Pest control system

Abstract

This system provides a pest control system that allows for safe and low-cost 3D monitoring and deterrent measures against harmful birds and animals, as well as wireless power supply to drones, while ascending and descending while tethered to power transmission poles, regardless of adverse weather conditions such as strong winds or heavy rain. [Solution] By simply erecting a power transmission pole 12 in an area where bears are found, even in adverse weather conditions such as strong winds or heavy rain, the drone 11 tethered to the power transmission pole 12 can be used as a guide to perform 3D monitoring and deterrence of bears by repeatedly rotating 360° and ascending and descending, without being blown away by the wind and rain, and simultaneously be charged via wireless power supply. Therefore, safe and low-cost continuous bear countermeasures become possible.

Description

Technical Field

[0001] This invention relates to a harmful bird and animal countermeasure system using drones.

Background Art

[0002] In recent years, personal injuries and crop damages caused by bears (harmful birds and animals) such as Asiatic black bears (Ursus thibetanus) and brown bears (Ursus arctos) have been on the rise nationwide. Since the 2020s, especially last year, the number of bear sightings has reached a record high, and accordingly, personal injuries have become more serious.

[0003] The main factors behind this expansion of damage are as follows. That is, poor harvests of major food resources such as beech have occurred, and bears are expanding their ranges of movement to human settlements and farmlands in search of food. Also, with the decline in the number of hunters and the change in the satoyama environment due to the increase in abandoned cultivated lands, the habitats of bears are expanding and the boundaries with human settlements are becoming ambiguous. Furthermore, bears that have easily obtained food (raw garbage, leftovers, crops) in human settlements once are no longer afraid of humans and are continuously appearing in human settlements (so-called "problem individuals").

[0004] As a general bear countermeasure, using fireworks, firecrackers, dogs, etc. to drive away bears has been practiced. However, since the person implementing the驱赶 needs to approach the bear, there has always been a risk of personal injury. For these reasons, it is extremely difficult to achieve both monitoring of bears while ensuring safety and immediate and effective repelling of bears, and the development of new bear countermeasures is demanded.

[0005] Therefore, as a conventional technology to solve this, in recent years, various bear countermeasure systems (harmful bird and animal countermeasure systems) using drones (unmanned aerial vehicles) that fly in space autonomously or remotely without a person on board have been developed (for example, Non-Patent Document 1, etc.). This bear countermeasure system involved equipping drones with zoom and infrared cameras to search for bears hiding in mountainous areas and bushes day and night, and to monitor bears that were damaging crops. In addition, the drones were equipped with speakers and fireworks to emit sounds of hunting dogs barking from above, or to create light, sound, and smoke from explosives to intimidate (repel) bears. Furthermore, conventional drone-based bear countermeasures have limited flight times, typically ranging from 20 to 40 minutes. [Prior art documents] [Patent Documents]

[0006] [Non-Patent Document 1] Searched on November 13, 2025. Product name: "UD4JH / Hunting Drone," Aero Japan Co., Ltd., (URL) https: / / flyaero.jp / prodact / ud4jh.html [Overview of the project] [Problems that the invention aims to solve]

[0007] However, conventional drone-based bear countermeasures were unable to fly in adverse weather conditions such as strong winds and heavy rain due to safety concerns. This dependence on weather conditions, especially during periods of high bear activity, was a major drawback.

[0008] Furthermore, conventional drone-based bear control systems had short flight times of only 20 to 40 minutes. Therefore, in order to monitor bears over a wide area or to continuously carry out deterrent actions for extended periods, it was necessary to prepare multiple powerful batteries and for operators to frequently change batteries in areas where bears were likely to be present.

[0009] Therefore, it is conceivable to install a flat landing and takeoff port on the ground in the bear-infested area for the drone to take off and land, and to install a power transmission unit with a power transmission coil in this landing and takeoff port, while installing a power receiving unit with a power receiving coil in the drone, and to install a wireless power supply device that transmits power from the landing and takeoff port to the drone using a magnetic field. However, with conventional drones, there was a risk that the drone would move away from its landing port during severe weather conditions such as strong winds and heavy rain, potentially preventing it from receiving power. Moreover, it was difficult to fly a drone and carry out bear-related actions in such bad weather.

[0010] In addition, traditional methods include fixing cameras to trees in areas where bears are known to appear to monitor their presence. However, because the camera's field of view is narrow at approximately 120°, bears that pass behind the camera cannot be detected. Furthermore, in mountainous areas, there are many obstacles such as trees and rocks, so simply monitoring from a fixed point with a camera risks missing harmful birds and animals hiding in the blind spots of these obstacles.

[0011] As a result of diligent research, the inventor discovered that if a drone for countermeasures against harmful birds and animals, including bears, is configured to repeatedly ascend and descend while tethered to a wireless power supply support pole equipped with a power transmission coil in the drone's ascent / descent area on the outer circumference of the support pole, then simply by erecting the power supply support pole in an area where harmful birds and animals frequent, even if there is no operator (worker) on site and in bad weather such as strong winds or heavy rain, the drone can repeatedly ascend and descend while rotating 360° along the power supply support pole, thereby simultaneously performing 3D monitoring and deterrence using a camera to eliminate blind spots of obstacles, as well as wireless power supply to the drone. This led to the completion of this invention.

[0012] This invention was made in view of the above problems, and aims to provide a harmful wildlife control system that can safely and inexpensively perform 3D monitoring and deterrent measures for harmful wildlife and wireless power supply to a drone simultaneously, while ascending and descending while tethered to a power transmission pole, regardless of adverse weather conditions such as strong winds or heavy rain. [Means for solving the problem]

[0013] The invention described in claim 1 is a harmful wildlife control system comprising a drone, which is an unmanned aerial vehicle for controlling harmful wildlife including bears, and a power transmission pole for wireless power supply including an electromagnetic induction method and a magnetic field resonance method, wherein the drone or the power transmission pole is provided with a mooring section for mooring the drone so as to be able to move up and down on the power transmission pole, the power transmission pole is erected in an area where harmful wildlife appear and comprises a power transmission section including a power transmission coil provided in the lifting and lowering area of ​​the drone, and the drone receives a magnetic field from the power transmission coil and converts it into electricity. The harmful wildlife control system comprises a power receiving unit including an electric coil and a camera for monitoring harmful birds and animals, wherein the drone is tethered to the power transmission pole and has a structure that allows it to rotate 360° around the axis of the power transmission pole while receiving wireless power from the power transmission pole without contact, and the drone is configured to perform 3D monitoring to eliminate blind spots of obstacles using the camera by physically combining this 360° rotational structure with repeated upward and downward movements along the power transmission pole.

[0014] The types of harmful birds and animals are not limited. For example, various large animals (bears (brown bears, Asian black bears), wild boars, Japanese deer, Japanese macaques), various medium and small animals (raccoons, masked palm civets, tanuki, foxes, weasels, martens), and various birds (crows (large-billed crows, carrion crows), rock doves, cormorants, etc.) can be included. The type of drone is arbitrary. Examples include rotary-wing aircraft (multirotor type), fixed-wing aircraft (airplane type), and powered drift aircraft (VTOL type). Among these, rotary-wing aircraft equipped with speakers, beam lights (searchlights), cameras (visible light cameras, zoom cameras, infrared (thermal) cameras, etc.), and tracking systems are preferred for monitoring and tracking harmful birds and animals.

[0015] The drone may be operated using a wireless control system, where the operator controls it visually or by viewing camera images displayed on a monitor of the transmitter (controller), or it may be an automatic control system that does not require wireless control. In other words, a drone, for example, has a central processing unit (CPU), a memory unit, and a flight controller that controls the drone's ascent and descent. When the drone is tethered to a power transmission pole and its ascent, descent, and takeoff and landing are performed automatically, for example, a drone ascent / descent program and a drone takeoff / landing program are stored in the memory unit.

[0016] Among these, the autonomous drone has, for example, a control unit (central processing unit, memory unit, flight controller) that has sensor control logic such as an IMU (Inertial Measurement Unit) to calculate attitude, position, and speed based on complex sensor information and automatically follow the target route; a GPS device that determines the absolute position on Earth (latitude, longitude, altitude); a barometric pressure sensor (absolute altitude) and a distance sensor (ground altitude) used for stable altitude maintenance and distance measurement during takeoff and landing; a vision sensor (a dedicated camera can also be used) that enables stable flight in places where the GPS device cannot be used, detects obstacles based on camera images, and reads ground features to maintain relative position; and a mission computer equipped with a high-performance CPU / GPU that also handles the use of, for example, speakers, beam lights, and repellent sprays to intimidate harmful birds and animals, and performs planning and execution of harmful bird and animal control missions and real-time decision-making using AI.

[0017] The electromagnetic induction method described herein is a power supply system that transmits power from the power transmission pole to the power receiving section of the drone by utilizing the electromagnetic induction phenomenon in which the fluctuating magnetic flux generated from the power transmission pole of the power transmission pole links with the receiving coil. The magnetic field emission means comprises a power transmission coil installed in the drone's lifting and lowering area on the outer circumference of the power transmission pole and a power transmission circuit that supplies power to this power transmission coil, and the magnetic field receiving power conversion means installed on the drone comprises a power receiving coil that receives the fluctuating magnetic flux generated by the power transmission coil and a power receiving circuit that extracts power from this receiving coil.

