

9. The flying robot according to claim 8, characterized in that the aforementioned vigilance action is an action of photographing the target of vigilance from all directions.

10. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to claim 8 or 9, characterized in that the warning operation transmits the captured image of the object to be warned to a predetermined destination via the wireless communication interface.

11. The system includes means for acquiring location information of the aforementioned target of surveillance, The flying robot according to claim 10, characterized in that it transmits the captured image of the target to be monitored and the location information acquired by the acquisition means to the predetermined destination.

12. The flying robot according to claim 10 or 11, characterized in that the predetermined destination is an email address set on a specific smartphone.

13. The flying robot according to claim 10 or 11, characterized in that the predetermined destination is a specific URL set on a cloud network.

14. The aforementioned unmanned aerial vehicle is equipped with memory, The flying robot according to claim 8 or 9, characterized in that the warning operation stores the captured image of the object to be warned in the memory.

15. The aforementioned unmanned aerial vehicle is equipped with a speaker, The flying robot according to any one of claims 2 to 7, characterized in that the aforementioned warning action is an action of outputting a predetermined sound from the speaker directed towards the object of warning.

16. The flying robot according to claim 15, characterized in that the predetermined voice is a voice that urges the perpetrator to stop committing a crime.

17. The flying robot according to claim 15, characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

18. The flying robot according to claim 15, characterized in that the predetermined sound is a siren, a horn, a whistle, or a synthesized sound that imitates at least one of these.

19. The aforementioned unmanned aerial vehicle is equipped with a security ball, The flying robot according to any one of claims 2 to 7, characterized in that the aforementioned warning action is an action of colliding the security ball with the object to be guarded or the vicinity of the object to be guarded.

20. The flying robot according to any one of 2 to 19, characterized in that it performs the warning operation while the recognized object of warning is within range of the user.

21. It is equipped with a detection means for detecting a trigger for starting, The flying robot according to any one of claims 1 to 20, characterized in that when the trigger for starting is detected by the detection means, the camera starts taking pictures.

22. The flying robot according to claim 21, characterized in that the detection means detects that the flying robot has been thrown into the air as a trigger for the start-up.

23. The flying robot according to claim 21 or 22, characterized in that the detection means includes an inertial sensor.

24. The flying robot according to claim 23, characterized in that the detection means includes at least one of an acceleration sensor and an angle sensor.

25. The flying robot according to any one of 21 to 24, characterized in that it starts flying when the trigger for starting is detected by the detection means.

26. The aforementioned unmanned aerial vehicle is equipped with a microphone, The flying robot according to any one of 21 to 25, characterized in that when the trigger for the start is detected by the detection means, recording by the microphone is started.

27. The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the aforementioned camera, the user is recognized. The system will move in accordance with the movement of the recognized user and capture images of the area around that user. A control program for a flying robot characterized by [features].

28. The control program for a flying robot according to claim 27, characterized in that when it recognizes a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

29. The control program for a flying robot according to claim 28, characterized in that the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

30. The aforementioned unmanned aerial vehicle is equipped with a microphone, The control program for a flying robot according to claim 28, characterized in that the predetermined signal is the user's spoken voice collected by the microphone.

31. The control program for a flying robot according to claim 30, characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

32. The control program for a flying robot according to claim 30 or 31, characterized in that the predetermined signal is the user's voice, picked up by the microphone, at a predetermined volume or greater.

33. Furthermore, the control program for the flying robot according to claim 30 or 31 is characterized in that, when the microphone picks up a voice uttered by a person other than the user that is louder than a predetermined volume, the robot performs a warning action toward the target of the warning.

34. The control program for a flying robot according to any one of 28 to 33, characterized in that the aforementioned vigilance action is an action to photograph the object to be vigilance.

35. The control program for the flying robot according to claim 34, characterized in that the aforementioned vigilance action is an action of photographing the target of vigilance from all directions.

36. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The control program for the flying robot according to claim 34 or 35, characterized in that the warning operation transmits the captured image of the object to be warned to a predetermined destination via the wireless communication interface.

37. The system includes means for acquiring location information of the aforementioned target of surveillance, A control program for a flying robot according to 36, characterized in that it transmits the captured image of the target to be monitored and the location information acquired by the acquisition means to the predetermined destination.

38. The control program for a flying robot according to claim 36 or 37, characterized in that the predetermined destination is an email address set on a specific smartphone.

39. The control program for a flying robot according to claim 36 or 37, characterized in that the predetermined destination is a specific URL set on a cloud network.

40. The aforementioned unmanned aerial vehicle is equipped with memory, The control program for the flying robot according to claim 34 or 35, characterized in that the warning operation stores the captured image of the object to be warned in the memory.

41. The aforementioned unmanned aerial vehicle is equipped with a speaker, The control program for a flying robot according to any one of 28 to 33, characterized in that the warning operation is an operation to output a predetermined sound from the speaker directed towards the object being warned.

42. The control program for a flying robot according to claim 41, characterized in that the predetermined voice is a voice that prompts the cessation of the crime.

43. The control program for the flying robot according to claim 41, characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

44. The control program for a flying robot according to claim 41, characterized in that the predetermined sound is a siren, a horn, a whistle, or a synthesized sound that imitates at least one of these.

45. The control program for a flying robot according to any one of 28 to 33, characterized in that the warning action is an action in which a security ball mounted on the unmanned aerial vehicle is struck against the target of warning or the vicinity of the target of warning.