[0018] In this electromagnetic induction system, first, AC power is supplied from the transmission circuit of the transmission section to the transmission coil at the power transmission pole, generating a fluctuating magnetic flux that is emitted into the surroundings. Subsequently, this emitted fluctuating magnetic flux reaches the receiving coil of the drone and links with it, generating an induced electromotive force within the receiving coil due to the electromagnetic induction phenomenon (Faraday's law), causing current to flow through the receiving coil. This induced electromotive force is converted to DC by the receiving circuit (rectifier and smoothing circuit) and supplied to the drone. The power source for supplying power to this transmission circuit is not limited. For example, it could be a transmission battery, solar panels, or a charger (including charging cords) for connecting to a commercial power source.

[0019] On the other hand, the magnetic field resonance method referred to here is a power supply system in which a magnetic field emission means is provided on the outer circumference of a power transmission pole in the area where the drone moves up and down, and has a resonant power transmission coil (transmission coil) through which a high-frequency alternating current flows, and a power transmission circuit (including an oscillation circuit) that supplies power to this resonant power transmission coil, and a magnetic field receiving power conversion means provided on the drone has a resonant power receiving coil (receiving coil) set to approximately the same resonant frequency as the resonant power transmission coil, and a receiving circuit (including a rectifier circuit) that extracts the power induced in this resonant power receiving coil, and power is transmitted by utilizing the magnetic field resonance phenomenon between the resonant power transmission coil and the resonant power receiving coil.

[0020] In this magnetic resonance method, in the power transmission column, a power transmission circuit (oscillation circuit) generates a high-frequency alternating current and supplies it to the power transmission coil for resonance. In the power transmission coil for resonance, it vibrates at a specific resonance frequency determined by the coil shape, capacitor, etc., and emits a magnetic field corresponding to that frequency to the surroundings. Then, this emitted magnetic field reaches the power reception coil for resonance of the drone. Since this power reception coil for resonance is set at approximately the same resonance frequency as the power transmission coil for resonance, an induced electromotive force is generated in the power reception coil for resonance due to the magnetic field resonance phenomenon by receiving the magnetic field energy on the power transmission side, and a high-frequency alternating current flows. Then, the high-frequency alternating power induced in the power reception coil for resonance is sent to the power reception circuit (rectification circuit), where the high-frequency alternating power is converted into direct current power that can be used by the drone and supplied to the drone.

[0021] The ascent and descent of the drone along the power transmission column can be, for example, by ascent and descent, mechanical ascent and descent by a lifting device such as a winch, visual ascent and descent by an operator operating the transmitter, or software-based automatic ascent and descent by a drone ascent and descent program provided in the control unit (flight controller) of the drone or the control unit of the transmitter. By ascending and descending the drone along the power transmission column in an area where harmful birds and beasts appear, harmful birds and beasts that hear the propeller sound or see the drone will be startled and flee.

[0022] In the automatic ascent and descent of the drone by the drone ascent and descent program, the rotation speed (or thrust) of the rotation motor of the propeller arranged on the drone is controlled via the control unit (flight controller) mounted on the drone. Specifically, for example, based on a preset automatic ascending / descending plan, it detects the arrival at the target ascending / descending start point from GNSS information or vision sensor information. After reaching the target ascending / descending start point, it acquires the current altitude from the altitude sensor relative to the ground as the reference altitude, calculates the upper limit altitude at a predetermined distance above the reference altitude and the lower limit altitude at a predetermined distance below the reference altitude, and until reaching either the upper limit altitude or the lower limit altitude, it controls the thrust of the rotation motor based on the set ascending / descending speed to automatically ascend and descend the aircraft while rotating, switches the target altitude to the lower limit altitude when reaching the upper limit altitude, switches the target altitude to the upper limit altitude when reaching the lower limit altitude, and repeats the control of the automatic ascending / descending of the aircraft based on the above set ascending / descending speed. Thereby, continuous automatic ascending / descending (3D monitoring) of the drone while rotating within a predetermined range along the power transmission pole is realized. The rotation direction of the drone is arbitrary. It can be clockwise or counterclockwise. Also, it can be changed between clockwise and counterclockwise as appropriate. In this way, since the drone is rotated around the power transmission pole during the ascending / descending of the drone, the effect of repelling harmful birds and beasts is enhanced, and the monitoring range of harmful birds and beasts by the camera is significantly expanded.

[0023] The tethering part can be provided on the drone, on the power transmission pole, or on both of them. The type (structure) of the tethering part is arbitrary. For example, it is formed to penetrate the upper and lower surfaces of the drone's fuselage and has a pole insertion hole through which the power transmission pole is inserted, or not only the pole insertion hole but also a notch communicating from the side surface of the drone's fuselage to the pole insertion hole, or a pole insertion part through which the power transmission pole can be inserted is attached to the tip of the pole arm extending from the fuselage, and a pole insertion hole is provided in this pole insertion part, or a detachable latching structure (such as a hook structure) is provided on the power transmission pole from the side, etc.

[0024] When mooring a drone, it may be moored by inserting it downwards from the top of the power transmission pole, or by mooring it from the side of the power transmission pole. However, in the case of mooring from the side, measures such as forming a notch on the side of the drone's body that is larger than the width of the power transmission pole and communicates with the pole insertion hole, or attaching a pole insertion part to the end of the pole arm connected to the drone's body, which is capable of inserting the power transmission pole and is equipped with a power transmission coil, and providing a latching structure (such as a hook structure) on this pole insertion part that can be attached to and detached from the power transmission pole from the side, are necessary. When tethering a drone to a power transmission pole from the side, for example, a stopper may be installed at the top of the power transmission pole to prevent the drone from flying off while it is ascending or descending. In this way, even in the event of extremely strong winds such as those caused by typhoons, there is no risk of the tethered drone slipping off the top of the power transmission pole. This drone may be mounted to allow it to take off and land on power transmission poles.

[0025] The term "drone ascent / descent area within the outer perimeter of the power transmission pole" as used here refers to the area including the portion of the outer perimeter of the power transmission pole where the power transmission coils are installed. For example, this ascent / descent area could be approximately the entire length of the power transmission pole, or it could be the portion excluding the lowest part when the power transmission pole is divided into 2 to 5 equal parts in the height direction. In this context, "the drone can take off and land on the power transmission pole" means, for example, that the drone can be moored to the power transmission pole so that it can be raised and lowered, or that the drone can be released from this mooring to the power transmission pole and launched outwards.

[0026] The drone's takeoff and landing may be performed either by remote control operation or by automatic takeoff and landing using a drone takeoff and landing program stored in the drone's control unit's memory (automatic tethering and untethering of the drone to the power transmission pole). In the automated takeoff and landing of a drone using a drone takeoff and landing program, a control unit (flight controller) mounted on the drone transmits commands to the drone for automatic tethering to or automatic release from the power transmission pole. The following explanation will use as an example a drone having a pole insertion hole that penetrates the top and bottom surfaces in the center of the aircraft body, and tethering the drone to the power transmission pole by inserting it through the pole insertion hole from the top of the power transmission pole. Specifically, for example, when tethering a drone, a tethering command from the drone launch / landing program (or drone tethering program) causes the drone's control unit to move the drone to a predetermined waiting position above the power transmission pole based on GNSS (GPS) information and vision sensor information. Then, from this waiting position, the control unit gradually reduces the thrust of the rotary motor based on a guidance target, which is stored in the control unit's memory beforehand, to align the drone's pole insertion hole with the pole tip. As a result, the drone descends vertically, and after the pole tip is inserted into the pole insertion hole, the drone reaches the target ascent / descent starting point. After that, the drone performs the ascent / descent along the power transmission pole in the tethered state described above.

[0027] When releasing a drone from its tether, for example, a release command from the drone launch / landing program (or drone release program) causes the drone's control unit to gradually increase the thrust of each rotary motor, causing the aircraft to rise vertically until vision sensor information detects that the drone's support pole insertion holes have detached from the top of the support pole. After detecting the detachment from the support pole insertion holes using vision sensor information, the drone switches to a flight mode for executing a predetermined flight mission, including patrol and monitoring missions for harmful wildlife and tracking missions after the discovery of harmful wildlife.

[0028] The material used for power transmission poles is not limited. For example, various types of plastics, ceramics (including glass and concrete), wood, and metals can be used. However, metals are undesirable because they may shield the magnetic field generated by the transmission coils or generate heat due to eddy current losses. The size (length, diameter, etc.) of the power transmission poles is arbitrary. The shape of the power transmission pole is arbitrary. For example, it may be a cylinder, a triangular, a polygonal prism with four or more sides, or a cylindrical body of these shapes. However, a cylinder is preferred because it allows for smooth movement (ascending, descending, and rotating, etc.) of the drone while it is tethered to the power transmission pole.

[0029] Furthermore, the invention described in claim 2 is a harmful bird and animal control system according to claim 1, characterized in that the mooring portion is formed to penetrate the body of the drone vertically and through a support pole insertion hole through which the power transmission pole is inserted, the power receiving coil is arranged around the portion of the support pole insertion hole, and the drone performs the 3D monitoring by repeatedly raising and lowering its body while rotating 360° around the power transmission pole as a central axis, while being moored to the power transmission pole via the support pole insertion hole. While the location for forming the support pole insertion hole is preferably in the central part of the aircraft, which is suitable for orbiting the drone around the power transmission pole, it is not limited to this location.

[0030] Furthermore, the invention described in claim 3 is a harmful bird and animal control system according to claim 1, characterized in that the mooring portion is provided at the end of a support arm connected to the body of the drone, and the power transmission support is inserted into the inner space of the support insertion portion, the power receiving coil is arranged around the support insertion portion, and the drone performs the 3D monitoring by repeatedly moving up and down while circling around the power transmission support while being moored to the power transmission support via the support insertion portion.

[0031] The location on the aircraft to which the support arm is attached is arbitrary. However, the front of the aircraft is preferable, for example, as it allows for tethering the drone to the power transmission pole while observing with a camera. The pole insertion section may be equipped with a latching structure (e.g., a hook structure) that can be attached to and detached from the power transmission pole from the side. This eliminates the risk of the drone detaching from the power transmission pole while ascending or descending.

[0032] The invention described in claim 4 is a harmful bird and animal control system according to claim 3, characterized in that the support column insertion portion has a latching structure that can be attached to and detached from the power transmission support column from the side. The type of latching mechanism is not limited. For example, various types of automatic opening and closing hooks can be used.

[0033] The invention described in claim 5 is a harmful bird and animal control system according to any one of claims 1 to 4, characterized in that the drone is equipped with a control unit configured to automatically release from the power transmission pole at set intervals to autonomously patrol the surrounding area, and after the completion of the patrol, to re-attach to the power transmission pole or another power transmission pole for wireless power supply including an electromagnetic induction method and a magnetic field resonance method to resume the wireless power supply.

[0034] The number of additional power transmission poles used is arbitrary. Each power transmission pole may be placed at predetermined intervals (e.g., 50m to 300m apart) in areas where multiple harmful birds and animals are present. Alternatively, the distance the drone can fly on a single charge or the longest distance at which harmful birds and animals can be detected from the camera images mounted on the drone may be set. Furthermore, the mooring of the drone to the power transmission pole is performed, for example, by reading the drone takeoff and landing program stored in the memory of the drone's control unit, and then having the control unit control the drone's flight based on this program. Alternatively, the operator may moor the drone to the power transmission pole while visually observing it or while watching the transmitter's monitor.

[0035] The invention described in claim 6 is a harmful bird and animal control system according to claim 1, characterized in that the power transmission unit has a magnetic material housed in the inner space of the power transmission coil to improve the efficiency of power transmission. The type of magnetic material is not limited. For example, ferrite or soft magnetic metal materials can be used.

[0036] The invention described in claim 7 is a pest control system according to claim 1, characterized in that the drone is equipped with a pest control device for pest birds and animals, and when it detects pest birds and animals from the image data of the camera, it releases the tethering state by the power transmission pole, tracks the pest birds and animals using the camera, and repels them using the pest control device.

[0037] The type of camera is not limited as long as it is digital. The type of repellent measure is arbitrary. For example, various alarm devices (sound alarms such as sirens, alarms, buzzers, and bells, as well as light alarms such as rotating lights, flashlights (warning lights), beam lights (searchlights), and LED lighting) and various repellents such as bear repellent sprays (those utilizing malodorous or irritating odors such as sulfur-based, wood vinegar, tar-based, and capsaicin (a component of chili peppers)) can be used. If there are multiple types of repellent measures, they may be used simultaneously or in a predetermined order.

[0038] The control unit is composed of functional blocks, such as a drone flight control unit, a harmful bird / animal detection unit (detection means), a drone tethering release unit (tethering release means), and a harmful bird / animal tracking unit (tracking means). Of these, the flight control unit, for example, acquires the aircraft's angular velocity and acceleration from an inertial measurement unit (IMU) and applies noise reduction filtering. Subsequently, it acquires absolute position information from a GNSS receiver and relative position information from a vision sensor, integrates the two using a fusion algorithm such as a Kalman filter, then acquires barometric altitude information from a barometric pressure sensor and ground altitude information from a ground sensor, compares the two to determine a highly reliable vertical position.

[0039] Subsequently, the flight control unit calculates the attitude error between the target attitude angle given by the pilot or autonomous mission and the current attitude angle estimated by the noise reduction filtering process. It then applies a PID control law or a nonlinear control law to this calculated attitude error to calculate the target torque for each axis (roll, pitch, yaw) necessary to stabilize the attitude. Next, it calculates the position-velocity error between the target position-velocity and the current position-velocity estimated by the integration using the fusion algorithm, and calculates the target thrust necessary to eliminate this error. Subsequently, the flight control unit applies a motor distribution matrix based on the target torque and target thrust of each axis, according to the aircraft configuration (e.g., a quadcopter). The target rotational speed command for each motor obtained as a result of this distribution matrix is ​​converted into an electrical signal such as a PWM signal and output to the electronic speed control (ESC). Furthermore, the harmful bird and animal detection unit acquires image data at a predetermined frequency, for example, using a camera (visible light or infrared) mounted on the drone. This acquired image data is preprocessed, such as noise reduction, brightness correction, or region of interest (ROI) extraction, and the acquired image data, along with the absolute position information of the drone obtained from the GNSS receiver and the attitude information of the aircraft obtained from the IMU, is associated and stored in the memory unit of the control unit.

[0040] Subsequently, the harmful animal detection unit applies a pre-trained deep learning model (e.g., CNN) or pattern recognition algorithm to the pre-processed image data to detect the presence or absence of shapes and movements specific to the animal. It then determines whether the detected animal is included in a pre-set list of harmful animals (e.g., bears, wild boars, crows, etc.) to identify its species. Based on the position of the detected animal in the image, it calculates the relative distance from the drone by integrating it with triangulation or laser ranging data. The harmful animal detection unit then stores the identified animal species, the calculated relative distance, and the absolute position information as detection result data in the storage unit.

[0041] Furthermore, the drone release unit receives a flight mission start command or release command from, for example, an external interface or onboard mission plan. Based on this received command, the drone release unit performs an initial diagnosis of the battery, rotary motors, and drone control unit (flight controller) to determine that the drone's release and flight are safe. Next, it confirms that the drone's support pole insertion hole and the power transmission pole are in a tethered state based on information from contact sensors or position sensors. After this confirmation, it sets a predetermined release thrust target value for all rotary motors based on the sum of the drone's body mass and payload mass. Based on the set thrust target value, it gradually increases the rotation speed of each rotary motor via the flight controller to raise the drone vertically, and detects that the drone's support pole insertion hole has completely detached from the tip of the power transmission pole based on changes in information from the ground altitude sensor or position sensor.

[0042] Furthermore, the harmful wildlife tracking unit, for example, applies a pre-trained deep learning model (e.g., YOLO) to image data acquired from the drone's camera based on a command from the harmful wildlife detection unit, to detect harmful wildlife regions in the image. Subsequently, the harmful wildlife tracking unit integrates the location of the detected harmful wildlife region, data from the drone's range-measuring sensors (e.g., LiDAR, stereo camera), and IMU attitude information to calculate the relative position (distance and direction) of the harmful wildlife relative to the drone. This relative position is then integrated with the drone's absolute position obtained from GNSS to estimate the absolute position (latitude, longitude, altitude) of the harmful wildlife, and stored in the memory unit.

[0043] Next, the harmful animal tracking unit calculates the current movement velocity vector of the harmful animal from the displacement between the absolute position of the harmful animal estimated here and the position estimated in the previous frame. Then, based on the calculated movement velocity vector, it calculates and updates the target position of the drone necessary for the drone to maintain a certain tracking distance (safe distance) at predetermined time intervals. Subsequently, if there is pre-set obstacle information (terrain, trees, etc.) between the drone and the harmful animal, the harmful animal tracking unit sets a detour target position as an alternative target to avoid going straight towards the harmful animal, calculates a target velocity command to the flight controller based on the positional error between the target position of the drone and the current drone position, transmits the calculated target velocity command to the position / velocity control module of the flight controller, and generates thrust for the rotary motor to move the drone to the target position.

[0044] The invention described in claim 8 is a harmful bird and animal control system according to claim 1, characterized in that the power transmission pole is made up of a plurality of partial poles connected in a manner that allows for assembly and disassembly, and is erected on a portable pole mounting base that includes a storage box for housing at least one of the plurality of partial poles and the drone.

[0045] The shape and size of the storage box are arbitrary. However, it is preferable that it be as lightweight and compact as possible so that workers can easily carry it to areas where harmful birds and animals are present. The contents of the storage box may include only the multiple support columns, only the drone, or both. The box may also be equipped with a power transmission battery, solar panels, or other chargers that connect to a commercial power source to supply power to the power transmission circuit. The type of support structure used is arbitrary. For example, various plate materials, various block materials, as well as trolleys, trucks (including light trucks), tractors, transport vehicles, trailers, etc., can be used. [Effects of the Invention]

[0046] According to the present invention as described in claim 1, first, a power transmission pole is erected in an area where harmful birds and animals frequent, and then the drone is repeatedly raised and lowered while tethered to the power transmission pole via a mooring section. This provides a deterrent effect on harmful birds and animals around the power transmission pole through the sound and movement of the drone during its ascent and descent. Furthermore, the power transmission pole is equipped with a power transmission coil for wireless power supply in the drone's ascent / descent area on its outer perimeter, while the drone is equipped with a power receiving coil. As a result, the drone can receive power from the power transmission pole in a non-contact manner while ascending or descending.

[0047] Thus, in the harmful wildlife control system of this invention, simply by erecting power transmission poles in areas where harmful wildlife appear, even in adverse weather conditions such as strong winds or heavy rain, the drone tethered to the power transmission pole will not be blown away by the wind and rain. Using the power transmission pole as a guide, it will repeatedly ascend and descend while rotating 360°, allowing for simultaneous 3D monitoring and deterrence (intimidation) of harmful wildlife, as well as wireless power supply for charging. This enables safe, low-cost, and continuous harmful wildlife control.

[0048] In particular, according to the present invention as described in claim 2, when tethering a drone, the drone is first positioned above the power transmission pole, and then the drone is gradually lowered so that the pole insertion hole of the aircraft is inserted into the tip of the pole. By continuing this descent and positioning the drone in the area where the power transmission coil is installed on the power transmission pole, the drone is tethered to the power transmission pole. In this way, by inserting the support pole insertion hole provided in the drone's body into the power transmission pole from above, the drone is moored to the power transmission pole. Compared to mooring the drone using various automatic mooring mechanisms (such as clamps and locks), for example, the number of parts can be reduced, the weight and cost can be lowered, and high durability and reliability can be achieved.