46. A control program for a flying robot according to any one of 28 to 45, characterized in that it performs the alerting operation while the recognized alert target is within range of the user.

47. It is equipped with a detection means for detecting a trigger for starting, A control program for a flying robot according to any one of 27 to 46, characterized in that when the trigger for the start is detected by the detection means, the camera starts taking pictures.

48. The control program for a flying robot according to claim 47, characterized in that the detection means detects that the flying robot has been thrown into the air as a trigger for the start.

49. The control program for a flying robot according to claim 47 or 48, characterized in that the detection means includes an inertial sensor.

50. The control program for a flying robot according to claim 49, characterized in that the detection means includes at least one of an acceleration sensor and an angle sensor.

51. A control program for a flying robot according to any one of 47 to 50, characterized in that when the trigger for starting is detected by the detection means, the robot starts flying.

52. The aforementioned unmanned aerial vehicle is equipped with a microphone, A control program for a flying robot according to any one of 47 to 51, characterized in that when the detection means detects the trigger for the start, recording by the microphone is started.

53. The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the aforementioned camera, the user is recognized. The system will move in accordance with the movement of the recognized user and capture images of the area around that user. A control method for flying robots characterized by [specific features].

54. The control method for a flying robot according to claim 53, characterized in that when it recognizes a predetermined signal issued by the user, it performs a warning action toward the target of the warning.

55. The method for controlling a flying robot according to claim 54, characterized in that the predetermined signal is a specific action performed by the user, which is recognized based on an image captured by the camera.

56. The aforementioned unmanned aerial vehicle is equipped with a microphone, The method for controlling a flying robot according to claim 54, characterized in that the predetermined signal is the user's spoken voice collected by the microphone.

57. The method for controlling a flying robot according to claim 56, characterized in that the predetermined signal is the user's spoken voice of a pre-set phrase, which is picked up by the microphone.

58. The method for controlling a flying robot according to claim 56 or 57, characterized in that the predetermined signal is the user's voice, which is picked up by the microphone, at a predetermined volume or greater.

59. Furthermore, the control method for a flying robot according to 56 or 57 is characterized in that, when the microphone picks up a voice uttered by a person other than the user that is louder than a predetermined volume, the robot performs a warning action toward the target of the warning.

60. The method for controlling a flying robot according to any one of 54 to 59, characterized in that the aforementioned vigilance action is an action to photograph the object to be vigilance.

61. The control method for a flying robot according to claim 60, characterized in that the aforementioned vigilance action is an action of photographing the target of vigilance from all directions.

62. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The method for controlling a flying robot according to claim 60 or 61, characterized in that the warning operation transmits the captured image of the object to be warned to a predetermined destination via the wireless communication interface.

63. The system includes means for acquiring location information of the aforementioned target of surveillance, A method for controlling a flying robot according to 62, characterized in that it transmits the captured image of the target to be monitored and the location information acquired by the acquisition means to the predetermined destination.

64. The method for controlling a flying robot according to 62 or 63, characterized in that the predetermined destination is an email address set on a specific smartphone.

65. The method for controlling a flying robot according to 62 or 63, characterized in that the predetermined destination is a specific URL set on a cloud network.

66. The aforementioned unmanned aerial vehicle is equipped with memory, The control method for a flying robot according to claim 60 or 61, characterized in that the warning operation stores the captured image of the object to be warned in the memory.

67. The aforementioned unmanned aerial vehicle is equipped with a speaker, The control method for a flying robot according to any one of 54 to 59, characterized in that the warning operation is an operation to output a predetermined sound from the speaker directed towards the object being warned.

68. The method for controlling a flying robot according to claim 67, characterized in that the predetermined sound is a sound that prompts the cessation of the crime.

69. The method for controlling a flying robot according to claim 67, characterized in that the predetermined sound is a sound that notifies that the target of surveillance is being photographed.

70. The method for controlling a flying robot according to 67, characterized in that the predetermined sound is a siren, a horn, a whistle, or a synthesized sound that imitates at least one of these.

71. The method for controlling a flying robot according to any one of 54 to 59, characterized in that the warning action is an action in which a security ball mounted on the unmanned aerial vehicle is struck against the object to be warned or the vicinity of the object to be warned.

72. A method for controlling a flying robot according to any one of 54 to 71, characterized in that the alert operation is performed while the recognized alert target is within range of the user.

73. It is equipped with a detection means for detecting a trigger for starting, A method for controlling a flying robot according to any one of 53 to 72, characterized in that when the trigger for starting is detected by the detection means, the camera starts taking pictures.

74. The method for controlling a flying robot according to claim 73, characterized in that the detection means detects that the flying robot has been thrown into the air as a trigger for the start.

75. The method for controlling a flying robot according to claim 73 or 74, characterized in that the detection means includes an inertial sensor.

76. The method for controlling a flying robot according to claim 75, characterized in that the detection means includes at least one of an acceleration sensor and an angle sensor.

77. A method for controlling a flying robot according to any one of 73 to 76, characterized in that when the trigger for starting is detected by the detection means, the robot starts flying.

78. The aforementioned unmanned aerial vehicle is equipped with a microphone, A method for controlling a flying robot according to any one of 73 to 77, characterized in that when the trigger for starting is detected by the detection means, recording by the microphone is started.

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