[0049] Furthermore, according to the present invention as described in claim 3, when the drone is moored, the drone is moored to the power transmission pole so that it can be raised and lowered via the pole insertion portion at the tip of the support arm. Therefore, by simply connecting the support arm to an existing drone, a commercially available drone can be easily and inexpensively modified into the drone of the present invention. In addition, the arm structure of the support arm absorbs and mitigates the physical impact and friction when the pole insertion portion of the drone comes into contact with the power transmission pole during the drone mooring operation, thereby suppressing direct damage and wear to the drone's body.

[0050] Furthermore, according to the present invention as described in claim 4, a latching structure that can be attached to and detached laterally from the power transmission pole is provided at the pole insertion point of the drone, thereby easing the requirement for vertical accuracy imposed on the descending drone when it is moored. Moreover, when mooring, the drone can be moored to the power transmission pole simply by moving the drone slightly laterally after it approaches the power transmission pole and the pole arm reaches a predetermined height. This simplifies the drone mooring operation.

[0051] According to the present invention as described in claim 5, the control unit of the drone automatically releases the tethering state from the power transmission pole at set intervals and autonomously patrols the surrounding area, so that active patrol monitoring over a wide area that is not limited to a fixed point can be performed regularly without any human intervention. Furthermore, after completing its patrol, the device automatically reattaches to its original power transmission pole or another pole to resume wireless power supply, allowing it to autonomously recover battery power.

[0052] In particular, the configuration allows the drone to be moored not only to the original pole but also to another power transmission pole to resume power supply. For example, by installing another power transmission pole in another location (hot spot) where harmful birds and animals are likely to appear, it becomes possible to build a wide-area network where the drone flies between multiple poles. As a result, the biggest weakness of drones, the limitation of operating time due to battery capacity, is overcome both physically and systematically, enabling continuous wide-area patrols without human intervention. This makes it possible to cover vast areas where harmful birds and animals appear that cannot be covered by a single base, and to take measures between dispersed buildings.

[0053] According to the present invention as described in claim 6, since a magnetic material is placed in the inner space of the power transmission coil, the flux linkage from the power transmission coil can be efficiently concentrated and passed through to the power receiving coil. As a result, the flux linkage passing through the power receiving coil increases, the coupling coefficient between the coils increases, and based on Faraday's law of electromagnetic induction, a larger induced electromotive force is generated in the power receiving coil, thereby increasing the power transmission efficiency.

[0054] According to the present invention as described in claim 7, the control unit provided in the drone controls the camera, detection means, tethering release means, tracking means, and avoidance means in a coordinated manner as a series of operations, thereby obtaining the following unique effects. First, since harmful birds and animals are automatically detected using detection methods based on camera image data, the burden of constant human monitoring can be completely eliminated. Furthermore, since the aircraft is released from its tethering to the power transmission pole only after harmful birds or animals have been detected, unnecessary battery consumption during standby (charging and monitoring) is minimized, while allowing for a rapid transition to a mobile flight state only in times of emergency. Furthermore, after the tethering is released, the tracking system uses cameras to track harmful birds and animals, and the repellent system can intimidate and repel them. This allows the entire control process, from "detecting the target" to "tracking" and "reliably driving them out of the area," to be completed completely unmanned and autonomously, without any human intervention, rather than merely monitoring at a fixed point or providing temporary intimidation.

[0055] According to the present invention as described in claim 8, the power transmission pole can be compactly disassembled into multiple sub-poles for transport or when not in use, thereby increasing the portability of the harmful bird and animal control system. Furthermore, when installing on-site, the power transmission pole can be easily and quickly assembled to the required height simply by connecting the disassembled sub-poles. Furthermore, when a storage box is used as the base for the support columns, the storage box can accommodate the partial support columns and / or the drone, allowing all components to be managed and transported in one place. This prevents the loss of parts and makes transportation and movement between sites extremely convenient.

[0056] Furthermore, since the power transmission poles are erected on a pole mounting base, they can be installed stably and independently without additional fixing means (such as driving them into the ground). Also, if a storage box is used as the pole mounting base, the pole mounting base itself doubles as a storage box for accessories necessary for transport and installation, making the function integrated and efficient.

[0057] Furthermore, this structure allows for the flexible deployment of the pest control system in various environments, such as on hard ground, in locations requiring temporary installation, or indoors. Furthermore, by housing and erecting the drone and the power transmission poles necessary for mooring and monitoring on the same pole mounting base, the overall integration of the harmful wildlife control system is enhanced, and the time required for deployment and withdrawal at different locations can be reduced. This is particularly effective when it is necessary to frequently change monitoring locations depending on the extent of damage caused by harmful wildlife. [Brief explanation of the drawing]

[0058] [Figure 1] This is a perspective view of the drone-based pest control system according to Embodiment 1 of the present invention in use. [Figure 2] This is an enlarged perspective view of the drone used in the harmful bird and animal control system according to Embodiment 1 of the present invention. [Figure 3] This is a block diagram of the control unit of the harmful bird and animal control system according to Embodiment 1 of the present invention. [Figure 4] This is a partially enlarged cross-sectional view of a power transmission pole used in the harmful bird and animal control system according to Embodiment 1 of the present invention. [Figure 5] This is an explanatory diagram showing a situation in which a bear and a drone are confronting each other using the harmful wildlife control system according to Embodiment 1 of the present invention. [Figure 6] This is a perspective view of the use of the harmful bird and animal control system according to Embodiment 2 of the present invention. [Figure 7] This is a perspective view of the use of the harmful bird and animal control system according to Embodiment 3 of the present invention. [Figure 8] This is an enlarged perspective view of a storage box on which a power transmission pole is erected, used in the harmful bird and animal control system according to Embodiment 3 of the present invention. [Figure 9] This is an enlarged perspective view of the main parts of the harmful bird and animal control system according to Embodiment 4 of the present invention in use. [Modes for carrying out the invention]

[0059] The following describes specific embodiments of the present invention. Here, we will use a bear as the harmful animal and employ a magnetic resonance method for wireless power supply as an example. Specifically, in this embodiment, each functional unit such as the harmful animal detection unit, drone tethering release unit, and harmful animal tracking unit described in the means for solving the problem is realized by the CPU of the control unit (microcomputer, etc.) reading and executing the harmful animal detection program, drone tethering release program, harmful animal tracking program, etc., stored in the memory unit. [Examples]

[0060] In Figure 1, the bear control system (harmful wildlife control system) 10 according to Embodiment 1 of the present invention is a system in which a drone 11, which is an unmanned aerial vehicle for bear (harmful wildlife) control, is mounted on a power transmission pole 12 for wireless power supply using a magnetic resonance method, allowing it to be raised and lowered while tethered to the power transmission pole 12 and to be able to take off and land from the power transmission pole 12. The following will provide a detailed explanation of these components.

[0061] As shown in Figures 1 and 2, the drone 11 is a rotary-wing aircraft (quadcopter) having four propellers 13, and can switch between a wireless control mode, in which the pilot controls the drone while viewing camera image data displayed on a monitor by operating buttons on the transmitter (controller) S, and an autopilot mode. The drone 11's body A has a pole insertion hole (mooring section) 14 drilled in its center through which a power transmission pole 12 is inserted, while its lower part is equipped with a zoomable camera (visible light and infrared) 15 that rotates in the up, down, left, and right directions, a speaker (repellent means) 16 that intimidates bears, a beam light (repellent means) 17 that shines a high-intensity light beam at bears, and a bear repellent spray (repellent means) 18.

[0062] As shown in the block diagram of Figure 3, this drone 11 has a sensor control logic for an IMU (Inertial Measurement Unit) 19, and a flight controller 20 that calculates attitude, position, and speed based on sensor information and automatically tracks a target route or target bear, a GPS device 46 that determines the absolute position (latitude, longitude, altitude) on Earth, a barometric pressure sensor (absolute altitude) 22 and a distance sensor (ground altitude) 23 used for stable altitude maintenance and distance measurement during takeoff and landing, and a system that enables stable flight in places where the GPS device 46 cannot be used, by detecting obstacles based on camera image data and ground features It includes a vision sensor 24 for reading signs and maintaining relative position, a mission computer 25 equipped with a high-performance CPU / GPU that also handles the use of a speaker 16, beam light 17, and bear repellent spray 18 to intimidate bears, and which plans and executes each mission, including bear countermeasures, and makes real-time decisions using AI, an electronic speed control (ESC) 27 that realizes the rotation speed of each rotary motor 26 of the drone 11 as specified by the flight controller 20, a communication unit 28 for communicating with the transmitter S, etc., and a control unit 29 that controls these.

[0063] Furthermore, the drone 11 is equipped with a magnetic resonance receiving unit that receives power from the power transmission unit. This receiving unit has a magnetic field receiving power conversion means that receives a magnetic field from a resonant power transmission coil (described later) and converts it into electricity. This magnetic field receiving power conversion means includes a resonant power receiving coil (receiving coil) that is spirally wound within the formation of the support column insertion hole 14 and receives a magnetic field and converts it into electricity, and a power receiving circuit that extracts power from the resonant power receiving coil. An annular ferrite (magnetic material) (not shown) is arranged in the inner space of this resonant power receiving coil to improve the efficiency of power transmission. The power received by the power receiving unit is used to charge the power receiving battery mounted on the drone 11.

[0064] As shown in Figures 1 and 4, the power transmission pole 12 is made of fiber-reinforced plastic pipe, and consists of three section poles 37 connected in a detachable and assembleable manner. These section poles 37, along with the drone 11, its control transmitter S, the power transmission battery 38, and the box control unit 29A, are housed in a rectangular storage box (pole mounting base) 39 with a lid 39a. The control unit 29A has a GPS function to measure the current location of the storage box 39 and an internet function, and notifies the remaining charge of the power transmission battery 38, etc., of the local government or administrator's computer that manages the bear countermeasure system via the internet. When the administrator learns via their computer that the remaining charge of the power transmission battery 38 is low, they replace the power transmission battery 38. In addition, a fixing stand 100 for detachably erecting the power transmission pole 12 is provided in the center of the bottom plate of the storage box 39. For the power transmission battery 38, for example, lithium-ion batteries, lead-acid batteries, nickel-metal hydride batteries, nickel-cadmium batteries, etc. may be used. As other power sources or combined power sources, solar panels and chargers (including extension cords) for connecting to commercial power sources may be used.

[0065] Furthermore, the power transmission pole 12 is equipped with a magnetic resonance power transmission unit that transmits power to the drone 11 using a magnetic field. This power transmission unit has a magnetic field emission means that converts power into a magnetic field and releases it into space. This magnetic field emission means is equipped with a resonant power transmission coil (power transmission coil) that is spirally wound around the approximately entire length of the outer circumference of the power transmission pole 12 (including the lifting and lowering area of ​​the drone 11) and converts power into a magnetic field, and a power transmission circuit (including an oscillation circuit) that supplies power to the resonant power transmission coil from a power transmission battery 38.

[0066] Within the outer circumference of each section support 37, a section power transmission coil 42, which is a resonant power transmission coil divided into three equal parts in the length direction, is wound spirally along its entire length. Inside the space of each section power transmission coil 42, a spiral ferrite (magnetic material) 36 (on which the section power transmission coil 42 is wound) is housed to improve the efficiency of power transmission. Furthermore, each connecting part (with interlocking protrusions and recesses) 43 of adjacent support columns 37 is provided with a connecting terminal 43a for connecting the corresponding power transmission coils 42. The power transmission circuit is built into the lowest support column 37.

[0067] Next, the control unit 29 will be described in detail with reference to the block diagram in Figure 3. As shown in Figure 3, the control unit 29 has a central processing unit (CPU) 44 that acts as its brain. The input ports of this central processing unit 44 are connected to a storage unit 45, a camera 15, a GPS device 46, a barometric pressure sensor 47, a distance sensor (ground sensor) 23, a vision sensor 24, and a communication unit 28, respectively.

[0068] Meanwhile, the output ports of the central processing unit 44 are connected to a speaker 16, a beam light (searchlight) 17, a solenoid (spray ejection means) 48 that sprays repellent liquid when the lever of the bear repellent spray 18 is pressed, a flight controller 20, an electronic speed control device 27, an IMU (inertial measurement unit) 19, a rotating motor 26 for each propeller 13, and a mission computer 25, respectively.

[0069] Furthermore, the memory unit 45 stores (1) a flight control program for the drone 11, (2) a drone lifting and lowering program for raising and lowering the drone 11, (3) a bear detection program (harmful wildlife detection program, detection means) for detecting bears, (4) a drone launch and landing program (tethering release means) for tethering or releasing the drone 11 to the power transmission pole 12, (5) a bear tracking program (harmful wildlife tracking program, tracking means) for tracking bears, and (6) a bear repellent program (harmful wildlife repellent program, repellent means) for avoiding bears. The central processing unit 44 executes all of these programs.

[0070] (1) In the flight control program, commands are sent from this flight control program to the flight controller 20 to obtain the angular velocity and acceleration of the aircraft A from the inertial measurement unit (IMU) 19 and apply noise reduction filtering. Subsequently, absolute position information is obtained from the GPS device 46, relative position information is obtained from the vision sensor 24, and both are integrated using a Kalman filter (fusion algorithm). Next, barometric altitude information is obtained from the barometric pressure sensor 47 and ground altitude information from the ground sensor 23, and the two are compared to determine a highly reliable vertical position.

[0071] Subsequently, the attitude error between the target attitude angle, which is previously stored in the memory unit 45 and given by the pilot or autonomous mission, and the angular velocity and acceleration of the aircraft A, obtained from the inertial measurement unit 19, and the estimated current attitude angle, is calculated by performing noise reduction filtering. Applying PID control laws or nonlinear control laws to these calculated attitude errors, the target torques for each axis (roll, pitch, yaw) required to stabilize the attitude are calculated. Next, the position-velocity error between the target position and velocity and the current position and velocity estimated by the integration using the Kalman filter described above is calculated, and the target thrust required to eliminate this error is calculated.

[0072] Subsequently, based on these target torques and target thrusts, a motor distribution matrix is ​​applied according to the configuration of aircraft A (quadcopter). The target rotational speed commands for each rotating motor 26 obtained as a result of this distribution matrix are converted into electrical signals such as PWM signals and output to the electronic speed control device (ESC) 27.

[0073] (2) In the automatic ascent and descent of the drone 11 by the drone ascent and descent program, the rotation speed (or thrust) of the rotary motor 26 of the propeller 13 located on the drone 11 is controlled via the flight controller 20. Specifically, based on an automatic lifting plan pre-stored in the memory unit 45, the system detects when the power transmission pole 12 has reached its target lifting start point at the top of the pole using vision sensor information (or GPS information). After the drone 11 reaches the target ascent / descent starting point at the bottom of the power transmission pole 12, it acquires the current altitude from the distance sensor 23 as the reference altitude. Next, the upper limit altitude, which is a predetermined distance above the reference altitude, and the lower limit altitude, which is a predetermined distance below the reference altitude, are calculated.

[0074] Thereafter, the drone 11 is automatically rotated and raised or lowered by controlling the thrust of each rotary motor 26 based on the set ascent / descent speed and rotation speed until it reaches either the upper or lower altitude limit. That is, when the upper altitude limit is reached, the target altitude is switched to the lower altitude while continuing to rotate, and when the lower altitude limit is reached, the target altitude is switched to the upper altitude while continuing to rotate, and the rotation and ascent / descent control is repeated. This enables continuous automatic rotation and ascent / descent of the drone 11 (3D bear monitoring) within a predetermined range along the power transmission pole 12.

[0075] (3) In the bear detection program, a command is sent from the bear detection program to the mission computer 25, and image data is acquired at a predetermined shooting frequency using the camera 15 mounted on the drone 11. The acquired image data is then preprocessed with methods such as noise reduction, brightness correction, or region of interest (ROI) extraction. The acquired image data, the absolute position information of the drone 11 obtained from the GPS device 46, and the attitude information of the aircraft A obtained from the IMU 19 are associated and stored in the memory unit 45.

[0076] Subsequently, a deep learning model (e.g., CNN) or pattern recognition algorithm that has been pre-trained and stored in the memory unit 45 is applied to the pre-processed image data to detect the presence or absence of shapes and movements specific to bears. The system identifies the bear (including its species) by determining whether the detected bear is included in a pre-configured list of harmful wildlife, including bears.

[0077] Next, based on the detected bear's position in the image, the relative distance from the drone 11 is calculated by integrating it with triangulation or laser ranging data. Subsequently, the identified bear species, the calculated relative distance, and the associated absolute position information are stored in the storage unit 45 as detection result data.

[0078] (4) Next, we will explain the drone takeoff and landing program. When the drone 11 is moored, a mooring command is sent from the drone launch and landing program to the mission computer 25, and the flight controller 20 of the drone 11 controls the drone 11's flight to move it to a predetermined waiting position above the power transmission pole 12 based on GPS information and vision sensor information.

[0079] Subsequently, from this standby position, the thrust of each rotary motor 26 is gradually reduced by a command from the flight controller 20, based on a guidance target previously stored in the memory unit 45 for aligning the support column insertion hole 14 of the drone 11 with the tip of the support column. As a result, the drone 11 descends vertically, the tip of the support column is inserted into the support column insertion hole 14, and the drone 11 finally reaches the target ascent / descent starting point. Next, the drone 11 is automatically raised and lowered along the power transmission pole 12 according to the drone lifting program described above.

[0080] On the other hand, when the drone 11 is released from tethering, the flight controller 20 gradually increases the thrust of each rotary motor 26 in response to the release command from the drone landing program, causing the aircraft A to rise vertically until the vision sensor detects that the support column insertion hole 14 of the drone 11 has separated from the tip of the power transmission column 12. After detecting the detachment of the support column insertion hole 14 from the vision sensor information, the drone 11 switches to its normal flight mode for executing a predetermined flight mission.

[0081] Next, we will explain (5) the bear tracking program. In other words, a command from the bear detection program to the mission computer 25 applies a pre-trained deep learning model (e.g., YOLO) to the image data acquired from the camera 15 of the drone 11 to detect bear regions in the image.

[0082] The location of the detected bear area, data from the distance sensor (LiDAR) 23 mounted on the drone 11, and attitude information from the IMU 19 are integrated to calculate the bear's relative position (distance and direction) to the drone 11. The relative position calculated here is integrated with the absolute position of the drone 11 obtained by GPS to estimate the absolute position of the bear (latitude, longitude, altitude) and store it in the memory unit 45.

[0083] Next, the current movement velocity vector of the bear is calculated from the displacement between the absolute position of the bear estimated here and the position estimated in the previous frame. Subsequently, based on the calculated movement velocity vector, the target position of the drone 11 necessary for the drone 11 to maintain a certain tracking distance (safe distance) is calculated and updated at predetermined time intervals. Subsequently, if there is pre-set obstacle information (terrain, trees, etc.) between the drone 11 and the bear, an alternative target location is set as a detour target to avoid flying directly towards the bear.

[0084] Then, based on the positional error between the determined target position of the drone 11 (detour target position) and the current position of the drone 11, the target speed is calculated for the flight controller 20. The calculated target speed command is transmitted to the position and speed control module of the flight controller 20, which generates thrust for each rotary motor 26 to move the drone 11 to the target position.

[0085] Next, we will explain (6) the bear repellent program. Specifically, the bear repellent program first issues a command to the mission computer 25, which determines the alert level (low, medium, or high) based on the distance between the drone 11 identified by the bear tracking program and the bear.

[0086] Afterward, bear repellent measures are implemented according to each alert level. In other words, if a bear is at a low alert level and at a long distance (for example, more than 50m), the mission computer 25 will issue a command to emit a warning sound or a human voice from the speaker 16. This is a preventative intimidation measure to let the bear know of the presence of humans and encourage it to retreat voluntarily.

[0087] If a bear approaches within a moderate distance (e.g., 50m to 20m) while the alert level is active, the mission computer 25 commands the system to shine the beam light 17 into the bear's eyes. Simultaneously, the volume and pattern of the speaker 16 are changed to psychologically and visually deter the bear's behavior and prevent it from approaching any further. Furthermore, the color of the light emitted from the beam light 17 (e.g., red, blue) and the flashing cycle are randomly changed to prevent the bear from becoming accustomed to the light.

[0088] However, if the bear does not retreat and approaches to a close distance (for example, within 20m) that would trigger a high alert level, as shown in Figure 5, the drone launch and landing program releases the drone 11 from the power transmission pole 12, and then, while tracking the bear using the bear tracking program, the bear repellent spray 18 is sprayed on the bear based on the bear repellent program.

[0089] Next, with reference to Figures 1 to 5, the bear control treatment (harmful wildlife control treatment) using the bear control system 10 according to Embodiment 1 of the present invention will be described. As shown in Figure 1, first, if a report of a bear sighting is received, the storage box 39 is carried to the area where the bear was sighted. Here, the three partial support poles 37 taken out of the storage box 39 are sequentially connected while connecting the connection terminals 43 to each other to assemble the power transmission pole 12. The resulting power transmission pole 12 is erected in the center of the bottom plate of the storage box 39 using the stand 100, and the power transmission circuit of the power transmission pole 12 is connected to the power transmission battery 38. If a commercial power source is nearby, power may be supplied (supplemented) using a charger and extension cord. Alternatively, power generated by a solar panel may be supplied (supplemented).

[0090] After that, the operator controls the drone 11 while watching the monitor on the transmitter S and tethers the drone 11 to the power transmission pole 12. Specifically, the drone 11 is moved to directly above the power transmission pole 12, and then the drone 11 is gradually lowered. As a result, the pole insertion hole 14 of the drone 11 is inserted into the tip of the pole, and the drone 11 finally reaches the target ascent / descent starting point.

[0091] Alternatively, the drone 11 can be moored by autopilot. In this case, a mooring command is sent from the drone launch and landing program to the mission computer 25, and the flight controller 20 controls the drone 11 to move to a predetermined waiting position above the power transmission pole 12 based on vision sensor information (GPS information may also be used).

[0092] Subsequently, from this standby position, the flight controller 20 gradually reduces the thrust of each rotary motor 26 based on guidance targets stored in the memory unit 45 beforehand, which are used to align the support pole insertion hole 14 of the drone 11 with the tip of the support pole. As a result, the drone 11 descends vertically, the tip of the support pole is inserted into the support pole insertion hole 14, and the drone 11 reaches the target ascent / descent starting point. In this way, the drone 11 is automatically tethered to the power transmission pole 12.

[0093] Subsequently, for example, the tethered drone 11 is raised and lowered along the power transmission pole 12 by the operator's control, thereby deterring bears through the movement and sound of the drone 11 flying. The raising and lowering of the drone 11 may also be done automatically by a drone raising and lowering program.

[0094] The following describes the automatic ascent and descent of this drone using this program. First, the drone ascent / descent program sends a command to the mission computer 25, which detects the drone 11's arrival at the target ascent / descent starting point using vision sensor information (GPS information may also be used). After the drone 11 reaches its target ascent / descent starting point, it acquires the current altitude from the distance sensor 23 as the reference altitude. The system calculates the upper limit altitude, which is a predetermined distance above the reference altitude, and the lower limit altitude, which is a predetermined distance below the reference altitude.

[0095] Next, until the drone 11 reaches either the upper or lower altitude limit, the thrust of each rotary motor 26 is controlled based on the set ascent / descent speed to automatically rotate and raise / lower the aircraft A around the power transmission pole 12. Here, if the upper altitude limit is reached, the target altitude is switched to the lower altitude limit, and if the lower altitude limit is reached, the target altitude is switched to the upper altitude limit, and the automatic rotation and ascent / descent control of the aircraft A is repeated. This enables continuous automatic rotation and ascent / descent (3D surveillance) of the drone 11 within a predetermined range along the power transmission pole 12. This increases the bear deterrent effect and expands the range of bear surveillance by the camera 15.

[0096] Furthermore, while the drone 11 is ascending or descending, wireless power is supplied to the drone 11 using a magnetic resonance method. Next, I will explain this wireless power transfer. Specifically, at the power transmission pole 12, a power transmission circuit (oscillating circuit) powered by a power transmission battery 38 generates a high-frequency alternating current, which is supplied to a resonant power transmission coil. The resonant power transmission coil vibrates at a unique resonant frequency determined by the coil shape, capacitor, etc., and emits a magnetic field corresponding to that frequency into the surroundings.

[0097] Subsequently, the emitted magnetic field reaches the resonant receiving coil of the drone 11. Since the resonant receiving coil is set to approximately the same resonant frequency as the resonant transmitting coil, it receives magnetic field energy from the transmitting side, and due to the magnetic field resonance phenomenon, an electromotive force is induced in the resonant receiving coil, causing a high-frequency alternating current to flow. Subsequently, the high-frequency alternating power induced in the resonant receiving coil is sent to the receiving circuit (rectifier circuit), where the high-frequency alternating power is converted into DC power usable by the drone 11 and supplied to the drone 11's battery.

[0098] Furthermore, while the drone 11 is ascending or descending, an automatic bear detection program is also performed. In other words, based on a command from the bear detection program to the mission computer 25, image data is acquired at a predetermined frequency using the camera 15 mounted on the drone 11 as it ascends or descends. The acquired image data is then subjected to preprocessing such as noise reduction, brightness correction, or region of interest (ROI) extraction. The acquired image data, the absolute position information of the drone 11 obtained from the GPS device 46, and the attitude information of the aircraft A obtained from the IMU 19 are associated and stored in the memory unit 45.

[0099] Subsequently, a deep learning model (for example, a convolutional neural network (CNN) or a pattern recognition algorithm) that has been pre-trained and stored in the memory unit 45 is applied to the pre-processed image data to detect the presence or absence of shapes and movements specific to bears. Here, it is determined whether the image captured by camera 15 is included in a pre-set list of harmful wildlife, including bears, and the bear (including its species) is identified.

[0100] Based on the image location of the bear detected in this way, the relative distance from the drone 11 is calculated by integrating it with triangulation or laser ranging data. Next, the identified bear species, the calculated relative distance, and the associated absolute position information are stored in the storage unit 45 as detection result data.

[0101] After a bear is spotted, bear deterrent measures are taken based on a bear deterrent program, using a speaker 16, a beam light 17, and bear repellent spray 18 (the threatening sound from the speaker 16 and the illumination of the surrounding area by the beam light 17 may be performed while the drone 11 is ascending or descending).

[0102] This bear repellent program first determines the alert level (low, medium, or high) based on the distance to the identified bear. If the assessment determines that a bear is at a low alert level and at a long distance (e.g., 50m or more) (this may include cases where the bear has not been confirmed), the mission computer 25 will issue a command to speaker 16 to emit a sudden, loud noise (around 130 decibels) of a specific frequency (100Hz-130Hz) that bears instinctively dislike, as well as threatening sounds such as human voices, firecrackers, or the calls of natural predators (tigers, wolves). This is a preventative intimidation measure to alert the bear to the presence of humans and encourage it to retreat voluntarily.

[0103] Subsequently, if the bear approaches within a medium range (e.g., 50m to 20m) while the alert level is active, a high-intensity beam light 17 is directed at the bear's eyes by a command from the mission computer 25. At the same time, the volume and pattern of the speaker 16 are changed to psychologically and visually suppress the bear's behavior and prevent it from approaching any further. In addition, the color of the light emitted from the beam light 17 (e.g., red, blue) and the flashing cycle are randomly changed to prevent the bear from becoming accustomed to the light.

[0104] However, if the bear does not retreat and approaches within a high alert level (for example, within 20m), the drone launch and landing program will release the drone 11 from the power transmission pole 12, and then the bear tracking program will track the bear while spraying bear repellent spray 18 on the bear based on the bear repellent program, as shown in Figure 5. These processes will be explained in order below.

[0105] First, let's explain how to release the tethering of drone 11. In other words, when a release command is issued from the drone takeoff and landing program, the flight controller 20 gradually increases the thrust of each rotary motor 26, causing the aircraft A to rise vertically until the vision sensor detects that the support hole 14 of the drone 11 has detached from the tip of the power transmission pole 12. Finally, the release of the drone 11 from the pole is confirmed by detecting the detachment of the support hole 14 from the tip of the pole.

[0106] Next, after detecting the detachment of the support post insertion hole 14 from the vision sensor information, the bear is tracked using the bear tracking program. Specifically, the bear tracking program sends a command to the mission computer 25, which then applies a pre-trained deep learning model (e.g., YOLO) to the image data acquired from the camera 15 to detect bear regions in the image.

[0107] Subsequently, the location of the detected bear area, data from the distance sensor (LiDAR) 23 mounted on the drone 11, and attitude information from the IMU 19 are integrated to calculate the bear's relative position (distance and direction) to the drone 11. This calculated relative position is then integrated with the absolute position of the drone 11 obtained by GPS to estimate the bear's absolute position (latitude, longitude, and altitude), and this is stored in the memory unit 45.

[0108] Next, the current movement velocity vector of the bear is calculated from the displacement between the absolute position of the bear estimated here and the position estimated in the previous frame. Then, based on the calculated movement velocity vector, the target position of the drone 11 necessary for the drone 11 to maintain a certain tracking distance (safe distance) is calculated and updated at predetermined time intervals. Subsequently, if there is pre-set obstacle information (terrain, trees, etc.) between the drone 11 and the bear, an alternative target location is set as a detour target to avoid flying directly towards the bear.

[0109] Next, based on the positional error between the determined target position of the drone 11 (detour target position) and the current position of the drone 11, a target speed command is calculated for the flight controller 20. The calculated target speed command is transmitted to the position and speed control module of the flight controller 20, causing the drone 11 to generate thrust from each of its rotary motors 26 to move to the target position, thereby automatically tracking the bear.

[0110] Next, we will describe a high-alert level bear repellent mission using a bear repellent program with bear repellent spray 18 during this automated tracking, as shown in Figure 5. Specifically, the drone 11 continuously measures the relative distance to the bear in real time based on image data from the mounted camera 15. If the distance to the bear falls below a predetermined final defensive distance (e.g., 3m), or if the drone analyzes the bear's posture and movements (e.g., lowering its head, signs of a charge) using a deep learning model (CNN) and confirms aggressive behavior, the solenoid 48 presses the lever of the bear repellent spray 18 based on a spray command from the bear repellent program to the mission computer 25, spraying a repellent containing capsaicin into the bear's face.

[0111] Immediately after spraying, the flight controller 20 of drone 11 automatically causes drone 11 to ascend at full speed. This is to move drone 11 out of the bear's attack range before the spray's effect wears off. Subsequently, the spray spray time, the absolute position of the drone 11, the relative distance to the bear, and the video data before and after spraying captured by the camera 15 are stored in the memory unit 45 as a bear countermeasure record.

[0112] After these bear countermeasures cause the bears to retreat into the forest, the drone 11 returns to the power transmission pole 12 via a predetermined drone return mission in the bear tracking program. It is then tethered to the power transmission pole 12 again via a tethering mission in the drone landing and takeoff program, and the drone repeatedly ascends and descends along the power transmission pole 12 via the drone ascent and descent program. Alternatively, after the drone 11 returns to the power transmission pole 12, the operator goes to the site, disassembles the power transmission pole 12, stores it and the drone 11 together in the storage box 39, and takes it back with them.

[0113] Thus, in the bear countermeasure system 10 of Example 1, simply by carrying the storage box 39 to the bear sighting area and erecting the power transmission pole 12, even in adverse weather conditions such as strong winds or heavy rain, the drone 11 tethered to the power transmission pole 12 can be used as a guide to repeatedly perform automatic ascent and descent while circling to monitor and deter bears, and simultaneously charge via wireless power supply, without being blown away by the wind and rain. This ensures the safety of the operator (worker) and enables continuous bear countermeasures at low cost. Furthermore, by releasing the drone 11 from the power transmission pole 12 when necessary, the bear can be safely driven back into the forest by patrolling and tracking the bear.

[0114] Furthermore, in this method, the drone 11 is moored to the power transmission pole 12 by inserting the pole insertion hole 14 of the aircraft A into the power transmission pole 12 from above. Compared to mooring the drone 11 using various automatic mooring mechanisms (such as clamps or locks), the number of parts in the bear countermeasure system 10 can be reduced, the weight reduced, and the cost reduced, while also achieving high durability and reliability.

[0115] Furthermore, by placing ferrite 36 in the inner space of the resonant power transmission coil, the flux linkage from the resonant power transmission coil can be efficiently concentrated and transmitted to the resonant power receiving coil. As a result, the flux linkage passing through the resonant power receiving coil increases, the coupling coefficient between the coils increases, and based on Faraday's law of electromagnetic induction, a larger induced electromotive force is generated in the resonant power receiving coil, thereby improving power transmission efficiency.

[0116] Furthermore, the drone 11 includes a camera 15, a speaker 16 for deterring bears, a beam light 17, a solenoid 48 for bear repellent spray 18, a bear repellent program (repellent means), a bear detection program (detection means) for detecting bears from image data of the camera 15, a drone launch and landing program (tethering release means) for releasing the drone 11 from the tethering state by the power transmission pole 12 after detecting a bear, a bear tracking program (tracking means) for tracking the bear with the drone 11 using the camera 15 after the tethering state of the drone 11 has been released, and a control unit 29 for controlling these.

[0117] Therefore, even while the drone 11 is tethered and automatically rotates and ascends and descends with wireless power supply, and while bear deterrent measures are being implemented using the sounds of the drone 11 ascending and descending and the movements of the drone 11, the area where bears are present can be monitored by the camera 15, and bears can be detected in real time. This makes it possible to conduct long-term fixed-point monitoring without consuming the battery of the drone 11.

[0118] Furthermore, after detecting a bear, the drone launch and landing program quickly releases the drone 11 from its tethered position, making it ready for flight. This ensures a high level of immediate response to the appearance of a bear. Furthermore, after the tethering is released, the bear tracking program uses image data from camera 15 to track the bear using drone 11. This improves the accuracy of bear tracking compared to simply using a fixed camera.

[0119] Furthermore, by activating the speaker 16, beam light 17, and bear repellent spray 18 mounted on the drone 11 using a bear repellent program during or after tracking a bear, the bear can be effectively removed from the area where it has been sighted. In other words, by combining long-term stable monitoring through the mooring of the drone 11 to the power transmission pole 12, with bear detection, rapid tracking of bears after the drone 11 is released from mooring, and bear deterrence, the reliability and effectiveness of bear damage countermeasures using the drone 11 can be dramatically increased.

[0120] Furthermore, since the power transmission pole 12 can be compactly disassembled into three sub-poles 37, the portability of the bear countermeasure system 10 is enhanced. Also, when installing the power transmission pole 12 on-site, the required height of the power transmission pole 12 can be easily and quickly assembled simply by sequentially connecting the three sub-poles 37. Of course, by connecting four or more sub-poles 37, stable bear monitoring at higher altitudes becomes possible. Furthermore, since a storage box 39 is used as the base for the support posts, the three partial support posts 37, the drone 11, and the transmitter S can be stored in the storage box 39, allowing all components of the bear countermeasure system 10 to be managed and transported together. This prevents the loss of parts and makes it convenient to move the bear countermeasure system 10 and transport it between sites. This is especially effective when it is necessary to frequently change the monitoring location depending on the extent of bear damage.

[0121] Furthermore, since the drone 11 can be immediately released from its tethering to the power transmission pole 12 and launched after detecting a bear, delays in initial bear countermeasures can be prevented. Furthermore, once released from its tethered position, the drone 11 can use its high maneuverability (flight capability) to track the bear accurately with the camera 15, regardless of the bear's escape route. In other words, it can move freely without relying on the power transmission pole 12, making it less likely to lose sight of the bear even in environments such as mountainous forests with many obstacles and three-dimensional structures.

[0122] Furthermore, the mounted camera 15 can be used to visually identify detected bears (including through video analysis and AI recognition), and to understand their behavior patterns and precise location. This allows for countermeasures based not only on detection signals but also on visual information (e.g., intimidation, instructions to spray bear repellent spray 18 in specific locations), thereby increasing the accuracy of countermeasures. Furthermore, by recording the camera image data being tracked in the storage unit 45 of the control unit 29, important data such as the bear's entry route, habitat, and activity time can be collected and used as valuable evidence for future permanent bear countermeasures plans. Even in the case of Embodiment 1, if a stopper pin that protrudes to the side of the pole by an actuator such as a small solenoid (not shown) is provided at the tip of the power transmission pole 12, then even in this method of inserting the drone 11 into the tip of the pole through the pole insertion hole 14, if, for example, a small solenoid is activated to make the stopper pin protrude beyond the pole insertion hole 14 to the side of the pole during a typhoon or other extremely strong wind, there is no risk of the drone 11 being blown away from the power transmission pole 12 by the extremely strong wind (wind and rain).

[0123] Next, with reference to Figure 6, the bear control system (harmful wildlife control system) of Embodiment 2 of the present invention will be described. As shown in Figure 6, the bear countermeasure system 10A of Embodiment 2 employs a support column insertion part (mooring part) 71, which is provided at the end of a support column arm 70 that is connected to the front of the body A1 and extends forward, and through which the power transmission support column 12 is inserted into the inner space, instead of the "support column insertion hole 14 of the body A1", which is the mooring part of Embodiment 1.

[0124] The support column insertion section 71 is equipped with an automatic opening and closing hook (locking structure) 72, which automatically opens and closes a pair of left and right hooks 72a using a small electric motor or a small solenoid (not shown), so that it can be attached to and detached from the power transmission pole 12 from the side. Furthermore, a resonant power transmission coil 32A is housed inside the support column insertion section 71, wound in a roughly spiral shape while being folded back in a U-shape within the tip of each hook 72a. In addition, a roughly annular ferrite (not shown) is housed in the inner space of the resonant power transmission coil 32A.

[0125] In this way, when the drone 11A is moored, it is moored to the power transmission pole 12 so that it can be raised and lowered via the pole insertion portion 71 at the end of the pole arm 70. Therefore, by simply connecting the pole arm 70 with the pole insertion portion 71 to an existing drone 11A, a commercially available drone 11A can be easily and inexpensively modified into the drone 11A of this invention.

[0126] Furthermore, during the mooring operation of the drone 11A, the arm structure of the support arm 70 absorbs and mitigates the physical impact and friction that occurs when the support insertion part 71 of the drone 11A comes into contact with the power transmission support pole 12. This suppresses direct damage and wear to the aircraft A1 in the event of a collision between the support insertion part 71 and the power transmission support pole 12.

[0127] Furthermore, since an automatic opening and closing hook 72 that can be attached to and detached from the power transmission pole 12 from the side is used as the pole insertion part 71, the requirement for vertical accuracy imposed on the descending drone 11 in Embodiment 1 is not required when mooring the drone 11A. Moreover, when mooring, the drone 11A approaches the power transmission pole 12, and after the pole support arm 70 reaches a predetermined height, the drone 11A can be moored to the power transmission pole 12 simply by moving the aircraft A slightly to the side. This simplifies the mooring operation of the drone 11A.

[0128] Furthermore, when the drone 11A is moored to and released from the power transmission pole 12 from the side via the pole insertion section 71, for example, if a stopper 12A is attached to the tip of the power transmission pole 12, there is no risk of the moored drone 11A coming loose from the tip of the power transmission pole 12, even in the event of extremely strong winds such as a typhoon. Other components, functions, and effects can be inferred from Example 1, and therefore will not be described.

[0129] Next, with reference to Figures 7 and 8, a bear control system (harmful wildlife control system) according to Embodiment 3 of the present invention will be described. As shown in Figure 7, a key feature of the bear countermeasure system 10B of Example 3 is that multiple power transmission poles 12 are erected at multiple locations where bears are likely to appear (hotspots, buffer zones, etc.), for example, by carrying storage boxes 39 at intervals of several hundred meters. This allows even a single drone 11 (or fewer drones 11 than the number of power transmission poles 12) to patrol and monitor a wide area of ​​bear activity. This makes it possible to cover vast bear activity areas that cannot be covered by a single base, and to implement bear countermeasures over wide urban areas, even with small and inexpensive drones, without the need for large and expensive industrial drones.

[0130] Furthermore, since this bear countermeasure system 10B employs an autonomously controlled drone 11, it is possible, for example, for the drone 11 to autonomously move to the next power transmission pole 12 after completing monitoring and countermeasures at one pole 12 and to tether there. This allows the bear countermeasure system 10B to function as a wide-area mobile monitoring network, enabling efficient area patrols. Furthermore, when the drone 11 is tethered to any of the power transmission poles 12, wireless power is supplied from the power transmission pole 12. Therefore, the drone 11 does not have to worry about running out of battery power even after moving to another power transmission pole 12, enabling continuous operation while changing the tethering location.

[0131] As shown in Figure 8, a fixed-point monitoring unit 39A equipped with deterrents such as a zoomable miniature camera (visible light, infrared) 39b, a miniature searchlight 39c, and a miniature speaker 39d is installed on the side of the storage box 39. These are controlled by the box control unit 29A. Even if a bear approaches a power transmission pole 12 that is not tethered to the drone 11, the bear can be detected by a bear detection program stored in a storage unit for a box (not shown) based on camera image data from the small camera 39b.

[0132] If a bear is discovered, bear deterrent measures will be taken as necessary using a small searchlight 39c and a small speaker 39d. At the same time, a notification of the bear's discovery, along with the GPS location information of the storage box 39, will be sent via the internet to the computer of the administrator of the drone 11 and the bear countermeasure system 10B.

[0133] Upon receiving the notification, drone 11 moves to the storage box 39 where it was found, based on its GPS location information, and patrols the surrounding area, tracking and avoiding bears. Furthermore, the aforementioned fixed-point monitoring unit 39A may be installed at the tip of the power transmission pole 12 (including the stopper 12A in Figure 6) with a structure and size that does not interfere with the mooring and unmooring of the drone 11. Other components, functions, and effects can be inferred from Example 1, and therefore will not be described.

[0134] Next, with reference to Figure 9, a bear control system (harmful wildlife control system) according to Embodiment 4 of the present invention will be described. As shown in Figure 9, a key feature of the bear mitigation system 10C of Example 4 is that multiple drones 11 can be simultaneously moored to a single power transmission pole 12. Therefore, it is possible to perform coordinated operations with different roles in bear mitigation, such as one drone 11 intimidating and tracking bears, while another drone 11 performs 3D monitoring to check for other bears remaining in the vicinity. This increases the accuracy and efficiency of bear mitigation. Furthermore, by having multiple drones 11 work in shifts, one drone 11 can be allowed to rest (for charging only) while the other drones 11 can continuously deter and track bears without interruption during necessary times (such as at night).

[0135] Furthermore, by having multiple drones 11 share the infrastructure of a single power transmission pole 12, it becomes unnecessary to install a power transmission pole (including conventional individual power supply stations and mooring facilities) 12 for each drone 11, thereby reducing the overall installation cost and site area of ​​the bear countermeasure system 10C. Furthermore, when tethered, multiple drones 11 are held in a fixed position along a single power transmission pole 12, making maintenance and inspection work on both the drones 11 and the power transmission pole 12 easier. Other components, functions, and effects can be inferred from Example 1, and therefore will not be described. [Industrial applicability]

[0136] This invention is useful as a technology for a bear deterrent system using drones to notify residents of emergencies inside their homes. [Explanation of Symbols]

[0137] 10, 10A, 10B, 10C Bear countermeasure system (harmful wildlife countermeasure system) 11,11A Drone 12 Power transmission poles 14. Through-hole for support posts (mooring section) 15 Cameras 16. Speaker (Deterrent) 17. Beam light (repellent measure) 18. Bear repellent spray (repellent measure) 29 Control Unit 30 Power Transmission Section 32,32A resonant transmission coil 34 Resonant receiving coil 35 Power receiving circuit 33 Magnetic field power receiving and conversion means 31 Power receiving section 36. Ferrite (magnetic material) 37 Partial brace 39 Storage box (support column mounting base) 40 Magnetic field emission means 41 Power transmission circuit 51. Bear detection program (harmful wildlife detection program, detection means) 52. Drone launch and landing program (tethering release method) 53. Bear Tracking Program (Tracking Method) 54. Bear repellent programs (repellent methods) 71. Post insertion section (mooring section) 72 Automatic opening and closing hook (with latching mechanism) A,A1 aircraft

Claims

1. A system for controlling harmful wildlife, comprising a drone which is an unmanned aerial vehicle for controlling harmful wildlife including bears, and a power transmission pole for wireless power supply including electromagnetic induction and magnetic resonance methods, The drone or the power transmission pole is provided with a mooring section for tethering the drone to the power transmission pole so that it can be raised and lowered. The aforementioned power transmission pole is erected in an area where harmful birds and animals frequent, and comprises a power transmission section including a power transmission coil provided in the lifting and lowering area of ​​the drone. The drone comprises a power receiving unit including a power receiving coil that receives a magnetic field from the power transmitting coil and converts it into electricity, and a camera for monitoring harmful birds and animals. The drone, while tethered to the power transmission pole, has a structure that allows it to rotate 360° around the axis of the power transmission pole while receiving wireless power from the power transmission pole without contact. Furthermore, the harmful bird and animal control system is characterized in that the drone is configured to perform 3D surveillance that eliminates blind spots of obstacles using the camera, through a physical combination of its 360° rotatable structure and repeated ascent and descent along the power transmission pole.

2. The mooring portion is formed by penetrating the drone's body vertically and through a support pole insertion hole through which the power transmission pole is inserted. The portion where the support column insertion hole is formed is surrounded by the power receiving coil. The harmful bird and animal control system according to claim 1, characterized in that the drone has a structure that performs 3D monitoring by repeatedly raising and lowering while rotating the aircraft 360° around the power transmission pole as its central axis, while being tethered to the power transmission pole through the pole insertion hole.

3. The mooring portion is provided at the end of a support arm connected to the drone's body, and is a support insertion portion through which the power transmission support is inserted into the inner space. The power receiving coil is arranged around the support column insertion portion. The harmful bird and animal control system according to claim 1, characterized in that the drone has a structure that performs 3D monitoring by repeatedly moving up and down while circling around the power transmission pole, while being anchored to the power transmission pole via the pole insertion portion.

4. The harmful bird and animal control system according to claim 3, characterized in that the support column insertion portion has a latching structure that can be attached to and detached from the power transmission support column from the side.

5. The harmful bird and animal control system according to any one of claims 1 to 4, characterized in that the drone is equipped with a control unit configured to automatically release from the power transmission pole at set intervals, autonomously patrol the surrounding area, and after the completion of the patrol, re-attach to the power transmission pole or another power transmission pole for wireless power supply including electromagnetic induction and magnetic resonance methods to resume wireless power supply.

6. The harmful bird and animal control system according to claim 1, characterized in that the power transmission unit is housed in the inner space of the power transmission coil and has a magnetic material that enhances the efficiency of power transmission.

7. The harmful bird and animal control system according to claim 1, characterized in that the drone is equipped with a device to deter harmful birds and animals, and when it detects harmful birds and animals from the image data of the camera, it releases the tethering state by the power transmission pole, tracks the harmful birds and animals using the camera, and repels them using the device to deter them.

8. The harmful bird and animal control system according to claim 1, characterized in that the power transmission pole is made up of multiple partial poles connected in a manner that allows for assembly and disassembly, and is erected on a portable pole mounting base that includes a storage box for housing at least one of the multiple partial poles and the drone.

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